CN109000678A - Drive assistance device and method based on high-precision map - Google Patents
Drive assistance device and method based on high-precision map Download PDFInfo
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- CN109000678A CN109000678A CN201810971656.6A CN201810971656A CN109000678A CN 109000678 A CN109000678 A CN 109000678A CN 201810971656 A CN201810971656 A CN 201810971656A CN 109000678 A CN109000678 A CN 109000678A
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- precision map
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000284 extract Substances 0.000 claims abstract description 7
- 238000013507 mapping Methods 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 6
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 3
- 239000011800 void material Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000036316 preload Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
Abstract
The invention discloses a kind of drive assistance device and method based on high-precision map, method include loading basic geography information and establishing high-precision map；Vehicle is matched in the current location of high-precision map by locating module；Lane information between the target position that high-precision map obtains current location and drafts；Lane where at least extracting vehicle according to lane information and the lane sideline of adjacent lane, lane sideline includes phantom line segments and/or real segment；Dividing lane according to dotted line end and/or real segment is at least one the driving grid region for including different lane change rules；According to the combination of drive a vehicle a grid region or at least two driving grid regions, driving path of the vehicle between current location and target position is planned.The present invention can extract the lane information in lane sideline in high-precision map and carry out grid division according to region of the lane information to difference lane change rule involved by lane, provide effective reference for the driving path of vehicle.
Description
Technical field
The present invention relates to active safety and automatic Pilot fields, in particular to a kind of driving based on high-precision map
Sail auxiliary device and method.
Background technique
Automated driving system provides reference using lane grade topological network for driving strategy.And lane sideline longer in lane
There are under the complex road conditions such as dotted line and solid line alternating, vehicle is difficult to carry out effective decision-making according to lane grade topological network merely.
Summary of the invention
The embodiment of the present invention at least provides a kind of driving assistance method based on high-precision map, is able to solve the prior art
Middle vehicle is difficult to the problem of carrying out effective decision-making according to lane grade topological network under complex road condition.
The specific implementation of above-described embodiment, as described below.
The described method includes:
It loads basic geography information and establishes high-precision map；
Vehicle is matched in the current location of the high-precision map by locating module；
The lane information between the current location and the target position drafted is obtained in the high-precision map；
Lane where at least extracting vehicle according to the lane information and the lane sideline of adjacent lane, the lane sideline
Including phantom line segments and/or real segment；
Dividing lane according to the dotted line end and/or real segment is at least one the driving grid for including different lane change rules
Region；
According to the combination of a driving grid region or at least two driving grid regions, plan vehicle in institute
State the driving path between current location and the target position.
Preferred version is that the driving grid region, which is configured to left side, allows lane change region or right side to permit in the present embodiment
Perhaps lane change region or two sides allow lane change region or two sides to forbid lane change region.
Preferred version is in the present embodiment, and described to divide lane according to the dotted line end and/or real segment be to include
At least one driving grid region of different lane change rules, comprising:
Any one lane sideline is extracted in real segment and the lane change endpoint of phantom line segments link position；
The lane change endpoint vertically connect other adjacent with lane change endpoint place lane sideline by extending line
Lane sideline；
It is made up of in any lane two adjacent parts for extending line and two lanes sideline of front and back
The driving grid region simultaneously determines lane change rule according to two lanes sideline that the driving grid region includes.
Preferred version is that the two lanes sideline for including is true according to the driving grid region in the present embodiment
Determine lane change rule, is configured that
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is phantom line segments and right side is reality
After line segment, determine that the lane change rule of the driving grid region is that left side allows lane change；Alternatively,
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is real segment and right side is reality
After line segment, determine that the lane change rule of the driving grid region is that lane change is forbidden in two sides；Alternatively,
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is real segment and right side is void
After line segment, determine that the lane change rule of the driving grid region is that right side allows lane change；Alternatively,
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is phantom line segments and right side is void
After line segment, determine that the lane change rule of the driving grid region is that two sides allow lane change.
Preferred version is in the present embodiment, described according to a driving grid region or at least two rows
Driving path of the vehicle between the current location and the target position is planned in the combination of vehicle grid region, comprising:
Vector center line is configured according to driving direction in the driving grid region；
The vector center of the adjacent driving grid region of any two is connected by vector lane change line according to lane change rule
Line；
The combination of the sequentially connected vector center line and vector lane change line constitutes drive route；
The drive route that Optimum Matching is selected according to the current location and the target position is driving path.
Preferred version is in the present embodiment, described according to a driving grid region or at least two rows
Driving path of the vehicle between the current location and the target position is planned in the combination of vehicle grid region, comprising:
As center region and all driving grid around the central field are obtained using the driving grid region where vehicle
Lattice region is peripheral domain, is constructed in real time according to the combination in the central field and peripheral domain and drives domain；
The traffic element in the driving domain is acquired by camera；
Vehicle is real-time according to the driving domain and the traffic element between the current location and the target position
Update driving path.
The embodiment of the present invention separately discloses a kind of drive assistance device based on high-precision map, and described device includes:
Server-side loads basic geography information and establishes high-precision map；
Vehicle-mounted end, including locating module, grid module and decision-making module；
Locating module determines the actual position of vehicle by locating module and matches vehicle in institute according to the actual position
State the current location of high-precision map；
Grid module obtains the lane information between the current location and the target position drafted, according to the lane
Lane where information at least extracts vehicle and the lane sideline of adjacent lane, the lane sideline includes phantom line segments and/or solid line
Section, dividing lane according to the dotted line end and/or real segment is at least one the driving grid region for including different lane change rules；
Decision-making module, according to the lane change rule of the driving grid region, planning vehicle is in the current location and described
Driving path between target position.
The embodiment of the present invention separately discloses a kind of driving assistance method based on high-precision map, which comprises
It loads basic geography information and establishes high-precision map；
The lane information of road is extracted in the high-precision map；
The lane sideline of any lane and adjacent lane, the lane sideline packet are at least extracted according to the lane information
Include phantom line segments and/or real segment；
Dividing lane according to the dotted line end and/or real segment is at least one the driving grid for including different lane change rules
Region；
According to the combination of a driving grid region or at least two driving grid regions, driving for vehicle is planned
Sail path.
The embodiment of the present invention separately discloses a kind of drive assistance device based on high-precision map, and described device includes:
Server-side and vehicle-mounted end；
The server-side includes mapping module and grid module；
Mapping module loads basic geography information and establishes high-precision map；
Grid module extracts the lane information of road in the high-precision map；It is at least extracted according to the lane information
Any lane and the lane sideline of adjacent lane, the lane sideline includes phantom line segments and/or real segment；According to the dotted line
It is at least one the driving grid region for including different lane change rules that end and/or real segment, which divide lane,；
Vehicle-mounted end, according to the combination of a driving grid region or at least two driving grid regions, planning
The driving path of vehicle.
Preferred version is that the vehicle-mounted end includes display module in the present embodiment, and the display module is advised according to lane change
Then mark the color of the driving grid region and display.
For above scheme, the present invention is by being referring to the drawings described in detail disclosed exemplary embodiment, also
The other feature and its advantage for making the embodiment of the present invention understand.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart of embodiment one；
Fig. 2 is the flow chart of embodiment two.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
Embodiment one
The present embodiment discloses a kind of driving assistance method based on high-precision map, can extract vehicle in high-precision map
The lane information in road sideline simultaneously carries out grid division according to region of the lane information to difference lane change rule involved by lane, is vehicle
Driving path provide effectively reference.
In order to realize that said effect, the method for the present embodiment include:
Step100, basic geography information is loaded in the mapping module of GIS-Geographic Information System, establishing includes lane information
High-precision map.
Step200, the actual position that vehicle is determined by the absolute fix information of vehicle GPS, and existed according to actual position
The current location of vehicle is matched in high-precision map.
Step300, draft vehicle behind the target position reached in high-precision map extract vehicle current location and
All form point information between target position.
Step400, linear fit form point information generate the lane sideline of lane and adjacent lane, and lane sideline is generally wrapped
Include phantom line segments and real segment.
Step500, the driving grid that lane is different lane change rules is divided according to the dotted line end in lane sideline and real segment
Region, lane change rule, which can be left side, allows lane change region or right side that lane change region or two sides is allowed to allow lane change region or two sides
Forbid lane change region.
Step510, lane sideline is extracted in real segment and the lane change endpoint of phantom line segments link position；
Step520, lane change endpoint vertically connect other adjacent lane sidelines by extending line in two sides respectively；
Step530, pass through two adjacent extension lines of front and back and the parts composition in two lanes sideline in lane
The driving grid region of rectangle or irregular quadrilateral (generally on bend)；Further according to this rectangle or trapeziform
Two sides side, i.e. two lanes sideline come determine lane change rule, it is specific as follows:
The lane sideline in the lane sideline that identification driving grid region is located at left side being phantom line segments and right side is real segment
Afterwards, the lane change rule for determining driving grid region is that left side allows lane change；Alternatively,
The lane sideline in the lane sideline that identification driving grid region is located at left side being real segment and right side is real segment
Afterwards, the lane change rule for determining driving grid region is that lane change is forbidden in two sides；Alternatively,
The lane sideline in the lane sideline that identification driving grid region is located at left side being real segment and right side is phantom line segments
Afterwards, the lane change rule for determining driving grid region is that right side allows lane change；Alternatively,
The lane sideline in the lane sideline that identification driving grid region is located at left side being phantom line segments and right side is phantom line segments
Afterwards, the lane change rule for determining driving grid region is that two sides allow lane change.
Step600, according to it is multiple driving grid regions combination, plan vehicle between current location and target position
Driving path.
Step610, vector center line established according to driving direction in driving grid region, the direction of vector center line with
The driving direction that lane allows is consistent.
Step620, the adjacent driving grid region of any two is connected by vector lane change line according to lane change rule
Vector center line；I.e. left side allows the driving grid region of lane change and right side to allow between the driving grid region of lane change, then left
Side allows the arrow end of the vector center line of the driving grid region of lane change to connect with the tail portion of vector lane change line, and right side allows
The tail portion connection of the driving grid region vector center line of lane change is connect with the arrow end in vector lane change county.
The combination of Step630, multiple sequentially connected vector center lines and vector lane change line constitute drive route.Here
Drive route is the route for being possibly used for traveling.
Step640, the drive route of Optimum Matching is selected according to the current location and the target position to drive
Sail path；It is most short that Optimum Matching can be distance between current location and target position, and it is minimum to be also possible to lane change.
In addition, to the step Step600 that driving path is planned, it can be in the following ways:
Step610, as center region and all eight are obtained around central field using the driving grid region where vehicle
(front, rear, left and right, front left, rear left, front right, the rear right side) driving grid region is peripheral domain, according to central field and the group in peripheral domain
Close the driving domain that building in real time includes nine grids；
Step620, the traffic element driven in domain is acquired by camera；
Step630, vehicle drive between current location and target position according to driving domain and traffic element real-time update
Path.
The present embodiment separately discloses a kind of drive assistance device based on high-precision map, comprising:
Server-side positioned at cloud and preloads basic geography information and establishes high-precision map；
Vehicle-mounted end, including locating module, grid module and decision-making module；
Locating module determines the actual position of vehicle by locating module and matches vehicle in high-precision according to actual position
The current location of map；
Grid module obtains the lane information between current location and the target position drafted, at least according to lane information
Lane where extracting vehicle and the lane sideline of adjacent lane, lane sideline includes phantom line segments and/or real segment, according to dotted line end
And/or it is at least one the driving grid region for including different lane change rules that real segment, which divides lane,；
Decision-making module plans vehicle between current location and target position according to the lane change rule of driving grid region
Driving path.
Embodiment two
The present embodiment discloses a kind of driving assistance method based on high-precision map, and step includes:
Step100, it preloads basic geography information and establishes high-precision map；
Step200, all lane informations that road is extracted in high-precision map；
Step300, the lane sideline that all lanes are extracted according to lane information, lane sideline include phantom line segments, real segment,
The combination of phantom line segments and real segment；
Step400, according to dotted line end, real segment divide lane be the driving grid region for including different lane change rules；
Step500, vehicle is matched in the current location of high-precision map by locating module, and according to current location, mesh
The driving path of cursor position and driving grid region planning vehicle.
Through the above scheme, the present embodiment is directly to be believed in server-side according to all lanes compared to the difference of embodiment one
Breath, all driving grid regions that direct pre-established road includes.Vehicle-mounted end positioned at vehicle only needs invoking server end
Grid region of driving a vehicle can plan driving path in conjunction with the current location and target position of vehicle.
The present embodiment is in order to realize that the above method separately discloses a kind of drive assistance device based on high-precision map, device packet
It includes:
Server-side and vehicle-mounted end；
Server-side includes mapping module and grid module；
Mapping module loads basic geography information and establishes high-precision map；
Grid module extracts the lane information of road in high-precision map；Any lane is at least extracted according to lane information
And the lane sideline of adjacent lane, lane sideline include phantom line segments and/or real segment；It is drawn according to dotted line end and/or real segment
Divided lane is at least one the driving grid region for including different lane change rules；
Vehicle-mounted end plans driving for vehicle according to the combination of drive a vehicle a grid region or at least two driving grid regions
Sail path.And color and display by display module according to lane change regular marks driving grid region.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of driving assistance method based on high-precision map, which is characterized in that the described method includes:
It loads basic geography information and establishes high-precision map；
Vehicle is matched in the current location of the high-precision map by locating module；
The lane information between the current location and the target position drafted is obtained in the high-precision map；
Lane where at least extracting vehicle according to the lane information and the lane sideline of adjacent lane, the lane sideline includes
Phantom line segments and/or real segment；
Dividing lane according to the dotted line end and/or real segment is at least one the driving grid zone for including different lane change rules
Domain；
According to the combination of a driving grid region or at least two driving grid regions, planning vehicle is worked as described
Driving path between front position and the target position.
2. the driving assistance method as described in claim 1 based on high-precision map, which is characterized in that the driving grid zone
Configuration of territory is that left side allows lane change region or right side to allow lane change region or two sides that lane change region or two sides is allowed to forbid lane change area
Domain.
3. the driving assistance method as described in claim 1 based on high-precision map, which is characterized in that described according to
It is at least one the driving grid region for including different lane change rules that dotted line end and/or real segment, which divide lane, comprising:
Any one lane sideline is extracted in real segment and the lane change endpoint of phantom line segments link position；
The lane change endpoint vertically connects other lanes adjacent with lane sideline where the lane change endpoint by extending line
Sideline；
By described in two adjacent extension lines of front and back and the part composition in two lanes sideline in any lane
Driving grid region simultaneously determines lane change rule according to two lanes sideline that the driving grid region includes.
4. the driving assistance method as claimed in claim 3 based on high-precision map, which is characterized in that
The two lanes sideline for including according to the driving grid region determines lane change rule, is configured that
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is phantom line segments and right side is real segment
Afterwards, the lane change rule for determining the driving grid region is that left side allows lane change；Alternatively,
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is real segment and right side is real segment
Afterwards, the lane change rule for determining the driving grid region is that lane change is forbidden in two sides；Alternatively,
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is real segment and right side is phantom line segments
Afterwards, the lane change rule for determining the driving grid region is that right side allows lane change；Alternatively,
Identifying that the lane sideline that lane sideline that the driving grid region is located at left side is phantom line segments and right side is phantom line segments
Afterwards, the lane change rule for determining the driving grid region is that two sides allow lane change.
5. the driving assistance method as described in claim 1 based on high-precision map, which is characterized in that described according to one
The combination of the driving grid region or at least two driving grid regions, planning vehicle is in the current location and described
Driving path between target position, comprising:
Vector center line is configured according to driving direction in the driving grid region；
The vector center line of the adjacent driving grid region of any two is connected by vector lane change line according to lane change rule；
The combination of the sequentially connected vector center line and vector lane change line constitutes drive route；
The drive route that Optimum Matching is selected according to the current location and the target position is driving path.
6. the driving assistance method as described in claim 1 based on high-precision map, which is characterized in that described according to one
The combination of the driving grid region or at least two driving grid regions, planning vehicle is in the current location and described
Driving path between target position, comprising:
As center region and all driving grid zones around the central field are obtained using the driving grid region where vehicle
Domain is peripheral domain, is constructed in real time according to the combination in the central field and peripheral domain and drives domain；
The traffic element in the driving domain is acquired by camera；
Vehicle is between the current location and the target position, according to the driving domain and the traffic element real-time update
Driving path.
7. a kind of drive assistance device based on high-precision map, which is characterized in that described device includes:
Server-side loads basic geography information and establishes high-precision map；
Vehicle-mounted end, including locating module, grid module and decision-making module；
Locating module determines the actual position of vehicle by locating module and matches vehicle in the height according to the actual position
The current location of precision map；
Grid module obtains the lane information between the current location and the target position drafted, according to the lane information
Lane where at least extracting vehicle and the lane sideline of adjacent lane, the lane sideline includes phantom line segments and/or real segment, root
Dividing lane according to the dotted line end and/or real segment is at least one the driving grid region for including different lane change rules；
Decision-making module plans vehicle in the current location and the target according to the lane change rule of the driving grid region
Driving path between position.
8. a kind of driving assistance method based on high-precision map, which is characterized in that the described method includes:
It loads basic geography information and establishes high-precision map；
The lane information of road is extracted in the high-precision map；
The lane sideline of any lane and adjacent lane is at least extracted according to the lane information, the lane sideline includes void
Line segment and/or real segment；
Dividing lane according to the dotted line end and/or real segment is at least one the driving grid zone for including different lane change rules
Domain；
According to the combination of a driving grid region or at least two driving grid regions, the driving road of vehicle is planned
Diameter.
9. a kind of drive assistance device based on high-precision map, which is characterized in that described device includes:
Server-side and vehicle-mounted end；
The server-side includes mapping module and grid module；
Mapping module loads basic geography information and establishes high-precision map；
Grid module extracts the lane information of road in the high-precision map；It is at least extracted according to the lane information any
Lane and the lane sideline of adjacent lane, the lane sideline include phantom line segments and/or real segment；According to the dotted line end
And/or it is at least one the driving grid region for including different lane change rules that real segment, which divides lane,；
Vehicle-mounted end plans vehicle according to the combination of a driving grid region or at least two driving grid regions
Driving path.
10. the drive assistance device as claimed in claim 9 based on high-precision map, which is characterized in that
The vehicle-mounted end includes display module, and the display module is driven a vehicle the color of grid region according to lane change regular marks
And it shows.
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| CN110544376A (en) * | 2019-08-19 | 2019-12-06 | 杭州博信智联科技有限公司 | automatic driving assistance method and device |
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| CN113066150A (en) * | 2020-01-02 | 2021-07-02 | 沈阳美行科技有限公司 | Map data processing method, device, equipment and storage medium |
| CN113178025A (en) * | 2021-05-14 | 2021-07-27 | 南京领行科技股份有限公司 | Vehicle lane change detection method and device, electronic equipment and storage medium |
| CN114355909A (en) * | 2021-12-22 | 2022-04-15 | 的卢技术有限公司 | Path planning method and device, computer equipment and storage medium |
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Denomination of invention: Driving assistance device and method based on high-precision maps Granted publication date: 20201117 Pledgee: Productivity Promotion Center of Wuhan East Lake New Technology Development Zone Pledgor: WUHHAN KOTEL BIG DATE Corp. Registration number: Y2024980005100 |