CN109542994A - The lane picking algorithm of automatic Pilot high-precision map - Google Patents
The lane picking algorithm of automatic Pilot high-precision map Download PDFInfo
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Abstract
The invention discloses a kind of lane picking algorithms of automatic Pilot high-precision map, comprising: if step 1, the positioning accuracy of locating module decline, enters emergency retrieval status；If locating module is high accuracy positioning, 2 are entered step；Step 2 judges whether that entering local search then enters step 6 if local search；If not local search, then enter step the search of 3 tiles, 4 range searchings are entered step after obtaining the street ID in the location of vehicle range and position range, enter step 5 coarse search after retrieving the set in street locating for vehicle possibility, find the street set that vehicle is currently likely to be at；The search of 4 expansion search ranges is entered step if not finding；6 fine searches are entered step if finding, obtaining the first element in the lane set that vehicle is likely to be at is the lane that most probable is in.The present invention can be obtained rapidly and efficiently and retrieve lane relevant information locating for current vehicle from high-precision map data base.
Description
Technical field
It picks up and calculates the present invention relates to the lane of automatic Pilot technical field more particularly to a kind of automatic Pilot high-precision map
Method.
Background technique
With the continuous development of automatic Pilot technology, and business landing scene demand is continuous apparent, high-precision map and
It, which is applied, also plays an increasingly important role, and serves perception, positioning, planning control, decision and human-computer interaction etc.
The modules of automated driving system.For technical standpoint, relative to traditional map, the same of road network topology relationship is being provided
When, high-precision map has the road information of lane rank more abundant, and important elder generation is not only provided for automated driving system
Data support is tested, also provides powerful system redundancy for guarantee driving safety.For business landing angle, automatic Pilot system
The various sensors that system is relied on, overall performance is different, with high costs, and maintenance difficulties are high, and vulnerable to various different operating conditions
It influences, and high-precision map can provide that cost is controllable for system, easily updated and the operation is stable data source.
Therefore, in automatic Pilot technology gradually by laboratory research and development excessively to today of business landing, high-precision map is
As the essential a part of automated driving system, and receive more and more attention.However high-precision map data base is abundant
And huge information, also very big challenge is brought for its data retrieval.How effective information is accurately efficiently retrieved, for reality
When property and safety require that high automated driving system is significant, also become high-precision map in practical applications important
One of technical bottleneck.Specifically, it how according to spatial positional information, is quickly and efficiently navigated in high-precision map data base
Relevant information corresponding to current vehicle traveling lane realizes that the lane of high-precision map is picked up, is high-precision map abundant data
One of the important foundation technology that information is fully utilized.Relative to the other conventional navigation map of street-level is accurate to, drive automatically
Lane rank can be accurate to by sailing high-precision map, there is information more abundant, but also increase the difficulty of data retrieval.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of lane picking algorithms of automatic Pilot high-precision map, can be quickly high
It imitates to retrieve lane relevant information locating for current vehicle from high-precision map data base；And the energy in locating module operation irregularity
Continue to provide lane grade information, until locating module restores normal condition.
In order to realize these purposes and other advantages according to the present invention, a kind of automatic Pilot high-precision map is provided
Lane picking algorithm, comprising:
Step 1, the height by the positioning accuracy of the locating module for judging to position vehicle determine what lane was picked up
State, if the positioning accuracy of the locating module declines, the lane, which is picked up, enters emergency retrieval status；If the positioning mould
Block is high accuracy positioning, then enters step 2.
Step 2 judges whether that entering local search then enters step 6 if local search；If not local search,
Enter step 3.
Step 3 is searched for into tile, according to the space coordinate that the tile ID feature and the locating module position,
4 are entered step after obtaining the street ID in the location of vehicle range and the position range.
Step 4, into range searching, centered on the current location of the vehicle, retrieve institute in conjunction with the street ID
5 are entered step after stating the set in the street locating for vehicle possibility.
Step 5, into coarse search, whether the street is located at the coordinate that the locating module of the vehicle positions
It is foundation in the range of set, finds the street set that the vehicle is currently likely to be at；If being likely to be at described in not finding
Street set, then enter step 4 expansion search ranges and continue searching；If retrieving the street set being likely to be at, into
Enter step 6.
Step 6 obtains at the current possibility of the vehicle into fine search according to the street set being likely to be at
In lane gather, in conjunction with the locating module position coordinate to the center line distance in the lane and the coordinate be
No to obtain the lane set that the vehicle is likely to be in the lane, the first element in the lane set is
The lane that most probable is in.
Preferably, the specific algorithm under emergency retrieval status described in step 1 are as follows:
According to the distance for calculating lane line described in the vehicle distances two sides when lane detection fructufy, in conjunction with lane
Line detection inertial navigation data information calculates the location information that the vehicle deviates last moment, and analysis show that the vehicle is
The no direction in generation lane change and lane change, to show that the vehicle is presently in the lane.
Preferably, the specific algorithm under local search state described in step 2 are as follows:
Locating street is obtained according to the vehicle last moment, in conjunction with connection relationship before and after the street, is found out current
The street set that the vehicle is likely to be at, and then lane set locating for the vehicle possibility is obtained, and enter step 6.
Preferably, if the locating module that the positioning accuracy declines in certain time window ranges in step 1
Restore the high accuracy positioning, then exits the emergency retrieval status and enter step 2；If being more than the time window, still fail
It is abnormal then to notify that the positioning of locating module described in control system occurs, goes forward side by side for the information for receiving the effective high accuracy positioning
One step prompts driver's adapter tube.
Preferably, in step 6 acquired results further include the lane that the most probable is in evaluation, it is described to be evaluated as
It is credible result, uncertain or insincere.
Preferably, if the locating module is the high accuracy positioning in step 1, enter global search, in determination
The normal vehicle operation can switch to the local search module when accurately graph region.
Preferably, the positioning mould in the space coordinate and step 5, step 6 of the positioning of locating module described in step 3
The coordinate of block positioning, is the current coordinate of the vehicle.
The present invention is include at least the following beneficial effects:
The present invention is according to high-precision map data structure feature, in conjunction with automated driving system practical application scene, and to being
Unite the requirement of safety, by proposing the global top-down grading search of a set of combination, local prior information quick-searching with
And the synthesis resolution policy for retrieval of meeting an urgent need under positioning accuracy decline operating condition, guarantee in vehicle travel process, within the scope of certain time
When there are the abnormal conditions of positioning accuracy decline, by entering retrieval status of meeting an urgent need, remain to make system within the regular hour just
Often work, to reduce or avoid trouble caused by positioning accuracy decline；The algorithm is the global inspection based on map data structure
Rope algorithm, wherein for the local quick-searching of automatic Pilot optimization, the emergency retrieval of safeguards system redundancy, and ensure system
It is superfluous for retrieval rate, system loading and safety to fully take into account automated driving system for the abnormal escape mechanism of system safety
Remaining requirement is the high-precision map lane grade data search strategy that a set of synthesis completely aims at automatic Pilot customization.And sufficiently
In view of the possible application demand of other modules, for being returned only to a simple unique result, by returning to one
Current vehicle may locating for lane set, accordingly evaluated according to the big minispread of possibility and providing more accurate.The algorithm
According to vehicle high-precision lane grade location information, rapidly and efficiently obtains and retrieve vehicle locating for current vehicle from high-precision map data base
Road relevant information.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the flow chart of the lane picking algorithm of automatic Pilot high-precision map of the present invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figure 1, the present invention provides a kind of lane picking algorithm of automatic Pilot high-precision map, comprising:
Step 1, the height by the positioning accuracy of the locating module for judging to position vehicle determine what lane was picked up
State, if the positioning accuracy of the locating module declines, the lane, which is picked up, enters emergency retrieval status；If the positioning mould
Block is high accuracy positioning, then enters step 2.
Step 2 judges whether that entering local search then enters step 6 if local search；If not local search,
Enter step 3.
Step 3 is searched for into tile, according to the space coordinate that the tile ID feature and the locating module position,
4 are entered step after obtaining the street ID in the location of vehicle range and the position range.
Step 4, into range searching, centered on the current location of the vehicle, retrieve institute in conjunction with the street ID
5 are entered step after stating the set in the street locating for vehicle possibility.
Step 5, into coarse search, whether the street is located at the coordinate that the locating module of the vehicle positions
It is foundation in the range of set, finds the street set that the vehicle is currently likely to be at；If being likely to be at described in not finding
Street set, then enter step 4 expansion search ranges and continue searching；If retrieving the street set being likely to be at, into
Enter step 6.
Step 6 obtains at the current possibility of the vehicle into fine search according to the street set being likely to be at
In lane gather, in conjunction with the locating module position coordinate to the center line distance in the lane and the coordinate be
No to obtain the lane set that the vehicle is likely to be in the lane, the first element in the lane set is
The lane that most probable is in.
In the above scheme, according to high-precision map data structure feature, in conjunction with automated driving system practical application scene, with
And the requirement to security of system, by proposing the global top-down grading search of a set of combination, local prior information is quick
Retrieval and positioning accuracy decline the synthesis resolution policy for retrieval of meeting an urgent need under operating condition, guarantee in vehicle travel process, certain time
When occurring the abnormal conditions of positioning accuracy decline in range, by entering retrieval status of meeting an urgent need, remain to make system when certain
Interior normal work, to reduce or avoid trouble caused by positioning accuracy decline；The algorithm is based on map data structure
Global search algorithm, wherein for the local quick-searching of automatic Pilot optimization, the emergency of safeguards system redundancy is retrieved, and
The abnormal escape mechanism to guarantee system security, fully take into account automated driving system for retrieval rate, system loading and
The requirement of Safety Redundancy is the high-precision map lane grade data search strategy that a set of synthesis completely aims at automatic Pilot customization.
And the possible application demand of other modules is fully taken into account, for being returned only to a simple unique result, by returning
Return current vehicle may locating for lane set, accordingly evaluated according to the big minispread of possibility and providing more accurate.Institute
Algorithm is stated according to vehicle high-precision lane grade location information, rapidly and efficiently obtains and retrieves current vehicle from high-precision map data base
Locating lane relevant information.
Compared to pure strategy retrieval or for the map retrieval strategy of other application scenarios, fully take into account automatic
Control loop is that a set of synthesis completely aims at automatic Pilot for retrieval rate, the requirement of system loading and Safety Redundancy
The high-precision map lane grade data retrievad algorithm of customization, wherein high-precision map datum is cut generally according to geospatial area classification
Point storage, according to the inclusion relation that spatial dimension is descending, be followed successively by Tile (tile), Link (street), Lane (lane),
And Lane Mark (lane line).Each group of data have a globally unique ID, can be examined in the database according to the ID
Rope goes out its corresponding information.Specifically, high-precision map datum is made of the tile of several classifications, and each tile includes its correspondence
Attribute and several street ID, each street include that it corresponds to attribute and several lane ID, and each lane includes that it corresponds to category
Property and its corresponding lane line ID, each lane line include its correspond to attribute.
Specific algorithm in one preferred embodiment, under emergency retrieval status described in step 1 are as follows:
According to the distance for calculating lane line described in the vehicle distances two sides when lane detection fructufy, in conjunction with lane
Line detection inertial navigation data information calculates the location information that the vehicle deviates last moment, and analysis show that the vehicle is
The no direction in generation lane change and lane change, to show that the vehicle is presently in the lane.
In the above scheme, the basic functional principle of inertial navigation is to be carried based on Newton mechanics law by measurement
Body integrates it to the time, and it is transformed in navigational coordinate system, it will be able to obtain in the acceleration of inertial reference system
The information such as speed, yaw angle and position in navigational coordinate system；By calculating the distance of vehicle distances two sides lane line in real time,
The vehicle provided in conjunction with inertial navigation system compares the location information of current last moment, and vehicle can be obtained either with or without in disengaging
The lane of one moment traveling, and become the direction in lane, it obtains vehicle in conjunction with the positioning coordinate of locating module and is presently in vehicle
Road guarantees the positioning in the case that locating module positioning accuracy declines by vehicle inertia navigation data in conjunction with real time algorithm
Accuracy.
Specific algorithm in one preferred embodiment, under local search state described in step 2 are as follows:
Locating street is obtained according to the vehicle last moment, in conjunction with connection relationship before and after the street, is found out current
The street set that the vehicle is likely to be at, and then lane set locating for the vehicle possibility is obtained, and enter step 6.
In the above scheme, by combining the data information of the vehicle location of last moment, known front and back street is being combined
The connection relationship in road, can rapidly find out the set in the street that current vehicle is likely to be at, so that the range of street set is reduced,
Convenient for lane set locating for more block positioning possibility.
In one preferred embodiment, if in step 1 in certain time window ranges positioning accuracy decline it is described fixed
High accuracy positioning described in the module recovery of position, then exit the emergency retrieval status and enter step 2；If being more than the time window,
It is different then to notify that the positioning of locating module described in control system occurs for the information for still failing to receive the effective high accuracy positioning
Often, and further prompt driver takes over.
In the above scheme, emergency retrieval status is suitable for the decline of the positioning accuracy in locating module certain time, and
It cannot be constantly in emergency search mode, the time node beyond setting, if the positioning accuracy of locating module is still recovery, control
System processed can not receive accurately and effectively location information, and control system determines that dysfunction occurs in locating module, then exits
Location mechanism confirms lane by other methods by driver oneself or restarts location mechanism again, avoids deviations band
The unnecessary trouble come.
In one preferred embodiment, acquired results further include the evaluation in the lane being in the most probable in step 6, described
It is evaluated as credible result, uncertain or insincere.
In the above scheme, by while providing most probable lane, and to this possibility in most probable lane
It gives and evaluates, for driver's reference, whether the final result of positioning is credible, uncertain or insincere, so as to driver
Final judgement, or whether carry out binary search positioning.
In one preferred embodiment, if the locating module is the high accuracy positioning in step 1, enter global search,
The normal vehicle operation is being determined when accurately graph region, can switch to the local search module.
In the above scheme, according to high accuracy positioning information in step 1, global search can be gone out with precise search works as front truck institute
Global search is completed in the lane at place, but calculation amount is larger, and determine normal vehicle operation high-precision map area when
It waits, local search mode can be switched to, to reduce system operations load, guarantee retrieval rate.
It is described in the space coordinate and step 5, step 6 of the positioning of locating module described in step 3 in one preferred embodiment
The coordinate of locating module positioning, is the current coordinate of the vehicle
In the above scheme, the space coordinate of the positioning of locating module described in step 3 is the vehicle under tile search condition
Space coordinate locating for；Locating module described in step 5 positioning coordinate for the vehicle under coarse search condition institute
The coordinate at place；The coordinate of the positioning of locating module described in step 6 is the locating coordinate of the vehicle under fine search state；
With the coordinate of current vehicle to refer under each search condition, to guarantee the relative accuracy of final search result.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (7)
1. a kind of lane picking algorithm of automatic Pilot high-precision map, wherein include:
Step 1, the height by the positioning accuracy of the locating module for judging to position vehicle determine the shape that lane is picked up
State, if the positioning accuracy of the locating module declines, the lane, which is picked up, enters emergency retrieval status；If the locating module
For high accuracy positioning, then 2 are entered step；
Step 2 judges whether that entering local search then enters step 6 if local search；If not local search enters
Step 3；
Step 3 is searched for into tile, according to the space coordinate that the tile ID feature and the locating module position, is obtained
4 are entered step after street ID in the location of vehicle range and the position range；
Step 4, into range searching, centered on the current location of the vehicle, retrieve the vehicle in conjunction with the street ID
May locating for the street set after enter step 5；
Step 5, into coarse search, whether the street set is located at the coordinate that the locating module of the vehicle positions
In the range of be foundation, find the street set that the vehicle is currently likely to be at；If not finding the street being likely to be at
Set, then enter step 4 expansion search ranges and continue searching；If retrieving the street set being likely to be at, enter step
Rapid 6；
Step 6 obtains what the vehicle was currently likely to be at according to the street set being likely to be at into fine search
Whether lane set, locate in conjunction with coordinate to the center line distance in the lane and the coordinate that the locating module positions
Gather in the lane, obtaining the lane that the vehicle is likely to be at, the first element in the lane set is most may be used
The lane that can be in.
2. the lane picking algorithm of automatic Pilot high-precision map as described in claim 1, wherein inspection of meeting an urgent need described in step 1
Specific algorithm under strand state are as follows:
According to the distance for calculating lane line described in the vehicle distances two sides when lane detection fructufy, examined in conjunction with lane line
Survey inertial navigation data information and calculate the location information that the vehicle deviates last moment, analysis obtain the vehicle whether
The direction of lane change and lane change occurs, to show that the vehicle is presently in the lane.
3. the lane picking algorithm of automatic Pilot high-precision map as described in claim 1, wherein locally examined described in step 2
Specific algorithm under strand state are as follows:
Locating street is obtained according to the vehicle last moment, in conjunction with connection relationship before and after the street, is found out presently described
The street set that vehicle is likely to be at, and then lane set locating for the vehicle possibility is obtained, and enter step 6.
4. the lane picking algorithm of automatic Pilot high-precision map as described in claim 1, wherein if in a timing in step 1
Between in window ranges the locating module of the positioning accuracy decline restore the high accuracy positioning, then exit the emergency and examine
Strand state enters step 2；If being more than the time window, still fail the information for receiving the effective high accuracy positioning, then
It is abnormal to notify that the positioning of locating module described in control system occurs, and further prompt driver adapter tube.
5. the lane picking algorithm of automatic Pilot high-precision map as described in claim 1, wherein acquired results are also in step 6
Evaluation including the lane being in the most probable, the credible result, uncertain or insincere of being evaluated as.
6. the lane picking algorithm of automatic Pilot high-precision map as described in claim 1, wherein if described fixed in step 1
Position module is the high accuracy positioning, then enters global search, determining the normal vehicle operation in accurately graph region
When, it can switch to the local search module.
7. the lane picking algorithm of automatic Pilot high-precision map as described in claim 1, wherein positioned described in step 3
The coordinate of locating module positioning in the space coordinate and step 5, step 6 of module positioning is that the vehicle is current
Coordinate.
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| CN201811373474.5A CN109542994B (en) | 2018-11-19 | 2018-11-19 | Lane picking algorithm for automatic driving high-precision map |
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| CN109542994B (en) | 2021-07-06 |
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Address after: 201, 202, 301, No. 56-4 Fenghuang South Road, Huadu District, Guangzhou City, Guangdong Province, 510806 Patentee after: Heduo Technology (Guangzhou) Co.,Ltd. Address before: 100089 21-14, 1st floor, building 21, Enji West Industrial Park, No.1, liangjiadian, Fuwai, Haidian District, Beijing Patentee before: HOLOMATIC TECHNOLOGY (BEIJING) Co.,Ltd. |
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Denomination of invention: Lane picking algorithm for high-precision autonomous driving maps Granted publication date: 20210706 Pledgee: Bank of Shanghai Co.,Ltd. Beijing Branch Pledgor: Heduo Technology (Guangzhou) Co.,Ltd. Registration number: Y2024980009891 |
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