CN109147317A - Automatic Pilot navigation system, method and device based on bus or train route collaboration - Google Patents
Automatic Pilot navigation system, method and device based on bus or train route collaboration Download PDFInfo
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- CN109147317A CN109147317A CN201810847897.XA CN201810847897A CN109147317A CN 109147317 A CN109147317 A CN 109147317A CN 201810847897 A CN201810847897 A CN 201810847897A CN 109147317 A CN109147317 A CN 109147317A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention is applicable in electronic information technical field, provide a kind of automatic Pilot navigation system based on bus or train route collaboration, method and device, the system includes: object detection apparatus, central control server and roadbed facility, the present invention controls object detection apparatus and emits target acquisition ray, to be detected to the target object in road, when detecting target object, calculate the relative position of target object and object detection apparatus, it is again that the relative position and roadbed GPS information is superimposed, obtain the target GPS information of target object, and target GPS information is sent to central control server, the target GPS information received is labeled and is refreshed on navigation map by control centre's control server, to be navigated by the navigation map after marking and refreshing to automatic driving vehicle, it is driven automatically to reduce erection The cost of navigation system or vehicle is sailed, and improves the coverage area and accuracy of navigation map, and then improves the safety of automatic driving vehicle traveling.
Description
Technical field
The invention belongs to electronic information technical fields more particularly to a kind of automatic Pilot based on bus or train route collaboration to navigate and be
System, method and device.
Background technique
With the development of computer science and robot technology, automatic driving vehicle is in military, civilian and scientific research etc.
All various aspects are widely used, it has concentrated structure, electronics, cybernetics and artificial intelligence etc. multi-disciplinary newest
Research achievement has broad application prospects.American Institute of Electrical and Electronics Engineers (IEEE) prediction, until the year two thousand forty drives automatically
The ratio for sailing driving vehicle shared by vehicle is up to 75%.
In traditional intelligent driving technology, automatic driving vehicle need to be equipped with a large amount of sensor such as camera, laser thunder
It reaches, GPS, inertance element etc., then figure, positioning and Target Recognition Algorithms is built by complicated, identify the mould that the mankind are understood that
Formula, the rule for being then based on mankind's driving such as make turning, braking, accelerate, evade pedestrian, observe traffic rules and regulations at the suitable control
Movement.However high-dimensional status information and huge computing cost, so that existing multi-information fusion vehicle is extremely expensive.
Therefore, it is communicated based on bus or train route and is come into being with the bus or train route coordination technique of truck traffic technology, bus or train route communication
(Vehicle to Infrastructure, V2I) i.e. vehicle-mounted end equipment (On Board Unit, OBU) and trackside end equipment
Communication between (Road Side Unit, RSU), be usually used in bus or train route information collection (uplink), traffic information broadcast (downlink), with
And the communication relay between vehicle and vehicle, truck traffic (Vehicle to Vehicle, V2V) include vehicle and vehicle and vehicle with
Information exchange between pedestrian, also referred to as vehicular ad hoc network (Vehicular Ad-hoc Network, VANET).Currently, being based on
The intelligent transportation system (Intelligent Transport System, ITS) of bus or train route coordination technique on road basis by setting
Apply the placement devices such as wireless transmission, to vehicle broadcasting geo information and traffic mark, the high-precision map of building also by
Road semantic information is marked, gives vehicle more perception informations.However, such method can only provide such as terrain vehicle diatom, hand over
Traffic static information, the traffic dynamic informations such as logical mark, traffic lights can only be obtained by vehicle sensors, and intelligence is caused to be driven automatically
It sails vehicle to still need to be equipped with expensive awareness apparatus, just can be carried out target detection and dynamic obstacle avoidance.
Summary of the invention
The purpose of the present invention is to provide a kind of automatic Pilot navigation system based on bus or train route collaboration, method and device, purports
It is solving that a kind of effective automatic Pilot air navigation aid can not be provided due to the prior art, automatic Pilot navigation system is caused to set up
Cost or vehicle configuration is at high cost and the inaccurate problem of navigation map that provides.
On the one hand, the present invention provides it is a kind of based on bus or train route collaboration automatic Pilot navigation system, the system comprises:
Object detection apparatus for detecting to the target object in road, and obtains the target of the target object
GPS information；
The central control server being connect with the object detection apparatus, the institute of the target object for will acquire
It states target GPS information to be labeled on the navigation map constructed in advance and dynamic refresh, after through the mark and refreshing
Navigation map navigate to automatic driving vehicle；And
Roadbed facility is placed in the both sides of the road, for fixing the object detection apparatus.
On the other hand, the present invention provides a kind of automatic Pilots of above-mentioned automatic Pilot navigation system based on bus or train route collaboration
Air navigation aid, the method includes the following steps:
The object detection apparatus transmitting target acquisition ray is controlled, by the target acquisition ray in the road
The target object detected；
When detecting the target object, controls the object detection apparatus and calculate the target object and the target
The relative position of detection device；
The road for the roadbed facility that object detection apparatus obtain depending on that relative position and in advance, described is fixed
Base GPS information controls the target GPS information that the object detection apparatus calculates the target object, and the institute that will be calculated
It states target GPS information and is sent to the central control server connecting with the object detection apparatus；
The central control server is controlled by the target GPS information of the target object received in preparatory structure
Be labeled on the navigation map built and dynamic refresh, with by the navigation map after the mark and refreshing to automatic Pilot vehicle
It navigates.
On the other hand, the present invention provides a kind of automatic Pilots of above-mentioned automatic Pilot navigation system based on bus or train route collaboration
Navigation device, described device include:
Target object probe unit passes through the mesh for controlling the object detection apparatus transmitting target acquisition ray
Mark detected ray detects the target object in the road；
Relative position computing unit is calculated for when detecting the target object, controlling the object detection apparatus
The relative position of the target object and the object detection apparatus；
GPS information computing unit is consolidated for object detection apparatus obtain depending on that relative position and in advance, described
The roadbed GPS information of the fixed roadbed facility controls the target GPS letter that the object detection apparatus calculates the target object
Breath, and the target GPS information being calculated is sent to the center control clothes connecting with the object detection apparatus
Business device；And
Map label refresh unit, for controlling the central control server for the institute of the target object received
It states target GPS information to be labeled on the navigation map constructed in advance and dynamic refresh, after through the mark and refreshing
Navigation map navigate to automatic driving vehicle.
The present invention provides a kind of automatic Pilot navigation system based on bus or train route collaboration, which includes for in road
The target object object detection apparatus detected, the central control server that is connect with object detection apparatus and for solid
Set the goal the roadbed facility of detection device, and the present invention controls object detection apparatus and emits target acquisition ray, in road
Target object is detected, and when detecting target object, calculates the relative position of target object and object detection apparatus, then will
The relative position and roadbed GPS information are superimposed, obtain the target GPS information of the target object, and the target GPS information is sent out
The central control server connecting with object detection apparatus is given, control centre's control server believes the target GPS received
Breath is labeled and refreshes on navigation map, to be led by the navigation map after marking and refreshing to automatic driving vehicle
Boat to reduce the cost for setting up automatic Pilot navigation system or vehicle, and improves the coverage area of navigation map and accurate
Degree, and then improve the safety of automatic driving vehicle traveling.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the automatic Pilot navigation system based on bus or train route collaboration that the embodiment of the present invention one provides；
Fig. 2 is the implementation flow chart of the automatic Pilot air navigation aid provided by Embodiment 2 of the present invention based on bus or train route collaboration；
Fig. 3 is the structural schematic diagram for the automatic Pilot navigation device based on bus or train route collaboration that the embodiment of the present invention three provides；
And
Fig. 4 is the preferred structure signal for the automatic Pilot navigation device based on bus or train route collaboration that the embodiment of the present invention three provides
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Specific implementation of the invention is described in detail below in conjunction with specific embodiment:
Embodiment one:
Fig. 1 shows the structure of the automatic Pilot navigation system based on bus or train route collaboration of the offer of the embodiment of the present invention one, is
Convenient for explanation, only parts related to embodiments of the present invention are shown.
The embodiment of the invention provides a kind of automatic Pilot navigation system 1 based on bus or train route collaboration, should be cooperateed with based on bus or train route
Automatic Pilot navigation system 1 include roadbed facility 11, object detection apparatus 12 and central control server 13, in which:
Roadbed facility 11 is placed in both sides of the road, for fixing object detection apparatus 12, both sides of the road can have been set up
Street lamp as roadbed facility 11, can also be in both sides of the road again erection shaft tower as roadbed facility 11.Object detection apparatus
12, for detecting to the target object in road, and the target GPS information of target object is obtained, target object can be
Pedestrian, barrier or vehicle etc..Central control server 13 is connected with object detection apparatus 12 by internet, and being used for will
The target GPS information of the target object got is labeled on the navigation map constructed in advance and dynamic refresh, to pass through
Navigation map after mark and refreshing navigates to automatic driving vehicle of the traveling in the road.
Preferably, object detection apparatus 12 is made of a kind of detector of same type, or by a variety of different types of spies
Device mixing composition is surveyed, for example, object detection apparatus 12 can be made of infrared opposite-radiation detector, it can also be by infrared opposite-radiation
Detector, vibration wireline detector, fiber grating detector, laser opposite-radiation detector, microwave correlative detector, phased array radar
The mixing such as array composition.Every kind of detector is all made of transmitting terminal transmitter (T) and receiving end receiver (R), transmitting
End and receiving end are fixedly mounted on face-to-face on roadbed facility 11, the region of a detection are formed, thus according to different detectors
Investigative range and detectivity, improve object detection apparatus 12 anti-interference ability, and then improve to object in road
The detection success of body.
In embodiments of the present invention, as long as the measurement distance of detector is at 20 meters or so, and measurement accuracy is in a centimetre rank,
It just can be used as the object detection apparatus 12 for setting up automatic Pilot navigation system 1, so that the cost of object detection apparatus 12 is reduced, into
And reduce the cost for setting up automatic Pilot navigation system 1.
It is further preferred that the hybrid mode transmitting target acquisition that object detection apparatus 12 is penetrated using direct projection with cross-pair is penetrated
Line, to be detected to the target object in road, to improve the investigative range of target acquisition ray and covering for road blind area
Lid range, and then further increase the detection success to target object in road.
It is another preferably, the height that object detection apparatus 12 is fixed on roadbed facility 11 is at least up to automatic driving vehicle
The height on chassis, to improve the detection success to target object in road.
In embodiments of the present invention, it is preferable that according to every lane in the detection range of object detection apparatus 12, road
Lane width is configured the roadbed distance each roadbed facility 11, so that the erection rationality of roadbed facility 11 is improved,
And then reduce the cost for setting up roadbed facility 11.
It is further preferred that according to the lane width and roadbed in lane where the vehicle width of vehicle, vehicle in road
Roadbed distance between facility 11 is configured the beam number for the target acquisition ray that object detection apparatus 12 emits, thus
The investigative range of target acquisition ray and the coverage area of road blind area are improved, and then improves the detection success to vehicle in road
Degree.
The embodiment of the invention provides it is a kind of based on bus or train route collaboration automatic Pilot navigation system, the system include for pair
Object detection apparatus that target object in road is detected, the central control server being connect with object detection apparatus and
For fixing the roadbed facility of object detection apparatus, the present invention controls object detection apparatus and emits target acquisition ray, to road
Target object in road is detected, and when detecting target object, calculates the opposite position of target object and object detection apparatus
It sets, then the relative position and roadbed GPS information is superimposed, obtains the target GPS information of target object, and by target GPS
Information is sent to the central control server connecting with object detection apparatus, the target that control centre's control server will receive
GPS information is labeled and refreshes on navigation map, with the navigation map by mark and after refreshing to automatic driving vehicle
It navigates, to reduce the cost for setting up automatic Pilot navigation system or vehicle, and improves the coverage area of navigation map
And accuracy, and then improve the safety of automatic driving vehicle traveling.
Embodiment two:
Fig. 2 shows the realization streams of the automatic Pilot air navigation aid provided by Embodiment 2 of the present invention based on bus or train route collaboration
Journey should be led based on the automatic Pilot based on bus or train route collaboration of the automatic Pilot air navigation aid that bus or train route cooperates with suitable for embodiment one
Boat system, for ease of description, only parts related to embodiments of the present invention are shown, and details are as follows:
In step s 201, control object detection apparatus emits target acquisition ray, by target acquisition ray to road
In target object detected.
Automatic Pilot navigation system based on bus or train route collaboration of the embodiment of the present invention suitable for embodiment one, the system packet
Roadbed facility, object detection apparatus and central control server are included, roadbed facility is placed in both sides of the road, for fixing target
Detection device, object detection apparatus obtain the target GPS letter of target object for detecting to the target object in road
Breath, central control server are connected with object detection apparatus by internet, the target of the target object for will acquire
GPS information is labeled on the navigation map constructed in advance and dynamic refresh, with the navigation map by mark and after refreshing
It navigates to automatic driving vehicle of the traveling in the road.
In embodiments of the present invention, control object detection apparatus emits target acquisition ray, passes through target acquisition ray pair
Target object in road is detected, wherein and target acquisition ray is the ray of the generations such as laser, infrared, microwave, radar,
Target object in road is pedestrian, barrier or vehicle etc..
When controlling object detection apparatus transmitting target acquisition ray, it is preferable that the mixing penetrated according to direct projection and cross-pair
Mode, control object detection apparatus emit target acquisition ray, are detected by target acquisition ray to target object, thus
The investigative range of target acquisition ray and the coverage area of road blind area are improved, and then is further increased to target object in road
Detection success.
In step S202, when detecting target object, control object detection apparatus calculates target object and target is examined
The relative position of measurement equipment.
In embodiments of the present invention, the opposite position of target object and object detection apparatus is calculated in control object detection apparatus
When setting, it is preferable that when object detection apparatus detects target object, control object detection apparatus receives target object to target
The reflection signal of detected ray receives the receiving time of reflection signal according to object detection apparatus and object detection apparatus emits
The launch time of target acquisition ray calculates the distance between target object and object detection apparatus by object detection apparatus,
And the relative angle between target object and object detection apparatus is determined according to the angle of target acquisition ray, further according to distance and
Relative angle determines the relative position of target object and object detection apparatus, to improve between target object and object detection apparatus
The accuracy of relative position.
In step S203, roadbed facility obtain depending on the relative position and in advance, that object detection apparatus is fixed
Roadbed GPS information, control object detection apparatus calculates the target GPS information of target object, and the target GPS being calculated is believed
Breath is sent to the central control server connecting with object detection apparatus.
In embodiments of the present invention, according to the relative position of the target object and object detection apparatus that are calculated, and
The roadbed GPS information of each roadbed facility got when setting up roadbed facility, by object detection apparatus by the relative position and
The roadbed GPS information for the roadbed facility that object detection apparatus is fixed is superimposed, obtains the target GPS information (example of target object
Such as, latitude, longitude locating for target object), and the target GPS information is sent to the center control connecting with object detection apparatus
Control server.
In step S204, control centre's control server is by the target GPS information of the target object received preparatory
It is labeled on the navigation map of building and dynamic refresh, with the navigation map by mark and after refreshing to automatic driving vehicle
It navigates.
In embodiments of the present invention, the target GPS information of the target object received is existed by central control server
It is labeled on the navigation map constructed in advance and dynamic refresh, with the navigation map by mark and after refreshing to traveling in road
Automatic driving vehicle in road navigates.
As illustratively, it is based on Baidu map, according to the api interface that Baidu map provides, using softwares such as drainage softwares
It is labeled in Baidu map according to the GPS information of target object, and refreshes the Baidu map, to pass through the Baidu after refreshing
Map navigates to the automatic driving vehicle of traveling in the road.
In embodiments of the present invention, control object detection apparatus emits target acquisition ray, to the object in road
Body is detected, and when detecting target object, calculates the relative position of target object and object detection apparatus, then this is opposite
Position and roadbed GPS information are superimposed, obtain the target GPS information of the target object, and by the target GPS information be sent to
The central control server of object detection apparatus connection, control centre's control server are leading the target GPS information received
It is labeled and refreshes on boat map, to be navigated by the navigation map after marking and refreshing to automatic driving vehicle, from
And the cost for setting up automatic Pilot navigation system or vehicle is reduced, and improve the coverage area and accuracy of navigation map, into
And improve the safety of automatic driving vehicle traveling.
Embodiment three:
Fig. 3 shows the structure of the automatic Pilot navigation device based on bus or train route collaboration of the offer of the embodiment of the present invention three, should
Automatic Pilot based on bus or train route collaboration of the automatic Pilot navigation device based on bus or train route collaboration suitable for embodiment one, which navigates, is
System, for ease of description, only parts related to embodiments of the present invention are shown, including:
Target object probe unit 31 passes through target acquisition for controlling object detection apparatus transmitting target acquisition ray
Ray detects the target object in road.
Automatic Pilot navigation system based on bus or train route collaboration of the embodiment of the present invention suitable for embodiment one, the system packet
Roadbed facility, object detection apparatus and central control server are included, roadbed facility is placed in both sides of the road, for fixing target
Detection device, object detection apparatus obtain the target GPS letter of target object for detecting to the target object in road
Breath, central control server are connected with object detection apparatus by internet, the target of the target object for will acquire
GPS information is labeled on the navigation map constructed in advance and dynamic refresh, with the navigation map by mark and after refreshing
It navigates to automatic driving vehicle of the traveling in the road.
In embodiments of the present invention, control object detection apparatus emits target acquisition ray, passes through target acquisition ray pair
Target object in road is detected, wherein and target acquisition ray is the ray of the generations such as laser, infrared, microwave, radar,
Target object in road is pedestrian, barrier or vehicle etc..
Relative position computing unit 32, for when detecting target object, control object detection apparatus to calculate object
The relative position of body and object detection apparatus.
In embodiments of the present invention, the opposite position of target object and object detection apparatus is calculated in control object detection apparatus
When setting, it is preferable that when object detection apparatus detects target object, control object detection apparatus receives target object to target
The reflection signal of detected ray receives the receiving time of reflection signal according to object detection apparatus and object detection apparatus emits
The launch time of target acquisition ray calculates the distance between target object and object detection apparatus by object detection apparatus,
And the relative angle between target object and object detection apparatus is determined according to the angle of target acquisition ray, further according to distance and
Relative angle determines the relative position of target object and object detection apparatus, to improve between target object and object detection apparatus
The accuracy of relative position.
GPS information computing unit 33, for the road obtaining depending on the relative position and in advance, object detection apparatus is fixed
The roadbed GPS information of base facility, control object detection apparatus calculate the target GPS information of target object, and will be calculated
Target GPS information is sent to the central control server connecting with object detection apparatus.
In embodiments of the present invention, according to the relative position of the target object and object detection apparatus that are calculated, and
The roadbed GPS information of each roadbed facility got when setting up roadbed facility, by object detection apparatus by the relative position and
The roadbed GPS information for the roadbed facility that object detection apparatus is fixed is superimposed, obtains the target GPS information (example of target object
Such as, latitude, longitude locating for target object), and the target GPS information is sent to the center control connecting with object detection apparatus
Control server.
Map label refresh unit 34, for control centre's control server by the target GPS of the target object received
Information is labeled on the navigation map constructed in advance and dynamic refresh, with the navigation map by mark and after refreshing to certainly
The dynamic vehicle that drives navigates.
In embodiments of the present invention, the target GPS information of the target object received is existed by central control server
It is labeled on the navigation map constructed in advance and dynamic refresh, with the navigation map by mark and after refreshing to traveling in road
Automatic driving vehicle in road navigates.
As illustratively, it is based on Baidu map, according to the api interface that Baidu map provides, using softwares such as drainage softwares
It is labeled in Baidu map according to the GPS information of target object, and refreshes the Baidu map, to pass through the Baidu after refreshing
Map navigates to the automatic driving vehicle of traveling in the road.
Wherein, as shown in Figure 4, it is preferable that target object probe unit 31 includes:
Object detection subelement 311, the hybrid mode for being penetrated according to direct projection and cross-pair, control object detection apparatus hair
Target acquisition ray is penetrated, target object is detected by target acquisition ray.
Relative position computing unit 32 includes:
Signal receiving unit 321 is reflected, receives target object to target acquisition ray for controlling object detection apparatus
Reflect signal；
Apart from angle calculation unit 322, for receiving the receiving time and mesh of reflection signal according to object detection apparatus
The launch time for marking detection device transmitting target acquisition ray calculates the distance between target object and object detection apparatus, and
The relative angle between target object and object detection apparatus is determined according to the angle of target acquisition ray；And
Relative position determination unit 323, for determining target object and object detection apparatus according to distance and relative angle
Relative position.
In embodiments of the present invention, each unit of the automatic Pilot navigation device based on bus or train route collaboration can be by corresponding hardware
Or software unit realizes that each unit can be independent soft and hardware unit, also can integrate as a soft and hardware unit, herein
Not to limit the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of automatic Pilot navigation system based on bus or train route collaboration, which is characterized in that the system comprises:
Object detection apparatus for detecting to the target object in road, and obtains the target GPS letter of the target object
Breath；
The central control server being connect with the object detection apparatus, the mesh of the target object for will acquire
Mark GPS information is labeled on the navigation map constructed in advance and dynamic refresh, to pass through leading after the mark and refreshing
Boat map navigates to automatic driving vehicle；And
Roadbed facility is placed in the both sides of the road, for fixing the object detection apparatus.
2. the automatic Pilot navigation system as described in claim 1 based on bus or train route collaboration, which is characterized in that the target detection is set
It is standby to be made of a kind of detector of same type, or be made of a variety of different types of detector mixing.
3. the automatic Pilot navigation system as described in claim 1 based on bus or train route collaboration, which is characterized in that the target detection is set
The standby hybrid mode transmitting target acquisition ray penetrated using direct projection and cross-pair, to be carried out to target object described in the road
Detection.
4. the automatic Pilot navigation system as described in claim 1 based on bus or train route collaboration, which is characterized in that the target detection is set
The standby height being fixed on the roadbed facility is at least up to the height on automatic driving vehicle chassis.
5. a kind of automatic Pilot navigation based on any automatic Pilot navigation system based on bus or train route collaboration of claim 1-4
Method, which is characterized in that the method includes the following steps:
The object detection apparatus transmitting target acquisition ray is controlled, by the target acquisition ray to the institute in the road
Target object is stated to be detected；
When detecting the target object, controls the object detection apparatus and calculate the target object and the target detection
The relative position of equipment；
The roadbed for the roadbed facility that object detection apparatus obtain depending on that relative position and in advance, described is fixed
GPS information controls the object detection apparatus and calculates the target GPS information of the target object, and described in being calculated
Target GPS information is sent to the central control server connecting with the object detection apparatus；
The central control server is controlled to construct the target GPS information of the target object received in advance
Be labeled on navigation map and dynamic refresh, with by the navigation map after the mark and refreshing to automatic driving vehicle into
Row navigation.
6. method as claimed in claim 5, which is characterized in that control the object detection apparatus transmitting target acquisition ray
Step, comprising:
According to the hybrid mode that direct projection and cross-pair are penetrated, controls the object detection apparatus and emit the target acquisition ray, lead to
The target acquisition ray is crossed to detect the target object.
7. method as claimed in claim 5, which is characterized in that control the object detection apparatus calculate the target object with
The step of relative position of the object detection apparatus, comprising:
It controls the object detection apparatus and receives the target object to the reflection signal of the target acquisition ray；
Receiving time and the object detection apparatus transmitting institute of the reflection signal are received according to the object detection apparatus
The launch time for stating target acquisition ray, calculate the distance between the target object and the object detection apparatus, and according to
The angle of the target acquisition ray determines the relative angle between the target object and the object detection apparatus；
The relative position of the target object Yu the object detection apparatus is determined according to the distance and the relative angle.
8. a kind of automatic Pilot navigation based on any automatic Pilot navigation system based on bus or train route collaboration of claim 1-4
Device, which is characterized in that described device includes:
Target object probe unit is visited for controlling the object detection apparatus transmitting target acquisition ray by the target
Ray is surveyed to detect the target object in the road；
Relative position computing unit, for when detecting the target object, controlling described in the object detection apparatus calculating
The relative position of target object and the object detection apparatus；
GPS information computing unit is fixed for object detection apparatus obtain depending on that relative position and in advance, described
The roadbed GPS information of the roadbed facility controls the target GPS information that the object detection apparatus calculates the target object,
And the target GPS information being calculated is sent to the center control service connecting with the object detection apparatus
Device；And
Map label refresh unit, for controlling the central control server for the mesh of the target object received
Mark GPS information is labeled on the navigation map constructed in advance and dynamic refresh, to pass through leading after the mark and refreshing
Boat map navigates to automatic driving vehicle.
9. device as claimed in claim 8, which is characterized in that the target object probe unit includes:
Object detection subelement, the hybrid mode for being penetrated according to direct projection and cross-pair control the object detection apparatus transmitting
Target acquisition ray detects the target object by the target acquisition ray.
10. device as claimed in claim 8, which is characterized in that the relative position computing unit includes:
Signal receiving unit is reflected, the target acquisition is penetrated for controlling the object detection apparatus reception target object
The reflection signal of line；
Apart from angle calculation unit, for receiving receiving time and the institute of the reflection signal according to the object detection apparatus
The launch time that object detection apparatus emits the target acquisition ray is stated, the target object is calculated and is set with the target detection
It is the distance between standby, and according to the angle of the target acquisition ray determine the target object and the object detection apparatus it
Between relative angle；And
Relative position determination unit, for determining the target object and the target according to the distance and the relative angle
The relative position of detection device.
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| CN201810847897.XA CN109147317B (en) | 2018-07-27 | 2018-07-27 | Automatic driving navigation system, method and device based on vehicle-road cooperation |
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| CN201810847897.XA CN109147317B (en) | 2018-07-27 | 2018-07-27 | Automatic driving navigation system, method and device based on vehicle-road cooperation |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109919999A (en) * | 2019-01-31 | 2019-06-21 | 深兰科技（上海）有限公司 | A kind of method and device of target position detection |
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| CN109919999A (en) * | 2019-01-31 | 2019-06-21 | 深兰科技（上海）有限公司 | A kind of method and device of target position detection |
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| CN111757288A (en) * | 2019-03-27 | 2020-10-09 | 阿里巴巴集团控股有限公司 | Perception base station in road traffic environment and message sending method and device thereof |
| CN110412595A (en) * | 2019-06-04 | 2019-11-05 | 深圳市速腾聚创科技有限公司 | Roadbed cognitive method, system, vehicle, equipment and storage medium |
| CN110296713A (en) * | 2019-06-17 | 2019-10-01 | 深圳数翔科技有限公司 | Trackside automatic driving vehicle Position Fixing Navigation System and single, multiple vehicle positioning and navigation methods |
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| US11914052B2 (en) | 2020-02-21 | 2024-02-27 | Qualcomm Incorporated | Method and apparatus to determine relative location using GNSS carrier phase |
| CN111583630A (en) * | 2020-04-10 | 2020-08-25 | 河北德冠隆电子科技有限公司 | Brand-new road high-precision map rapid generation system and method based on space-time trajectory reconstruction |
| CN113837127A (en) * | 2021-09-28 | 2021-12-24 | 中国科学技术大学先进技术研究院 | Map and V2V data fusion model, method, system and medium |
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