CN110763244B - Electronic map generation system and method - Google Patents
Electronic map generation system and method Download PDFInfo
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- CN110763244B CN110763244B CN201910987955.3A CN201910987955A CN110763244B CN 110763244 B CN110763244 B CN 110763244B CN 201910987955 A CN201910987955 A CN 201910987955A CN 110763244 B CN110763244 B CN 110763244B
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- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
The invention provides an electronic map generation system and method, the system includes a positioning module for determining a position of a host vehicle; the image acquisition module is used for acquiring the surrounding environment of the main vehicle in real time; the image processing module is used for identifying a road static target and a road dynamic target according to the collected surrounding environment of the host vehicle; the map acquisition module is used for acquiring map information with multiple lanes; the comparison module is used for comparing the identified road static target with the map information so as to determine the target position in the map; the matching module is used for determining a host vehicle on the target position of the map according to the position of the host vehicle to obtain a multi-lane map containing the host vehicle; and the generating module is used for fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle to generate the target map. The invention can accurately position the host vehicle and monitor the external traffic condition of the host vehicle.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an electronic map generation system and method.
Background
The automobile display instrument is an important window for information communication between a driver and an automobile and is an important guarantee for safe driving of the automobile. With the development of the automobile towards intellectualization, networking and electromotion technologies, the amount of information required to be displayed by the automobile instrument is gradually increased, and higher requirements on the interactivity, the network sharing performance and the accuracy of the information and people are provided.
The current common positioning scheme of the automobile is to position the automobile by combining a map and real-time sensing sensors such as a forward-looking camera, a laser radar and an IMU (inertial measurement Unit) which are installed on the automobile, but the current positioning scheme can only aim at a single lane, the single lane is information of a driving lane of the automobile, environmental information beside the lane cannot be visually displayed, and the current positioning scheme cannot position which lane the automobile belongs to for a multi-lane road condition, and cannot timely find traffic conditions outside the automobile, so that hidden dangers are brought to driving safety.
Therefore, there is a need to provide a new solution.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an electronic map generation system and method, which can accurately position a self-vehicle and the traffic condition outside the self-vehicle.
In a first aspect, the present invention provides an electronic map generating system, comprising:
a positioning module to determine a host vehicle position;
the system comprises an image acquisition module, a data processing module and a data processing module, wherein the image acquisition module is used for acquiring the surrounding environment of a host vehicle in real time, and the surrounding environment of the host vehicle comprises a road static target and a road dynamic target;
the image processing module is used for identifying a road static target and a road dynamic target according to the collected surrounding environment of the main vehicle;
the map acquisition module is used for acquiring map information with multiple lanes;
the comparison module is used for comparing the identified road static target with the map information so as to determine the target position in the map;
the matching module is used for determining a host vehicle on the target position of the map according to the position of the host vehicle to obtain a multi-lane map containing the host vehicle;
and the generating module is used for fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle to generate the target map.
Further, the system further comprises:
the display module is used for displaying the target map in a host vehicle display and/or a mobile terminal in real time, and the host vehicle is displayed at a preset position in the target map;
the storage module is used for storing display information;
and the data transmission module is used for uploading the stored display information to the user terminal or the cloud server in real time.
Further, the comparison module is configured to compare the identified static road target with map information within a predetermined distance.
Further, the comparison module comprises a comparison unit, a lane determination unit and a host vehicle determination unit, wherein the comparison unit is used for comparing the identified road static target with the map information one by one;
the lane determining unit is used for determining a lane corresponding to the host vehicle in the map if the identified road static target is completely consistent with the map information;
the host vehicle determining unit is used for determining a target position on the determined lane corresponding to the host vehicle.
Further, the matching module comprises a first fusion unit and a first splicing unit,
the first fusion unit is used for fusing a host vehicle, a target position and map information with multiple lanes;
the first splicing unit is used for splicing the fusion images to obtain a multi-lane map containing a host vehicle.
Further, the generating module comprises a second fusing unit and a second splicing unit,
the second fusion unit is used for fusing the identified road static target, the road dynamic target and a multi-lane map containing the host vehicle;
the second splicing unit is used for splicing the fusion images to generate a target map, and the target map is a multi-lane map containing a host vehicle and the surrounding environment of the host vehicle.
Further, the road static target includes lane marking lines including single solid lines, double solid lines, broken lines, double broken lines, and virtual solid lines, a traffic signboard, a traffic light, and a camera, and the road dynamic target includes remote vehicles and pedestrians adjacent to the host vehicle.
Further, the image processing module includes:
a detection unit for detecting a relative position and a distance between the host vehicle and a predetermined target around the host vehicle in real time;
a calculation unit configured to calculate a change in distance between a predetermined target and a host vehicle within a certain time, based on a relative position and distance between the host vehicle and the predetermined target around the host vehicle, and determine whether the predetermined target is a road static target or a road dynamic target;
the judging unit is used for judging a road static target and a road dynamic target according to the change result;
and the processing unit is used for carrying out image processing on the road static target and/or the road dynamic target and identifying the road static target and the road dynamic target.
In a second aspect, the present invention further provides an electronic map generating method, including:
determining a host vehicle position with a positioning module;
acquiring the surrounding environment of a host vehicle in real time by using an image acquisition module, wherein the surrounding environment of the host vehicle comprises a road static target and a road dynamic target;
recognizing a road static target and a road dynamic target according to the collected surrounding environment of the host vehicle by using an image processing module;
acquiring map information with multiple lanes by using a map acquisition module;
comparing the identified road static target with map information by using a comparison module to determine a target position in a map;
determining a host vehicle on a target position of a map according to the position of the host vehicle by using a matching module to obtain a multi-lane map containing the host vehicle;
and fusing the identified road static target, road dynamic target and the multi-lane map containing the host vehicle by utilizing the generating module to generate the target map.
Further, the method further comprises:
displaying the target map in a main vehicle display and/or a mobile terminal in real time by using a display module;
storing the display information by using a storage module;
and uploading the stored display information to a user terminal or a cloud server in real time by using the data transmission module.
Compared with the prior art, the invention has the following advantages:
(1) the electronic map generation system and method provided by the invention can accurately construct a lane model based on the combination of the map and the real-time perception sensor.
(2) According to the electronic map generation system and method, the lane where the host vehicle is located and the lanes where the vehicles around the host vehicle are located can be accurately positioned by constructing the multi-lane model.
(3) According to the electronic map generation system and method, the multi-lane model is displayed in the cab, so that a driver can visually and accurately monitor the traffic state outside the vehicle, and driving accidents are prevented.
(4) According to the electronic map generation system and method, the multi-lane model displayed in the cockpit is stored and uploaded to the cloud in real time, and compared with the original data, the data quantity is exponentially reduced by the uploading mode, key information is stored, and accident reconstruction, accident responsibility analysis and the like are facilitated.
(5) According to the electronic map generation system and method, the pedestrians, the signal lamps, the traffic signs, the cameras and the like can be accurately positioned by constructing the multi-lane model, so that the driver can be prompted in advance, and illegal driving is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a block diagram of an electronic map generation system of the present invention in one embodiment;
FIG. 2 is a block diagram of a comparison module of the electronic map generation system of the present invention in one embodiment;
FIG. 3 is a block diagram of a matching module of the electronic map generation system of the present invention in one embodiment;
FIG. 4 is a block diagram of a generation module of the electronic map generation system of the present invention in one embodiment;
FIG. 5 is a block diagram of an image processing module of the electronic map generation system of the present invention in one embodiment;
FIG. 6 is an effect diagram of a lane map generated by an electronic map generation system of the present invention in one embodiment;
fig. 7 is a diagram illustrating the effect of the lane map generated by the electronic map generating system according to another embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
It is noted that the vehicle of the present invention may be a truck, a sport utility vehicle, a van, a caravan, or any other type of vehicle without departing from the scope of the present disclosure.
Examples
Referring to fig. 1, fig. 1 is a block diagram of an electronic map generating system according to an embodiment of the present invention, and as shown in fig. 1, the electronic map generating system includes a positioning module, an image acquisition module, an image processing module, a map acquisition module, a comparison module, a matching module, a generating module, a display module, a storage module, and a data transmission module.
The positioning module is used to determine a position of a host vehicle.
The positioning module is a receiver installed on the host vehicle, and the receiver receives a plurality of GNSS signals through a global navigation satellite system, so that the host vehicle is roughly positioned, and the approximate position of the host vehicle is obtained. The approximate location includes the longitude and latitude of the host vehicle, as well as the speed and direction of travel of the host vehicle.
The image acquisition module is used for acquiring the road environment around the host vehicle in real time, and the road environment around the host vehicle comprises a road static target and a road dynamic target. The static road target comprises lane marking lines, a traffic signboard, a traffic signal lamp and a camera, the lane marking lines comprise a single solid line, a double solid line, a dotted line, a double dotted line and a virtual solid line, and the dynamic road target comprises remote vehicles and pedestrians adjacent to the main vehicle.
The image acquisition module comprises a plurality of cameras and a laser radar. Preferably, the camera is eight, and wherein, four cameras distribute and set up in four angles of host vehicle, and two cameras distribute respectively in the vehicle place ahead centrally and the rear is centrally located, two respectively symmetric distribution in host vehicle's both sides. In the general driving process of the vehicle, judgment omission easily occurs to drivers on the left side, the right side and the front side, and in the invention, in order to realize comprehensive monitoring of the road images in real time by forming a 360-degree view field around the host vehicle. Each of the aforementioned cameras of the present invention is configured to capture visual information in the visible light spectrum and/or in non-visual (e.g., infrared) portions of the spectrum within the field of view or visible coverage area of the respective camera. More specifically, each of the aforementioned cameras is configured to capture light waves reflected from marking lines printed or painted on a road surface.
The laser radar is erected in the front position of the roof of the host vehicle and used for measuring the distance and the angle between the host vehicle and the target object and the speed resolution of the target object. Lidar can achieve extremely high angular, range and velocity resolution. Usually the angular resolution is not lower than 0.1mard, that is to say, two targets which are 0.3m away from each other in a distance of 3km can be resolved, and a plurality of targets can be tracked simultaneously; the distance resolution can reach 0. lm; the speed resolution can reach within 10 m/s. The high range and velocity resolution means that range-doppler imaging techniques can be used to obtain sharp images of the target.
In the embodiment, static road targets beside the host vehicle, such as lane marking lines, guideboards and the like, are identified through the image acquisition module, so that the transverse positioning of the host vehicle can be realized, namely, the host vehicle can be positioned from two sides of the host vehicle by monitoring objects on two sides of the host vehicle, the transverse positioning accuracy error of the vehicle can be controlled to be in the decimeter level or even the centimeter level, and the lane of the vehicle can be accurately sensed.
And the image processing module is used for identifying a road static target and a road dynamic target according to the collected surrounding environment of the host vehicle.
In the embodiment, the reference image is prestored in the database, and the image processing module compares the collected image of the surrounding of the host vehicle with the reference image prestored in the database to identify the surrounding of the host vehicle. The identified surrounding environment of the host vehicle comprises a road static target and a road dynamic target, wherein the road static target comprises lane marking lines, a traffic signboard, a traffic signal lamp and a camera, the lane marking lines comprise a single solid line, a double solid line, a dotted line, a double dotted line and a virtual solid line, and the road dynamic target comprises a remote vehicle and a pedestrian adjacent to the host vehicle.
The map acquisition module is used for acquiring map information with multiple lanes, wherein the multiple lanes are at least two lanes. In this embodiment, the acquired multilane map is a high-precision electronic map. The high-precision electronic map comprises multiple lanes, and preferably the multiple lanes are three lanes. In one embodiment, the position, speed, and direction of travel of the host vehicle are displayed on a high-precision electronic map. In one embodiment, the electronic map may be pre-loaded on the receiver or stored in a memory module of the controller, or may be downloaded directly.
And the comparison module is used for comparing the identified road static target with the map information so as to determine the target position in the map. The target position is a position where the actual running position of the host vehicle corresponds to a corresponding lane on the map.
In the embodiment, the comparison module is used for comparing the recognized static target around the host vehicle with the map information, so that the transverse positioning of the host vehicle can be realized, namely if the recognized static target on the road around the host vehicle is completely matched with the map information, the transverse accurate positioning of the host vehicle can be realized from two sides of the host vehicle according to the approximate position of the host vehicle determined by the positioning module and the static target on the road around the host vehicle, so that the position of the host vehicle can be accurately positioned in the map.
It should be noted that, in order to make the host vehicle positioning more accurate, the comparison module is configured to compare the identified static road target with the map information within a predetermined distance, which may be within 50m, and may be determined according to actual situations.
The matching module is used for determining the host vehicle on the target position of the map according to the position of the host vehicle to obtain the multi-lane map containing the host vehicle.
And the generating module is used for fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle to generate the target map. The target map is a multi-lane map that includes a host vehicle and an environment surrounding the host vehicle.
Referring to fig. 6, fig. 6 is a diagram illustrating an effect of the lane map generated by the electronic map generating system according to an embodiment of the invention. As shown in fig. 6, the host vehicle is shown in the main lane, the lane is narrowed in width in the extending direction from the vehicle entering to the vehicle exiting, and the lane width on both sides of the host vehicle is smaller than that of the main lane, so as to better monitor the running traffic condition of the host vehicle. The lane map of the invention is closer to the actual driving road of the vehicle, so that the traffic condition around the host vehicle can be more accurately positioned through the lane map. In the exemplary illustration, the plurality of adjacent lanes are three lanes, and in other embodiments, the plurality of adjacent lanes are at least two lanes.
And the display module is used for displaying the target map in the host vehicle display and/or the mobile terminal in real time.
It should be noted that the display module of the present invention can display the target map in real time on the meter, the center control screen and/or other display screens of the host vehicle. In one embodiment, the system can also display a multi-lane map in the mobile terminal through the communication module so that the user can check the driving condition in time.
The storage module is used for storing display information.
The data transmission module is used for uploading the stored display information to the user terminal or the cloud server in real time, and compared with the original data, the data quantity is exponentially reduced by the uploading mode, and the key information is stored, so that accident reconstruction, accident responsibility analysis and the like are facilitated.
Examples
Referring to fig. 2 to 5, fig. 2 is a block diagram of a comparison module of an electronic map generating system according to an embodiment of the invention; FIG. 3 is a block diagram of a matching module of the electronic map generation system of the present invention in one embodiment; FIG. 4 is a block diagram of a generation module of the electronic map generation system of the present invention in one embodiment; FIG. 5 is a block diagram of an image processing module of the electronic map generation system of the present invention in one embodiment; as shown in fig. 1 to 5, the electronic map generating system includes a positioning module, an image collecting module, an image processing module, a map obtaining module, a comparing module, a matching module, a generating module, a display module, a storage module and a data transmission module, wherein the comparing module includes a comparing unit, a lane determining unit and a host vehicle determining unit, the matching module includes a first fusing unit and a first splicing unit, the generating module includes a second fusing unit and a second splicing unit, and the image processing module includes a detecting unit, a calculating unit, a judging unit and a processing unit.
It is noted that the vehicle of the present invention may be a truck, a sport utility vehicle, a van, a caravan, or any other type of vehicle without departing from the scope of the present disclosure.
The positioning module is used to determine a position of a host vehicle.
The image acquisition module is used for acquiring the surrounding environment of the host vehicle in real time, wherein the surrounding environment of the host vehicle comprises a road static target and a road dynamic target.
And the image processing module is used for comparing the acquired surrounding environment of the main vehicle with a prestored reference image to identify a road static target and a road dynamic target.
The process of identifying the road static target and the road dynamic target by the image processing module is as follows:
detecting in real time, by a detection unit, a relative position and distance between a host vehicle and a predetermined target around the host vehicle;
the change in the distance between the predetermined target and the host vehicle over a certain period of time is calculated by a calculation unit based on the relative position and distance between the host vehicle and the predetermined target around the host vehicle.
And judging the road static target and the road dynamic target according to the change result through the judging unit.
And carrying out image processing on the road static target and/or the road dynamic target through a processing unit to identify the road static target and the road dynamic target.
In the embodiment, the road static target and the road dynamic target are judged, and the surrounding environment of the host vehicle is classified, so that the road static target can be called when the target position is determined by adopting the comparison module in the following process.
In the following, a road dynamic target is determined by taking three lanes as an example. If the three lanes are the same-direction three lanes, the driving direction of the host vehicle is the advancing direction, the lane where the host vehicle is driving is the main lane, and it is assumed that the host vehicle is driving in the middle lane and the predetermined target is located in the adjacent lane of the main lane. If the predetermined target is a fixed target on the road, the distance between the fixed target and the host vehicle changes greatly within a certain time, and the direction of the fixed target is unchanged with respect to the moving direction of the host vehicle. If the predetermined target is a dynamically changing target on the road, when the predetermined target is set to coincide with the moving direction of the host vehicle, i.e., the host vehicle and the predetermined target travel in the same direction, the distance between the predetermined target and the host vehicle changes less within a certain time than a fixed target, and when the distance between the predetermined target and the host vehicle changes more than a preset value within a certain time, the preset target is determined to be a dynamic target.
And the fusion module is used for displaying the dynamic target image in a map according to the real-time relative position of the host vehicle and the dynamic target around the host vehicle to obtain a multi-lane map.
The map acquisition module is used for acquiring map information with multiple lanes. In this embodiment, the acquired map is a high-precision electronic map. The high-precision electronic map comprises multiple lanes, and preferably, the multiple lanes are three lanes.
The comparison module is configured to compare the identified static road target with map information to determine a target position in a map, and specifically includes:
the comparison unit is used for comparing the identified road static targets with the map information one by one to obtain a comparison result.
The lane determining unit is used for determining a lane corresponding to the host vehicle in the map if the identified road static target is completely consistent with the map information. If the identified road static target is partially or completely inconsistent with the map information, the comparison unit compares the identified road static target with the map information one by one again, if the repeated comparison times exceed a preset value, the system gives a comparison failure prompt, and displays the multi-lane map information acquired by the map acquisition module in a display of the vehicle for navigation.
In one embodiment, if the similarity of the identified static road object with the map information portion exceeds a predetermined value, the host vehicle's corresponding lane is determined in the map.
The host vehicle determining unit is used for determining a target position on the determined lane corresponding to the host vehicle. The target position is a position corresponding to the actual driving lane of the host vehicle on the corresponding lane of the map.
The matching module is configured to match a host vehicle to the target position, and obtain a multi-lane map including the host vehicle, and specifically includes:
the first fusion unit is used for fusing a host vehicle, a target position and map information with multiple lanes.
The first splicing unit is used for splicing the fusion images to obtain a multi-lane map containing a host vehicle.
Referring to fig. 6, fig. 6 is a diagram illustrating an effect of the lane map generated by the electronic map generating system according to another embodiment of the present invention. As shown in fig. 6, while the host vehicle is traveling, the host vehicle is always displayed at a predetermined position in the target map, such as near the traveling direction of the vehicle in the target map. The host vehicle is displayed within a host lane. The extending direction of the lane from the vehicle entering to the vehicle exiting is narrowed. The lane widths of the two sides of the main vehicle are smaller than the width of the main lane so as to better monitor the running traffic condition of the main vehicle. In the exemplary illustration, the plurality of adjacent lanes are three lanes, and in other embodiments, the plurality of adjacent lanes are at least two lanes.
And the generating module is used for fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle to generate the target map. The method specifically comprises the following steps:
the second fusion unit is used for fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle.
The second splicing unit is used for splicing the fused images to generate a target map, and the target map is a multi-lane map containing the host vehicle and the surrounding environment of the host vehicle. According to the embodiment, through the processing of the second splicing unit, seamless splicing of the road static target, the road dynamic target and the multi-lane map containing the host vehicle can be realized, and the obtained target map is more vivid.
Referring to fig. 7, fig. 7 is a diagram illustrating an effect of the lane map generated by the electronic map generating system according to another embodiment of the present invention. As shown in fig. 7, remote vehicles are displayed in lanes around the host vehicle, and static road objects such as traffic light prompt images and camera images are displayed on one side of the lanes, so as to prompt the driver about the road conditions ahead.
And the display module is used for displaying the target map in the host vehicle display and/or the mobile terminal in real time.
It should be noted that the display module of the present invention can display the target map in real time on the meter, the center control screen and/or other display screens of the host vehicle. In one embodiment, the system can also display the target map in the mobile terminal through the communication module so that the user can check the driving condition in time.
The storage module is used for storing display information.
The data transmission module is used for uploading the stored display information to the user terminal or the cloud server in real time, and compared with the original data, the data quantity is exponentially reduced by the uploading mode, and the key information is stored, so that accident reconstruction, accident responsibility analysis and the like are facilitated.
Examples
The invention also provides an electronic map generation method, which comprises the following steps:
and S1, determining the position of the host vehicle by using the positioning module.
And S2, acquiring the surrounding environment of the host vehicle in real time by using the image acquisition module, wherein the surrounding environment of the host vehicle comprises a road static target and a road dynamic target.
S3, comparing the collected surrounding environment of the host vehicle with a prestored reference image by using an image processing module to identify a road static target and a road dynamic target, wherein the road static target comprises lane marking lines, a traffic signboard, a traffic signal lamp and a camera, the lane marking lines comprise a single solid line, a double solid line, a dotted line, a double dotted line and a virtual solid line, and the road dynamic target comprises a remote vehicle and a pedestrian which are adjacent to the host vehicle.
And S4, acquiring the map information with multiple lanes by using the map acquisition module, wherein the acquired map with multiple lanes is a high-precision electronic map. The high-precision electronic map comprises multiple lanes, and preferably, the multiple lanes are three lanes.
And S5, comparing the identified road static target with the map information by using the comparison module to determine a target position in the map, wherein the target position is a position of the actual driving lane of the host vehicle corresponding to the corresponding lane of the map.
And S6, determining the host vehicle at the target position of the map by using the matching module, and obtaining the multi-lane map containing the host vehicle.
And S7, fusing the identified road static target, road dynamic target and a multi-lane map containing the host vehicle by using a generating module to generate a target map, wherein the target map is the multi-lane map containing the host vehicle and the surrounding environment of the host vehicle.
S8, displaying the target map in the host vehicle display and/or the mobile terminal in real time by using the display module;
s9, storing the display information by using a storage module;
and S10, uploading the stored display information to a user terminal or a cloud server in real time by using the data transmission module.
In step S3, the image processing module includes a detection unit, a calculation unit, a determination unit, and a processing unit, and specifically includes the following steps:
detecting in real time a relative position and distance between the host vehicle and a predetermined target around the host vehicle with a detection unit;
calculating the distance change between a preset target and the host vehicle within a certain time according to the relative position and the distance between the host vehicle and the preset target around the host vehicle by using a calculation unit, and judging whether the preset target is a road static target or a road dynamic target;
judging a road static target and a road dynamic target according to the change result by using a judging unit;
and carrying out image processing on the road static target and/or the road dynamic target by using the processing unit, and identifying the road static target and the road dynamic target.
In step S5, the comparing module includes a comparing unit, a lane determining unit, and a host vehicle determining unit, and specifically includes the following steps:
s51, comparing the identified static road target with the map information one by using the comparison unit;
and S52, if the identified road static object is completely consistent with the map information, determining a lane corresponding to the host vehicle in the map by using the lane determining unit.
And S53, determining a target position on the determined lane corresponding to the host vehicle by using the host vehicle determining unit.
In step S6, the matching module includes a first fusion unit and a first splicing unit, and specifically includes the following steps:
and S61, fusing the host vehicle, the target position and the map information with multiple lanes by using the first fusion unit.
And S62, splicing the fused images by using the first splicing unit to obtain a multi-lane map containing the host vehicle.
In step S7, the generating module includes a second fusion unit and a second splicing unit, and specifically includes the following steps:
and S71, fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle by using a second fusion unit.
And S72, carrying out splicing processing on the fused images by using a second splicing unit to generate a target map, wherein the target map is a multi-lane map containing the host vehicle and the surrounding environment of the host vehicle.
The invention has the following advantages:
(1) the electronic map generation system and method provided by the invention can accurately construct a lane model based on the combination of the map and the real-time perception sensor.
(2) According to the electronic map generation system and method, the lane where the host vehicle is located and the lanes where the vehicles around the host vehicle are located can be accurately positioned by constructing the multi-lane model.
(3) According to the electronic map generation system and method, the multi-lane model is displayed in the cab, so that a driver can visually and accurately monitor the traffic state outside the vehicle, and driving accidents are prevented.
(4) According to the electronic map generation system and method, the multi-lane model displayed in the cockpit is stored and uploaded to the cloud in real time, and compared with the original data, the data quantity is exponentially reduced by the uploading mode, key information is stored, and accident reconstruction, accident responsibility analysis and the like are facilitated.
(5) According to the electronic map generation system and method, the pedestrians, the signal lamps, the traffic signs, the cameras and the like can be accurately positioned by constructing the multi-lane model, so that the driver can be prompted in advance, and illegal driving is avoided.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (8)
1. An electronic map generation system characterized by: the system comprises:
a positioning module to determine a host vehicle position;
the system comprises an image acquisition module, a data processing module and a data processing module, wherein the image acquisition module is used for acquiring the surrounding environment of a host vehicle in real time, and the surrounding environment of the host vehicle comprises a road static target and a road dynamic target;
the image processing module is used for identifying a road static target and a road dynamic target according to the collected surrounding environment of the host vehicle;
the map acquisition module is used for acquiring map information with multiple lanes;
the comparison module is used for comparing the identified road static target with the map information so as to determine the target position in the map;
the matching module is used for determining a host vehicle on the target position of the map according to the position of the host vehicle to obtain a multi-lane map containing the host vehicle;
the generating module is used for fusing the identified road static target, the road dynamic target and the multi-lane map containing the host vehicle to generate a target map;
the display module is used for displaying the target map in the main vehicle display and/or the mobile terminal in real time; wherein the host vehicle is always displayed at a predetermined position in a host vehicle display and/or a mobile terminal during the driving process; the target map displays an image of the host vehicle, an image of a remote vehicle and an image of the static road target, wherein the image of the static road target comprises a traffic light prompting image and a camera image;
the storage module is used for storing display information;
and the data transmission module is used for uploading the stored display information to the user terminal or the cloud server in real time.
2. The system of claim 1, wherein: the comparison module is used for comparing the identified static road target with the map information within a preset distance.
3. The system of claim 2, wherein: the comparison module comprises a comparison unit, a lane determination unit and a host vehicle determination unit,
the comparison unit is used for comparing the identified road static targets with the map information one by one;
the lane determining unit is used for determining a lane corresponding to the host vehicle in the map if the identified road static target is completely consistent with the map information;
the host vehicle determining unit is used for determining a target position on the determined lane corresponding to the host vehicle.
4. The system of claim 1, wherein: the matching module comprises a first fusion unit and a first splicing unit,
the first fusion unit is used for fusing a host vehicle, a target position and map information with multiple lanes;
the first splicing unit is used for splicing the fused images to obtain a multi-lane map containing the host vehicle.
5. The system of claim 1, wherein: the generating module comprises a second fusion unit and a second splicing unit,
the second fusion unit is used for fusing the identified road static target, the road dynamic target and a multi-lane map containing the host vehicle;
the second splicing unit is used for splicing the fused images to generate the target map, and the target map is a multi-lane map containing the host vehicle and the surrounding environment of the host vehicle.
6. The system of claim 5, wherein: the static road target comprises lane marking lines, a traffic signboard, a traffic signal lamp and a camera, the lane marking lines comprise a single solid line, a double solid line, a dotted line, a double dotted line and a virtual solid line, and the dynamic road target comprises remote vehicles and pedestrians adjacent to the main vehicle.
7. The system of claim 1, wherein: the image processing module includes:
a detection unit for detecting in real time a relative position and a distance between a host vehicle and a predetermined target around the host vehicle;
a calculation unit configured to calculate a change in distance between a predetermined target and a host vehicle within a certain time, based on a relative position and distance between the host vehicle and a predetermined target around the host vehicle, and determine whether the predetermined target is a road static target or a road dynamic target;
the judging unit is used for judging a road static target and a road dynamic target according to the change result;
and the processing unit is used for carrying out image processing on the road static target and/or the road dynamic target and identifying the road static target and the road dynamic target.
8. An electronic map generation method is characterized in that: the method comprises the following steps:
determining a host vehicle position with a positioning module;
acquiring the surrounding environment of a host vehicle in real time by using an image acquisition module, wherein the surrounding environment of the host vehicle comprises a road static target and a road dynamic target;
recognizing a road static target and a road dynamic target according to the collected surrounding environment of the host vehicle by using an image processing module;
acquiring map information with multiple lanes by using a map acquisition module;
comparing the identified road static target with map information by using a comparison module to determine a target position in a map;
determining a host vehicle on a target position of a map according to the position of the host vehicle by using a matching module to obtain a multi-lane map containing the host vehicle;
fusing the identified road static target, road dynamic target and multi-lane map containing the host vehicle by using a generating module to generate a target map;
displaying the target map in a main vehicle display and/or a mobile terminal in real time by using a display module; wherein the host vehicle is always displayed at a predetermined position in a host vehicle display and/or a mobile terminal during the driving process; the target map displays an image of the host vehicle, an image of a remote vehicle and an image of the road static target, wherein the image of the road static target comprises a traffic light prompt image and a camera image;
storing the display information by using a storage module;
and uploading the stored display information to a user terminal or a cloud server in real time by using the data transmission module.
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