CN111356083A - Map data filtering and transmitting method for automatic driving vehicle - Google Patents
Map data filtering and transmitting method for automatic driving vehicle Download PDFInfo
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- CN111356083A CN111356083A CN202010261253.XA CN202010261253A CN111356083A CN 111356083 A CN111356083 A CN 111356083A CN 202010261253 A CN202010261253 A CN 202010261253A CN 111356083 A CN111356083 A CN 111356083A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a map data filtering and transmitting method of an automatic driving vehicle, which effectively solves the problems of excessive map data acquired by an ECU (electronic control Unit) and low transmission efficiency, and further influences the reading of an automatic driving system on data. The method comprises the steps that a cloud control center calls an off-line map pre-stored on the cloud control center to generate a real-time map containing the position of a vehicle, a subsequent area of the vehicle is predicted according to the driving direction of the vehicle and the real-time map, the cloud control center filters the subsequent area to obtain an area of interest, data of the area of interest are further processed to obtain a geometric outline of the area of interest, the data of the geometric outline of the area of interest are transmitted to an ECU, finally the ECU obtains vehicle driving route data to control automatic driving of the vehicle, the ECU obtains the area of interest and simultaneously reduces the obtained data quantity, the data transmission efficiency is improved, the ECU can rapidly read the data of the area of interest, and the influence on vehicle driving is avoided.
Description
Technical Field
The invention relates to the field of data processing, in particular to a map data filtering and transmitting method for an automatic driving vehicle.
Background
In the current automatic driving process of automobiles, maps play an increasingly important role, and rapid roads can be found through the maps so that vehicles can reach destinations. However, in the prior art, in the using process, the cloud control center transmits the whole map to the ECU for the ECU to use, and actually, the region of interest used by the ECU only occupies a part of the whole map, which causes the situations of excessive map data acquired by the ECU and low transmission efficiency, and further affects the fact that the ECU cannot rapidly read the data of the region of interest, and affects the driving of the vehicle.
The present invention therefore provides a new solution to this problem.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a map data filtering and transmitting method of an automatic driving vehicle, which effectively solves the problems of excessive map data acquired by an ECU and low transmission efficiency.
The technical scheme for solving the problem is as follows:
the invention provides a map data filtering and transmitting method of an automatic driving vehicle, which comprises the following steps:
s1, the cloud control center calls an off-line map pre-stored in the cloud control center to generate a real-time map containing the position of the vehicle;
s2, the cloud control center determines a vehicle driving area according to the RTK information, determines the specific position of the real-time map where the vehicle is located, and predicts a subsequent area of the vehicle according to the real-time map and the vehicle driving direction, wherein the subsequent area refers to the nearest area to which the vehicle drives along the driving direction and the traffic rules;
s3, filtering the subsequent region in S2 by the cloud control center, eliminating the part irrelevant to the driving lane of the vehicle, and taking the rest part in the subsequent region as an interested region;
s4, the cloud control center further processes the region of interest to obtain a geometric outline of the region of interest, and transmits data of the geometric outline of the region of interest to the ECU;
s5, repeating the steps S1-S4, and finally obtaining the vehicle running route data by the ECU for controlling the automatic driving of the vehicle.
The method comprises the steps that a cloud control center is used for calling an off-line map pre-stored on the cloud control center to generate a real-time map containing the position of a vehicle, a subsequent area of the vehicle is predicted according to the driving direction of the vehicle and the real-time map, the cloud control center filters the subsequent area to obtain an area of interest, the area of interest is further processed to obtain a geometric outline of the area of interest, data of the geometric outline of the area of interest is transmitted to an ECU, finally the ECU obtains vehicle driving route data for controlling automatic driving of the vehicle, the obtained data volume is reduced while the area of interest is obtained, the data transmission efficiency is improved, the ECU can rapidly read the data of the area of interest, and the influence on vehicle driving is avoided.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a flow chart of a region of interest of the present invention.
FIG. 3 is a vehicle position diagram of the present invention.
Fig. 4 is a schematic diagram of the presence of invalid regions in the dual lane of the present invention.
Fig. 5 is a schematic view of the vehicle of the present invention in a straight-ahead region.
Fig. 6 is a schematic view of the vehicle of the present invention in a particular area.
Fig. 7 is a schematic diagram of a rule graph of the transmission method of the present invention.
Fig. 8 is a schematic diagram of a regular pattern and an irregular pattern of the transmission method of the present invention.
Detailed Description
The foregoing and other technical and functional aspects of the present invention will be apparent from the following detailed description of the embodiments, which proceeds with reference to the accompanying figures 1-8. The structural contents mentioned in the following embodiments are all referred to the attached drawings of the specification.
Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
A cloud control center is utilized to call an off-line map pre-stored on the cloud control center to generate a real-time map containing the position of a vehicle, a subsequent area of the vehicle is predicted according to the driving direction of the vehicle and the real-time map, the cloud control center filters the subsequent area to obtain an area of interest, the data of the area of interest is further processed to obtain data of the geometric outline of the area of interest, the data of the geometric outline of the area of interest is transmitted to an ECU, and finally the ECU obtains vehicle driving route data for controlling automatic driving of the vehicle, so that the data volume is reduced while the area of interest is obtained, wherein the method specifically comprises the following steps:
s1, the cloud control center calls an off-line map pre-stored in the cloud control center to generate a real-time map containing the position of the vehicle;
s2, the cloud control center determines a vehicle driving area according to the RTK information, determines the specific position of the real-time map where the vehicle is located, and predicts a subsequent area of the vehicle according to the real-time map and the vehicle driving direction, wherein the subsequent area refers to the nearest area to which the vehicle drives along the driving direction and the traffic rules;
s3, filtering the subsequent region in S2 by the cloud control center, eliminating the part irrelevant to the driving lane of the vehicle, and taking the rest part in the subsequent region as an interested region;
s4, the cloud control center further processes the region of interest to obtain a geometric outline of the region of interest, and transmits data of the geometric outline of the region of interest to the ECU;
s5, repeating the steps S1-S4, and finally obtaining vehicle running route data by the ECU for controlling the automatic driving of the vehicle;
the filtering in step S3 specifically includes the following steps:
the X1 cloud control center divides the subsequent area of the vehicle into a straight-going part, an intersection part, an influence lane part, an invalid part and a special part, wherein the influence lane part is a turning lane which is only concerned when the vehicle only turns during the driving process, the invalid part is a part of the area where a green belt, a guardrail and a forbidden road are located, and the special part is the area where a viaduct and a tunnel are located;
x2, when the vehicle is in a straight part, only keeping the straight part of the lane where the vehicle is located, wherein the straight part is the same as the driving direction of the vehicle; when the vehicle is positioned in the left turning lane, only the left turning lane is reserved, and other parts are filtered; when the vehicle is in a right-turning lane, only the right-turning lane is reserved, and other parts are filtered; all portions of the successor region remain when the vehicle is at the intersection;
x3, taking the reserved blocks in X2 as interested areas, and when the road where the vehicle runs is a bidirectional lane or an invalid part exists, selecting the interested areas according to the step X2 in the subsequent areas of the lane where the vehicle is located; when the part is in the special part, the straight part is directly used as the interested area;
the further processing in step S4 specifically includes the following steps:
y1, dividing the region of interest in the step S3 into a regular part M and an irregular part N, wherein M is a regular geometric figure, N is an irregular geometric figure, the regular geometric figure M is a regular geometric figure with characteristics, and the irregular geometric figure N is a geometric figure without regularity and characteristics;
y2, when the transmitted map only has the rule part M, transmitting the data of the top point of the rule part M; when the transmitted map is the combination of a regular part M and an irregular part N, the regular part M is taken as a 00 area, the irregular part N is taken as a 01 area, the data of the top point of the 00 area is transmitted, and the boundary data of the 01 area is transmitted, wherein the boundary of the 01 area is a boundary line formed by a plurality of position information points which are determined by the longitude and the latitude;
when the vehicle is used, when the vehicle runs on a road, the cloud control center obtains the position of the vehicle according to RTK, as shown in FIG. 3, an area 1, an area 2 and an area 3 exist, the vehicle is in the area 2, the subsequent area is a circular area in the figure, and the step S1 is started to process the circle, so that an area of interest is obtained;
when the vehicle runs at the straight part and enters the intersection part, as shown in fig. 4, the vehicle runs along the straight part, and the region pointed by the black arrow is judged to be the region of interest of the vehicle according to the map data filtering method provided by the invention;
when the vehicle runs in two lanes, as shown in fig. 5, the area under the solid line below the vehicle is filtered, and the remaining area is the region of interest;
when the vehicle runs at a special part as shown in fig. 6, the straight part is used as an interested area because no intersection part exists and the problem of turning around and steering of the vehicle does not exist;
when the obtained region of interest is transmitted to the ECU, the region of interest is divided into a regular part M and an irregular part N, wherein the regular geometric figure M includes figures including rectangles, triangles, squares, trapezoids, and circles, and when the regular geometric figure M is a circle, the circle can be determined according to three vertexes on the circle, which includes the following two cases:
when the region of interest has only the regular part M, as shown in fig. 7, the data of the vertex ABCD of the regular part M is transmitted;
when the region of interest is a combination of the regular part M and the irregular part N, as shown in fig. 8, the regular part M is set as the 00 region, the data of the vertex ABCD of the 00 region is transmitted, and the irregular part N is set as the 01 region, the boundary of the 01 region is transmitted, where the boundary of the 01 region is a line formed by a plurality of location information points determined by a plurality of latitude and longitude.
When the automatic vehicle driving control system is used, the cloud control center is used for calling an off-line map pre-stored on the cloud control center to generate a real-time map containing the position of a vehicle, a subsequent area of the vehicle is predicted according to the driving direction of the vehicle and the real-time map, the cloud control center filters the subsequent area to obtain an area of interest, the area of interest is further processed to obtain a geometric outline of the area of interest, data of the geometric outline of the area of interest is transmitted to the ECU, finally the ECU obtains vehicle driving route data for controlling automatic driving of the vehicle, the ECU obtains the area of interest and simultaneously reduces the obtained data quantity, the data transmission efficiency is improved, the ECU can quickly read the data of the area of interest, and the influence on vehicle driving is avoided.
The invention is used on the map for vehicle running, and can also be used on the route planning of the robot and the map of the train running area.
Claims (3)
1. A map data filtering and transmitting method of an autonomous vehicle is characterized by comprising the following steps:
s1, the cloud control center calls an off-line map pre-stored in the cloud control center to generate a real-time map containing the position of the vehicle;
s2, the cloud control center determines a vehicle driving area according to the RTK information, determines the specific position of the real-time map where the vehicle is located, and predicts a subsequent area of the vehicle according to the real-time map and the vehicle driving direction, wherein the subsequent area refers to the nearest area to which the vehicle drives along the driving direction and the traffic rules;
s3, filtering the subsequent region in S2 by the cloud control center, eliminating the part irrelevant to the driving lane of the vehicle, and taking the rest part in the subsequent region as an interested region;
s4, the cloud control center further processes the region of interest to obtain a geometric outline of the region of interest, and transmits data of the geometric outline of the region of interest to the ECU;
s5, repeating the steps S1-S4, and finally obtaining the vehicle running route data by the ECU for controlling the automatic driving of the vehicle.
2. The map data filtering and transmitting method of an autonomous vehicle as claimed in claim 1, wherein the filtering in step S3 specifically includes the steps of:
the X1 cloud control center divides the subsequent area of the vehicle into a straight-going part, an intersection part, an influence lane part, an invalid part and a special part, wherein the influence lane part is a turning lane which is only concerned when the vehicle only turns during the driving process, the invalid part is a part of the area where a green belt, a guardrail and a forbidden road are located, and the special part is the area where a viaduct and a tunnel are located;
x2, when the vehicle is in a straight part, only keeping the straight part of the lane where the vehicle is located, wherein the straight part is the same as the driving direction of the vehicle; when the vehicle is positioned in the left turning lane, only the left turning lane is reserved, and other parts are filtered; when the vehicle is in a right-turning lane, only the right-turning lane is reserved, and other parts are filtered; all portions of the successor region remain when the vehicle is at the intersection;
x3, using the reserved part in X2 as the interested area, but when the road where the vehicle runs is a bidirectional lane or an invalid part exists, selecting the interested area according to the step X2 in the subsequent area of the lane where the vehicle is located; when in the special part, the straight part is directly used as the interested area.
3. The map data filtering and transmitting method of an autonomous vehicle as claimed in claim 1, wherein the further processing in step S4 includes the following steps:
y1, dividing the region of interest in the step S3 into a regular part M and an irregular part N, wherein M is a regular geometric figure, N is an irregular geometric figure, the regular geometric figure M is a regular geometric figure with characteristics, and the irregular geometric figure N is a geometric figure without regularity and characteristics;
y2, when the transmitted map only has the rule part M, transmitting the data of the top point of the rule part M; when the transmitted map is a combination of a regular part M and an irregular part N, the regular part M is regarded as a 00 area, the irregular part N is regarded as a 01 area, data of a vertex of the 00 area is transmitted, and boundary data of the 01 area is transmitted, wherein the boundary of the 01 area refers to a boundary line formed by a plurality of location information points which are determined by a plurality of longitudes and latitudes.
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| CN202010261253.XA CN111356083A (en) | 2020-04-03 | 2020-04-03 | Map data filtering and transmitting method for automatic driving vehicle |
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| CN202010261253.XA CN111356083A (en) | 2020-04-03 | 2020-04-03 | Map data filtering and transmitting method for automatic driving vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114491306A (en) * | 2022-01-13 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Map filtering method, map filtering device, map filtering equipment, map filtering vehicle and map filtering medium |
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