CN108007471A - Vehicle guides block acquisition methods and device and automatic Pilot method and system - Google Patents
Vehicle guides block acquisition methods and device and automatic Pilot method and system Download PDFInfo
- Publication number
- CN108007471A CN108007471A CN201610972375.3A CN201610972375A CN108007471A CN 108007471 A CN108007471 A CN 108007471A CN 201610972375 A CN201610972375 A CN 201610972375A CN 108007471 A CN108007471 A CN 108007471A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane line
- road link
- precision map
- global path
- 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.)
- Granted
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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3423—Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The embodiment of the invention discloses a kind of vehicle guiding block acquisition methods and device and automatic Pilot method and system, wherein, the vehicle guiding block acquisition methods include：Obtain current vehicle position；The road link and lane line residing for vehicle are obtained in high-precision map；Obtained in high-precision map from the current vehicle position to the guiding block along the global path position of certain distance forward.Thus, reduce the time-consuming of path planning, reduce period of reservation of number, improve user experience.
Description
Technical field
The present invention relates to technical field of vehicle navigation, and in particular to a kind of vehicle guiding block acquisition methods and device and
Automatic Pilot method and system.
Background technology
In traditional map (low precision map), road is mainly by road link (RoadLink) and road node
(RoadNode) form, wherein road link represents road, is identified each with the unique road link of road link
(RoadLinkID), road node represents the tie point of road and road, and same road node also has unique road node
Identify (RoadNodeID).Low precision map acquisition guidance path speed is fast, but the only precision of road level, excessively coarse,
It is only capable of using for driver, without can be adapted to automatic Pilot.
And in high-precision map, equally including road link (RoadLink), and in general it is with traditional map
It is corresponding, that is to say, that the road link mark (RoadLinkID) in high-precision map and the road link in low precision map
Mark is one-to-one；In addition, having lane line (RoadLane) in high-precision map, each lane line has a lane line mark
Know (RoadLaneID)；Just as a road may include one or more track, a road link can also correspond to one
Or a plurality of lane line.Lane line and lane line are attached with lane line node (LaneNode), and lane line knot has been ordered the same
Unique lane line node identification (LaneNodeID).
In automatic Pilot technology, the simultaneously high-precision map of application is quoted, using the prior information of high-precision map, and it is other
The information of sensor carries out effective integration, complements each other, so that more preferably perception and path planning, guidance capability are obtained,
It is an existing very important research direction.
Since the information content that high-precision map includes precision map lower than tradition is big, algorithm is complicated, causes to carry out from starting point
To terminal path planning when take long, user experience is poor.
The content of the invention
The technical problem to be solved in the present invention is that the automatic Pilot Technology Ways planning based on high-precision map took
Long, user experience is poor.
For this reason, an embodiment of the present invention provides a kind of vehicle to guide block acquisition methods, including：Obtain vehicle present bit
Put；Road link and lane line residing in high-precision map obtaining vehicle according to the current vehicle position；According to described
Road link and lane line residing for current vehicle position and the vehicle, obtain current from the vehicle in high-precision map
Position is to the guiding block along the global path position of certain distance forward, wherein the global path is to be based on low precision map
The road level path of the slave origin-to-destination obtained, the guiding block is that the vehicle can travel in the global path
Track set.
Preferably, the road link obtained according to the current vehicle position in high-precision map residing for vehicle and
The step of lane line, includes：The road link nearest apart from the current vehicle position is obtained in low precision map；According to institute
The nearest road link of current vehicle position described in the distance obtained in low precision map is stated, is obtained in high-precision map opposite
The road link the answered road link residing in high-precision map as the vehicle；The vehicle is obtained in high-precision map
In all lane lines in residing road link；The vehicle is obtained in high-precision map according to the current vehicle position
Residing lane line.
Preferably, the road link and track according to residing for the current high precision position of the vehicle and the vehicle
Line, obtains from the current vehicle position in high-precision map to the boot section along the global path position of certain distance forward
The step of block, includes：Obtain that each lane line in the road link that is presently in the vehicle is connected along it is described entirely
The lane line of next road link in office path；Acquisition is connected with each lane line in acquired next road link
The road link next again along the global path lane line, until the current vehicle position to along global path forward
The last item road link between the position of certain distance；Each car in the road link that the vehicle is presently in
Diatom and the lane line of acquired each bar road link are loaded into guiding block.
Preferably, obtain be connected with each lane line in the road link being presently in along the global path
Next road link lane line the step of include：Obtain each track in the road link that the vehicle is presently in
The lane line node of line；Obtain the institute with the next road link for belonging to the global path of lane line node mounting
There is lane line.
The embodiment of the present invention additionally provides a kind of automatic Pilot method, including：Obtain in low precision map and work as from vehicle
To the global path of terminal, the global path is road level path for front position；Block is guided to obtain according to any of the above-described kind of vehicle
Method is taken, obtains and guides block since the vehicle in the stretch footpath in the global path the current vehicle position；
One driving path of selection controls vehicle to travel the stretch footpath along selected driving path in the vehicle guiding block；
Repeat it is described obtain since the vehicle in the stretch footpath in the global path current vehicle position guiding block and
Described one driving path of selection in the vehicle guides block controls vehicle to travel described one along selected driving path
The step of section path, until vehicle is driven to up to the terminal.
The embodiment of the present invention additionally provides a kind of vehicle guiding block acquisition device, including：Locating module, for obtaining car
Current location；Road link lane line acquisition module, for the current vehicle position that is obtained according to the locating module in height
The road link and lane line residing for vehicle are obtained in precision map；Block acquisition module is guided, for according to the positioning mould
The road link and car residing for vehicle that the current vehicle position and the road link lane line acquisition module that block obtains obtain
Diatom, obtains from the current vehicle position in high-precision map to the guiding along the global path position of certain distance forward
Block, wherein the global path is the road level path of the slave origin-to-destination obtained based on low precision map, the guiding
Block is the set for the lane line that the vehicle can travel in the global path.
Preferably, the road link lane line acquisition module includes：First road link acquisition submodule, for low
The road link nearest apart from the current vehicle position is obtained in precision map；Second road link acquisition submodule, is used for
The nearest road link of current vehicle position described in the distance obtained according to the first road link acquisition submodule, high-precision
The corresponding road link road link residing in high-precision map as the vehicle is obtained in degree map；First lane
Line acquisition submodule, all lane lines in the road link residing in high-precision map for obtaining the vehicle；Second
Lane line acquisition submodule, for the current vehicle position obtained according to the locating module, obtains institute in high-precision map
State the lane line residing for vehicle.
Preferably, the guiding block acquisition module includes：First connection lane line acquisition submodule, for acquisition and institute
State next road link along the global path that each lane line in the road link that vehicle is presently in is connected
Lane line；Second connection lane line acquisition submodule, the acquisition of lane line acquisition submodule is connected for obtaining with described first
Next road link in the lane line of the road link next again along the global path that is connected of lane line, until institute
Current vehicle position is stated extremely along the last item road link between the global path forward position of certain distance；Lane line loads
Submodule, for the first lane line acquisition submodule, the first connection lane line acquisition submodule and second to be connected track
The lane line for each bar road link that line acquisition submodule obtains is loaded into guiding block.
Preferably, the first connection lane line acquisition submodule includes：Lane line node acquiring unit, for obtaining
State the lane line node of each lane line in the road link that vehicle is presently in；Lane line acquiring unit, for obtaining
The next road link for belonging to the global path of the lane line node mounting obtained with the lane line node acquiring unit
All lane lines.
The embodiment of the present invention additionally provides a kind of automated driving system, including：Global path acquisition device, in low essence
The global path obtained from current vehicle position to terminal is spent in map, and the global path is road level path；According to above-mentioned
Any vehicle guides block acquisition device, for obtaining since one in the global path the current vehicle position
The vehicle guiding block in section path；Travel controlling system, the vehicle for being obtained in vehicle guiding block acquisition module draw
Leading in block selects a driving path to control vehicle to travel the stretch footpath along selected driving path；Circulator,
For being repeated in running the vehicle guiding block acquisition device and travel controlling system, until vehicle was driven to up to the end
Point.
The vehicle guiding block acquisition methods and device and automatic Pilot method and system of the embodiment of the present invention, based on
On the basis of the global path that low precision map obtains, obtained based on high-precision map from current vehicle position to along the global road
The vehicle guiding block of the position of certain distance before radial direction, so as to reduce the time-consuming of path planning, when reducing user's wait
Between, improve user experience.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of vehicle guiding block acquisition methods of the embodiment of the present invention；
Fig. 2 is the specific steps flow chart of step S12 in embodiment illustrated in fig. 1；
Fig. 3 is a kind of low precision map schematic diagram of the embodiment of the present invention；
Fig. 4 is that a kind of accurately diagram of the embodiment of the present invention is intended to；
Fig. 5 is the specific steps flow chart of step S13 in embodiment illustrated in fig. 1；
Fig. 6 is accurately diagram intention of the another kind there are branch road of the embodiment of the present invention；
Fig. 7 is the vehicle guiding block diagram that the high-precision map according to Fig. 6 obtains；
Fig. 8 is a kind of flow chart of automatic Pilot method of the embodiment of the present invention；
Fig. 9 is a kind of schematic diagram of vehicle guiding block acquisition device of the embodiment of the present invention；
Figure 10 is a kind of schematic diagram of automated driving system of the embodiment of the present invention.
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
Technical scheme is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, an embodiment of the present invention provides a kind of vehicle to guide block acquisition methods, including：
S11. current vehicle position is obtained.
Specifically, such as car can be obtained by high accuracy positioning equipment (positioning accuracy is generally in sub-meter grade 50cm or so)
Current location.
S12. road link and lane line residing for obtaining vehicle in high-precision map according to current vehicle position.
Since vehicle generally all can be in road or near roads, so positioning result also should be in the road link on map
(RoadLink) and on lane line (RoadLane).
S13. the road link and lane line according to residing for current vehicle position and vehicle, in high-precision map obtain from
Current vehicle position is to the guiding block along the global path position of certain distance forward.Herein, global path is based on low
The road level path for the slave origin-to-destination that precision map obtains, and it is that vehicle can travel in global path to guide block
The set of lane line, reflection is not a simple guide line, but vehicle can with lane change, any car can be walked
The region of one unicom of diatom, and the region is movement, the change of current vehicle position with vehicle, and ceaselessly become
Change.Such vehicle guiding block acquisition speed is fast, and precision is high, it is sufficient to the automatic Pilot for vehicle.From current vehicle position
The position of certain distance for example can be 500 meters forward forward, or to next crossing.
The vehicle guiding block acquisition methods of the embodiment of the present invention, on the global path basis obtained based on low precision map
On, by being obtained in high-precision map from current vehicle position to the vehicle along the global path position of certain distance forward
Block is guided, reduces the time-consuming of path planning, reduces period of reservation of number, improve user experience.
Preferably, as shown in Fig. 2, step S12 can specifically include：
S121. the road link nearest apart from current vehicle position is obtained in low precision map.
Specifically, after the coordinate points of current vehicle position are obtained, with reference to the vehicle row for the global path planned in advance
Direction is sailed, obtains the road link in low precision map nearest apart from the coordinate points.
For example, in low precision map as shown in Figure 3, the road link nearest apart from vehicle (Car) current location is
RoadLink1。
S122. according to the road link nearest apart from current vehicle position that should be obtained in low precision map, high-precision
The corresponding road link road link residing in high-precision map as vehicle is obtained in degree map.
For example, in high-precision map as shown in Figure 4, the RoadLink1 in precision map low with shown in Fig. 3 is opposite
The road link answered is also RoadLink1 (not shown).
S123. all lane lines in vehicle road link residing in high-precision map are obtained.
Include for example, in high-precision map as shown in Figure 4, in RoadLink1 lane line RoadLane11,
RoadLane12 and RoadLane13.
S124. the lane line residing for obtaining vehicle in high-precision map according to current vehicle position.
For example, in high-precision map as shown in Figure 4, the lane line residing for vehicle (Car) is RoadLane12.
Preferably, as shown in figure 5, step S13 can specifically include：
S131. obtain that each lane line in the road link that is presently in vehicle is connected along global path
The lane line of next road link.
For example, in high-precision map as shown in Figure 4, according to global path, vehicle (Car) straight trip, by road link
RoadLink1 to Roadlink2 arrives Roadlink3, each car in road link Roadlink1 being presently in vehicle
Next road link along global path that diatom Roadlane11, Roadlane12 are connected with Roadlane13 is (i.e.
Roadlink2 lane line) is lane line Roadlane21, Roadlane22 and Roadlane23 respectively.
For there is branch road, as shown in fig. 6, the driving path of vehicle (Car) is by road link RoadLink1
To Roadlink2, each lane line Roadlane11 in the road link Roadlink1 being presently in vehicle,
The lane line for next road link (i.e. Roadlink2) along global path that Roadlane12 is connected with Roadlane13 is only
There is Roadlane21.
S132. obtain be connected with each lane line in acquired next road link along global path again
The lane line of next road link, until current vehicle position is extremely along last between the global path forward position of certain distance
One road link.
For example, in high-precision map as shown in Figure 4, current vehicle position is to along global path certain distance forward
The last item road link between position is Roadlink3, therefore the step of acquisition lane line is untill Roadlink3.And
In high-precision map as shown in Figure 6, current vehicle position is limited to along between the global path forward position of certain distance
The last item road link be Roadlink2, therefore obtain lane line the step of untill Roadlink2.
S133. each lane line and acquired each bar road link in road link vehicle being presently in
Lane line be loaded into guiding block.
For example, in high-precision map as shown in Figure 6, each lane line in the road link that vehicle is presently in
Including RoadLane11, RoadLane12 and RoadLane13, acquired lane line includes RoadLane21, therefore is loaded into
The track for guiding block is RoadLane11, RoadLane12, RoadLane13 and RoadLane21, and the vehicle finally obtained draws
Block is led as shown in fig. 7, wherein " hatched example areas " is to guide block by the vehicle of road link RoadLink1 to Roadlink2.
Preferably, step S131 can include：
A) the lane line node (LaneNode) of each lane line in the road link that vehicle is presently in is obtained.
For example, in high-precision map as shown in Figure 4, it is every in the road link Roadlink1 that vehicle is presently in
The lane line node of one lane line RoadLane11, Roadlane12 and Roadlane13 be respectively LaneNode11,
LaneNode12 and LaneNode13.
In high-precision map as shown in Figure 6, each car in road link Roadlink1 that vehicle is presently in
The lane line node of diatom RoadLane11, Roadlane12 and Roadlane13 be respectively LaneNode1, LaneNode2 and
LaneNode3。
B) all lane lines with the next road link for belonging to global path of lane line node mounting are obtained.
For example, in high-precision map as shown in Figure 4, according to global path, vehicle by road link Roadlink1 to
Roadlink2 to Roadlink3, therefore the next road chain for belonging to global path mounted with lane line node LaneNode11
The lane line on road (i.e. Roadlink2) is Roadlane21, belongs to global path with what lane line node LaneNode12 was mounted
The lane line of next road link (i.e. Roadlink2) be Roadlane22, with lane line node LaneNode13 mountings
The lane line for belonging to next road link (i.e. Roadlink2) of global path is Roadlane23.
In the high-precision map shown in Fig. 6, according to global path, vehicle by road link Roadlink1 to
Roadlink2, therefore belong to next road link of global path (i.e. with what lane line node LaneNode3 was mounted
Roadlink2 lane line) is Roadlane21, and lane line node LaneNode1 and LaneNode2 are not mounted with it
The next road link for belonging to global path lane line.
Embodiment 2
As shown in figure 8, the embodiment of the present invention additionally provides a kind of automatic Pilot method, suitable for vehicle drive, including：
S21. the global path from current vehicle position to terminal is obtained in low precision map, which is road
Level path.The step is equivalent to the path planning in common vehicle mounted guidance, and speed is fast, but precision is low.
S22. block acquisition methods are guided according to vehicle described above, obtains being somebody's turn to do since the current vehicle position
The vehicle guiding block in the stretch footpath in global path.Preferably, the vehicle is obtained with higher calculating and output frequency to draw
Block is led, so that it is effectively guaranteed that judgement during automatic Pilot to extraneous changing environment, for example, calculating frequency can be
10Hz, i.e., calculate 10 times or so for one second.
S23. one driving path control vehicle of selection is travelled along selected driving path in the vehicle guides block
The stretch footpath.It is unalterable that the driving path, which is not, can be adjusted according to actual road conditions.For example front is gathered around
Stifled, disabled vehicle, can switch to other driving paths in guiding block.
S24. repeat step S22 and S23, until vehicle traveling is reached home.Specifically, whether vehicle can be first determined whether
Reach terminal, be, terminate, otherwise repeat step S22 and S23.
Embodiment 3
Accordingly, as shown in figure 9, the embodiment of the present invention additionally provides a kind of vehicle guiding block acquisition device, including：
Locating module 31, for obtaining current vehicle position, it is preferable that the locating module is high accuracy positioning module, fixed
Position precision is sub-meter grade；
Road link lane line acquisition module 32, for the current vehicle position that is obtained according to the locating module 31 high-precision
The road link and lane line obtained residing for vehicle is spent in map；
Block acquisition module 33 is guided, for the current vehicle position obtained according to the locating module 31 and the road link
The road link and lane line residing for vehicle that lane line acquisition module 32 obtains, obtain in high-precision map and work as from the vehicle
To the guiding block along the global path position of certain distance forward, the wherein global path is to be based on low precision map for front position
The road level path of the slave origin-to-destination obtained, which is that the vehicle can travel in the global path
The set in track.
The vehicle guiding block acquisition device that the present invention is implemented, is obtaining from the basis of the global path of origin-to-destination
On, by being obtained in high-precision map from current vehicle position to the boot section along the global path position of certain distance forward
Block, the enough automatic Pilots of the guiding block use, and reduce calculation amount so that and the path planning time is reduced, so that
Period of reservation of number is reduced, improves user experience.
Preferably, which includes：
First road link acquisition submodule, it is nearest apart from the current vehicle position for being obtained in low precision map
Road link；
Second road link acquisition submodule, for the distance car obtained according to the first road link acquisition submodule
The nearest road link in current location, obtains corresponding road link as the vehicle in high accuracy in high-precision map
Residing road link in map；
First lane line acquisition submodule, the institute in the road link residing in high-precision map for obtaining the vehicle
There is lane line；
Second lane line acquisition submodule, for the current vehicle position obtained according to the locating module 31, in high accuracy
The lane line residing for the vehicle is obtained in map.
Preferably, which includes：
First connection lane line acquisition submodule, for obtaining each in the road link being presently in the vehicle
The lane line for next road link along the global path that lane line is connected；
Second connection lane line acquisition submodule, for obtain with this first be connected lane line acquisition submodule acquisition under
The lane line for the road link next again along the global path that lane line in one road link is connected, until the vehicle
Current location is extremely along the last item road link between the global path forward position of certain distance；
Lane line loads submodule, for the first lane line acquisition submodule, the first connection lane line to be obtained submodule
The lane line for each bar road link that block and the second connection lane line acquisition submodule obtain is loaded into guiding block.
Preferably, which includes：
Lane line node acquiring unit, each lane line in road link being presently in for obtaining the vehicle
Lane line node；
Lane line acquiring unit, for obtaining the category of the lane line node obtained with the lane line node acquiring unit mounting
In all lane lines of next road link of the global path.
Embodiment 4
As shown in Figure 10, the embodiment of the present invention additionally provides a kind of automated driving system, suitable for vehicle, including：
Global path acquisition device 41, for obtaining the global road from current vehicle position to terminal in low precision map
Footpath, the global path are road level paths；
Vehicle guiding block acquisition device 42, such as can be the vehicle guiding block acquisition device in embodiment 3, it is used for
Obtain and guide block since the vehicle in the stretch footpath in the global path current vehicle position；
Travel controlling system 43, for being selected in the vehicle guiding block that vehicle guiding block acquisition module 42 obtains
One driving path control vehicle travels the stretch footpath along selected driving path；
Circulator 44, for being repeated in running vehicle guiding block acquisition device 42 and travel controlling system 43,
Until vehicle traveling is reached home.
Obviously, the above embodiments are merely examples for clarifying the description, and the restriction not to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. a kind of vehicle guides block acquisition methods, it is characterised in that including：
Obtain current vehicle position；
Road link and lane line residing in high-precision map obtaining vehicle according to the current vehicle position；
Road link and lane line according to residing for the current vehicle position and the vehicle, in high-precision map obtain from
The current vehicle position is to the guiding block along the global path position of certain distance forward, wherein the global path is base
In the road level path for the slave origin-to-destination that low precision map obtains, the guiding block is the vehicle on the global road
The set in the track that can be travelled in footpath.
2. according to the method described in claim 1, it is characterized in that, it is described according to the current vehicle position in high-precision map
The step of road link and lane line residing for middle acquisition vehicle, includes：
The road link nearest apart from the current vehicle position is obtained in low precision map；
According to the nearest road link of current vehicle position described in the distance obtained in the low precision map, in high-precision map
It is middle to obtain the corresponding road link road link residing in high-precision map as the vehicle；
Obtain all lane lines in vehicle road link residing in high-precision map；
Lane line residing in high-precision map obtaining the vehicle according to the current vehicle position.
It is 3. according to the method described in claim 2, it is characterized in that, described according to the current high precision position of the vehicle and described
Road link and lane line residing for vehicle, in high-precision map obtain from the current vehicle position to along global path to
The step of guiding block of the position of preceding certain distance, includes：
Obtain that each lane line in the road link that is presently in the vehicle is connected along the global path
The lane line of next road link；
Obtain be connected with each lane line in acquired next road link along the next again of the global path
The lane line of road link, until the current vehicle position is extremely along last between the global path forward position of certain distance
One road link；
The car of each lane line and acquired each bar road link in the road link that the vehicle is presently in
Diatom is loaded into guiding block.
4. according to the method described in claim 3, it is characterized in that, acquisition and each car in the road link being presently in
Diatom be connected along next road link of the global path lane line the step of include：
Obtain the lane line node of each lane line in the road link that the vehicle is presently in；
Obtain all lane lines with the next road link for belonging to the global path of lane line node mounting.
A kind of 5. automatic Pilot method, it is characterised in that including：
The global path from current vehicle position to terminal is obtained in low precision map, the global path is road level road
Footpath；
Vehicle guiding block acquisition methods according to any one of claim 1-4, obtain from the current vehicle position
The vehicle guiding block in the stretch footpath in the global path started；
One driving path of selection controls vehicle to travel described one along selected driving path in the vehicle guides block
Section path；
Repeat described obtain since the vehicle boot section in the stretch footpath in the global path the current vehicle position
Block and described one driving path of selection in the vehicle guides block control vehicle to travel institute along selected driving path
The step of stating stretch footpath, until vehicle is driven to up to the terminal.
6. a kind of vehicle guides block acquisition device, it is characterised in that including：
Locating module, for obtaining current vehicle position；
Road link lane line acquisition module, for the current vehicle position that is obtained according to the locating module in high-precision map
Road link and lane line residing for middle acquisition vehicle；
Block acquisition module is guided, for the current vehicle position obtained according to the locating module and the road link track
The road link and lane line residing for vehicle that line acquisition module obtains, obtain from the vehicle present bit in high-precision map
Put to the guiding block along the global path position of certain distance forward, wherein the global path is obtained based on low precision map
The road level path of the slave origin-to-destination taken, the guiding block is that the vehicle can travel in the global path
The set of lane line.
7. vehicle according to claim 6 guides block acquisition device, it is characterised in that the road link lane line obtains
Modulus block includes：
First road link acquisition submodule, for obtaining the road nearest apart from the current vehicle position in low precision map
Road link；
Second road link acquisition submodule, for car described in the distance that is obtained according to the first road link acquisition submodule
The nearest road link in current location, obtains corresponding road link as the vehicle high-precision in high-precision map
Spend road link residing in map；
First lane line acquisition submodule, it is all in the road link residing in high-precision map for obtaining the vehicle
Lane line；
Second lane line acquisition submodule, for the current vehicle position obtained according to the locating module, in high-precision map
The middle lane line obtained residing for the vehicle.
8. vehicle according to claim 7 guides block acquisition device, it is characterised in that the guiding block acquisition module
Including：
First connection lane line acquisition submodule, for obtaining each car in the road link being presently in the vehicle
The lane line for next road link along the global path that diatom is connected；
Second connection lane line acquisition submodule, the next of lane line acquisition submodule acquisition is connected for obtaining with described first
The lane line for the road link next again along the global path that lane line in road link is connected, until the vehicle
Current location is extremely along the last item road link between the global path forward position of certain distance；
Lane line loads submodule, for the first lane line acquisition submodule, first to be connected lane line acquisition submodule
The lane line of each bar road link obtained with the second connection lane line acquisition submodule is loaded into guiding block.
9. vehicle according to claim 8 guides block acquisition device, it is characterised in that the first connection lane line obtains
Submodule is taken to include：
Lane line node acquiring unit, the car for each lane line in road link being presently in for obtaining the vehicle
Diatom node；
Lane line acquiring unit, for obtaining belonging to for the lane line node obtained with the lane line node acquiring unit mounting
All lane lines of next road link of the global path.
A kind of 10. automated driving system, it is characterised in that including：
Global path acquisition device, for obtaining the global path from current vehicle position to terminal, institute in low precision map
It is road level path to state global path；
Vehicle guiding block acquisition device according to any one of claim 6-9, it is current from the vehicle for obtaining
The vehicle guiding block in the stretch footpath in the global path that position starts；
Travel controlling system, for selecting a row in the vehicle guiding block that vehicle guiding block acquisition module obtains
Sail path clustering vehicle and travel the stretch footpath along selected driving path；Circulator, for being repeated in operation institute
Vehicle guiding block acquisition device and travel controlling system are stated, until vehicle is driven to up to the terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972375.3A CN108007471B (en) | 2016-10-28 | 2016-10-28 | Vehicle guide block acquisition method and device and automatic driving method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972375.3A CN108007471B (en) | 2016-10-28 | 2016-10-28 | Vehicle guide block acquisition method and device and automatic driving method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108007471A true CN108007471A (en) | 2018-05-08 |
| CN108007471B CN108007471B (en) | 2021-06-29 |
Family
ID=62048546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610972375.3A Active CN108007471B (en) | 2016-10-28 | 2016-10-28 | Vehicle guide block acquisition method and device and automatic driving method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108007471B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186616A (en) * | 2018-09-20 | 2019-01-11 | 禾多科技（北京）有限公司 | Lane line assisted location method based on high-precision map and scene search |
| CN109410301A (en) * | 2018-10-16 | 2019-03-01 | 张亮 | High-precision semanteme map production method towards pilotless automobile |
| CN109974739A (en) * | 2019-04-15 | 2019-07-05 | 西安交通大学 | Global navigation system and guidance information generation method based on high-precision map |
| CN110530392A (en) * | 2019-09-29 | 2019-12-03 | 武汉中海庭数据技术有限公司 | A kind of paths planning method and device combined based on traditional map and high-precision map |
| CN111060123A (en) * | 2019-06-13 | 2020-04-24 | 广东星舆科技有限公司 | Method and system for realizing lane-level navigation based on common map |
| CN111426330A (en) * | 2020-03-24 | 2020-07-17 | 江苏徐工工程机械研究院有限公司 | Path generation method and device, unmanned transportation system and storage medium |
| CN112504286A (en) * | 2020-11-14 | 2021-03-16 | 武汉中海庭数据技术有限公司 | Path planning method and system based on guideline layer, server and medium |
| CN112985445A (en) * | 2021-04-20 | 2021-06-18 | 速度时空信息科技股份有限公司 | Lane-level precision real-time motion planning method based on high-precision map |
| WO2022193584A1 (en) * | 2021-03-15 | 2022-09-22 | 西安交通大学 | Multi-scenario-oriented autonomous driving planning method and system |
| WO2023088486A1 (en) * | 2021-11-22 | 2023-05-25 | 中国第一汽车股份有限公司 | Lane line extraction method and apparatus, vehicle and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175254A (en) * | 2011-01-13 | 2011-09-07 | 北京超图软件股份有限公司 | Navigation positioning correction method and device, and positioning navigation system |
| WO2012118207A1 (en) * | 2011-03-03 | 2012-09-07 | 株式会社豊田中央研究所 | Local map generation device, local map generation system, global map generation device, global map generation system, and program |
| CN103456185A (en) * | 2013-08-27 | 2013-12-18 | 李德毅 | Relay navigation method for intelligent vehicle running in urban road |
| CN104101353A (en) * | 2013-04-15 | 2014-10-15 | 北京四维图新科技股份有限公司 | Navigation method, navigation apparatus and real-time navigation system |
| CN105043403A (en) * | 2015-08-13 | 2015-11-11 | 武汉光庭信息技术有限公司 | High precision map path planning system and method |
| CN105683019A (en) * | 2013-08-22 | 2016-06-15 | 英特尔公司 | Locality adapted computerized assisted or autonomous driving of vehicles |
| CN105675000A (en) * | 2016-01-15 | 2016-06-15 | 武汉光庭信息技术股份有限公司 | Lane-level path planning method and system based on high precision map |
| CN105783936A (en) * | 2016-03-08 | 2016-07-20 | 武汉光庭信息技术股份有限公司 | Road sign drawing and vehicle positioning method and system for automatic drive |
-
2016
- 2016-10-28 CN CN201610972375.3A patent/CN108007471B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175254A (en) * | 2011-01-13 | 2011-09-07 | 北京超图软件股份有限公司 | Navigation positioning correction method and device, and positioning navigation system |
| WO2012118207A1 (en) * | 2011-03-03 | 2012-09-07 | 株式会社豊田中央研究所 | Local map generation device, local map generation system, global map generation device, global map generation system, and program |
| CN104101353A (en) * | 2013-04-15 | 2014-10-15 | 北京四维图新科技股份有限公司 | Navigation method, navigation apparatus and real-time navigation system |
| CN105683019A (en) * | 2013-08-22 | 2016-06-15 | 英特尔公司 | Locality adapted computerized assisted or autonomous driving of vehicles |
| CN103456185A (en) * | 2013-08-27 | 2013-12-18 | 李德毅 | Relay navigation method for intelligent vehicle running in urban road |
| CN105043403A (en) * | 2015-08-13 | 2015-11-11 | 武汉光庭信息技术有限公司 | High precision map path planning system and method |
| CN105675000A (en) * | 2016-01-15 | 2016-06-15 | 武汉光庭信息技术股份有限公司 | Lane-level path planning method and system based on high precision map |
| CN105783936A (en) * | 2016-03-08 | 2016-07-20 | 武汉光庭信息技术股份有限公司 | Road sign drawing and vehicle positioning method and system for automatic drive |
Non-Patent Citations (2)
| Title |
|---|
| E. ONIEVAU. HERNANDEZ-JAYOE. OSABAA. PERALLOSX. ZHANG: "A multi-objective evolutionary algorithm for the tuning of fuzzy rule bases for uncoordinated intersections in autonomous driving", 《INFORMATION SCIENCES》 * |
| 邓子豪: "无人驾驶智能车导航系统的研究与实现", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186616A (en) * | 2018-09-20 | 2019-01-11 | 禾多科技（北京）有限公司 | Lane line assisted location method based on high-precision map and scene search |
| CN109410301A (en) * | 2018-10-16 | 2019-03-01 | 张亮 | High-precision semanteme map production method towards pilotless automobile |
| CN109974739A (en) * | 2019-04-15 | 2019-07-05 | 西安交通大学 | Global navigation system and guidance information generation method based on high-precision map |
| CN111060123A (en) * | 2019-06-13 | 2020-04-24 | 广东星舆科技有限公司 | Method and system for realizing lane-level navigation based on common map |
| CN110530392A (en) * | 2019-09-29 | 2019-12-03 | 武汉中海庭数据技术有限公司 | A kind of paths planning method and device combined based on traditional map and high-precision map |
| CN110530392B (en) * | 2019-09-29 | 2021-10-08 | 武汉中海庭数据技术有限公司 | Path planning method and device based on combination of traditional map and high-precision map |
| CN111426330A (en) * | 2020-03-24 | 2020-07-17 | 江苏徐工工程机械研究院有限公司 | Path generation method and device, unmanned transportation system and storage medium |
| CN111426330B (en) * | 2020-03-24 | 2022-03-15 | 江苏徐工工程机械研究院有限公司 | Path generation method and device, unmanned transportation system and storage medium |
| CN112504286A (en) * | 2020-11-14 | 2021-03-16 | 武汉中海庭数据技术有限公司 | Path planning method and system based on guideline layer, server and medium |
| WO2022193584A1 (en) * | 2021-03-15 | 2022-09-22 | 西安交通大学 | Multi-scenario-oriented autonomous driving planning method and system |
| CN112985445A (en) * | 2021-04-20 | 2021-06-18 | 速度时空信息科技股份有限公司 | Lane-level precision real-time motion planning method based on high-precision map |
| WO2023088486A1 (en) * | 2021-11-22 | 2023-05-25 | 中国第一汽车股份有限公司 | Lane line extraction method and apparatus, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108007471B (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108007471A (en) | Vehicle guides block acquisition methods and device and automatic Pilot method and system | |
| CN104011779B (en) | For determining the method and system with the relevant information of operation of traffic control signal | |
| JP6769892B2 (en) | Navigation device, route search server, and route search method | |
| CN109767646B (en) | Parking method and device | |
| US20160138924A1 (en) | Vehicle autonomous traveling system, and vehicle traveling method using the same | |
| CN110132279B (en) | Testing method and device for local path planning | |
| JP2013149154A (en) | Driving model creating device and driving model creating method, drive evaluating device and drive evaluating method, and drive support system | |
| CN101346602B (en) | Vehicle positioning information update device | |
| JP5867524B2 (en) | Driving evaluation device, driving evaluation method, and driving support system | |
| JP6720066B2 (en) | Guide route setting device and guide route setting method | |
| TWI593619B (en) | Trolley system and trolley system control methods | |
| CN106441312A (en) | Guiding line generation method and guiding line generation device | |
| RU2237589C1 (en) | Method of selection of most economical conditions of train movement on definite section of way | |
| CN109923375A (en) | Road determining device and vehicle control system | |
| CN109804419A (en) | For running the method and motor vehicle of semi-autonomous or autonomous motor vehicle | |
| JP2019082846A (en) | Cooperative work system | |
| CN107092257A (en) | A kind of vehicle control syetem of AGV dollies | |
| CN113449974A (en) | Intelligent inspection method, system and storage medium for environmental sanitation operation state | |
| CN105651290A (en) | Navigation engine rapid route re-planning method | |
| CN106183969A (en) | The control method of a kind of running steering lamp and device | |
| KR102671687B1 (en) | Method and apparatus for estimating the driving distance of a vehicle | |
| CN108973681A (en) | Controller of vehicle | |
| US20190227552A1 (en) | Vehicle control device | |
| CN103175531B (en) | Navigation data update method, device and navigator | |
| CN110081899A (en) | A kind of high-precision electronic map road conditions display methods and device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |