CN111507129A - Lane level positioning method and system, computer equipment, vehicle and storage medium - Google Patents
Lane level positioning method and system, computer equipment, vehicle and storage medium Download PDFInfo
- Publication number
- CN111507129A CN111507129A CN201910097651.XA CN201910097651A CN111507129A CN 111507129 A CN111507129 A CN 111507129A CN 201910097651 A CN201910097651 A CN 201910097651A CN 111507129 A CN111507129 A CN 111507129A
- Authority
- CN
- China
- Prior art keywords
- lane
- information
- position information
- matching result
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention relates to a lane-level positioning method and system, computer equipment, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring initial position information of the vehicle in real time according to a front road image and absolute position information of the vehicle and high-precision map data; extracting a first lane element from the front road image, wherein the initial position information at least comprises a second lane element corresponding to the first lane element; and acquiring the coordinate information of the first lane element and the coordinate information of the second lane element, and determining whether the initial position information is final vehicle positioning information according to the matching result of the coordinate information of the first lane element and the coordinate information of the second lane element. The system, the computer device and the storage medium are carriers for implementing the method, and the vehicle comprises the system and the computer device. The invention can improve the positioning reliability of the automatic driving lane.
Description
Technical Field
The invention relates to the technical field of vehicle positioning in an automatic driving process, in particular to a lane level positioning method and system in a vehicle driving process, computer equipment, a vehicle and a storage medium.
Background
With the increasing number of automobiles, the road safety problem is more prominent and not negligible, and thus advanced driving assistance systems have become a research hotspot. Because the traditional GPS positioning technology has larger error and can not meet the requirement of high-precision positioning, the lane-level positioning system of the automatic driving vehicle comes into force.
Currently, there are many solutions for lane-level positioning systems for autonomous vehicles, and much attention is paid to development of a single technology, but there are few considerations for supporting mass production, high reliability, and low cost. For example, high-precision positioning difference service and high-cost inertial navigation, the high-precision absolute positioning scheme has high cost at present and cannot be applied to mass-produced automatic driving vehicles in a short time; for example, the multi-beam laser radar and high-precision map self-positioning scheme has too high cost and cannot be applied to mass-production automatic driving vehicles in a short time.
In conclusion, the existing lane-level positioning technology of the automatic driving vehicle is still to be further improved.
Disclosure of Invention
The invention aims to provide a method and a system for lane-level positioning of an automatic driving vehicle, computer equipment, a vehicle and a computer readable storage medium, so as to improve the reliability of the lane-level positioning of the automatic driving vehicle and reduce the cost of a lane-level positioning scheme of the vehicle, thereby better supporting mass production.
To achieve the object of the present invention, an embodiment of a first aspect of the present invention provides a lane-level positioning method for an autonomous vehicle, including the following steps:
acquiring a front road image and absolute position information of a vehicle and high-precision map data in real time;
identifying the front road image to obtain first road characteristic information; the first lane characteristic information includes at least a first lane element;
acquiring first position information matched with the first lane feature information in the high-precision map data;
acquiring second lane characteristic information matched with the absolute position information in the high-precision map data;
determining whether the first position information is initial position information according to a matching result of the first lane characteristic information and the second lane characteristic information; the initial position information includes at least a second lane element corresponding to the first lane element;
if the first position information is determined to be initial position information, acquiring coordinate information of the first lane element and coordinate information of the second lane element, and determining whether the initial position information is final vehicle positioning information according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element.
Compared with the prior art, the embodiment of the first aspect of the invention realizes lane-level positioning by high-precision absolute positioning, vehicle front road image and high-precision map matching technology to obtain corresponding initial position information, then further verifies the accuracy of the initial position information by utilizing the coordinate information of the vehicle front road image, namely extracts the coordinate information of a first element by identifying the front road image information and obtains the coordinate information of a second element corresponding to the first element in a high-precision map, and can know the accuracy of the initial position information by comparing the coordinate information of the first element with the coordinate information of the second element, wherein the accuracy is embodied in a confidence level mode, therefore, the reliability of the automatic driving lane-level positioning can be improved to ensure the safety of an automatic driving automobile, and the cost of a vehicle lane-level positioning scheme can be reduced, thereby better supporting mass production.
According to an embodiment of the first aspect, in a first optional implementation manner, the first lane element is a first lane line, and the second lane element is a second lane line corresponding to the first lane line in the high-precision map data.
According to the first optional implementation manner, in a second optional implementation manner, the coordinate information of the lane line is based on coordinate information of each point on the lane line in a vehicle coordinate system, and the vehicle coordinate system is a vehicle coordinate system which is constructed by taking a center of mass of the vehicle as an origin, taking a position right in front of the vehicle as an X-axis forward direction, and taking a position right side of the vehicle as a Y-axis forward direction.
According to a second optional implementation manner, in a third optional implementation manner, the determining whether the initial position information is final vehicle positioning information includes:
matching the first lane line coordinate information with the corresponding second lane line coordinate information to obtain a corresponding lane line coordinate matching result;
determining the confidence of the initial position information according to the lane line coordinate matching result; the confidence degrees comprise at least a first confidence degree and a second confidence degree;
determining whether the initial position information is final vehicle positioning information according to the confidence of the initial position information; and if the lane line coordinate matching result corresponds to the first confidence degree, determining whether the initial position information is the final vehicle positioning information, and if the lane line coordinate matching result corresponds to the second confidence degree, determining that the initial position information is invalid vehicle positioning information.
According to the third optional implementation manner, in a fourth optional implementation manner, the matching the first lane line coordinate information and the second lane line coordinate information to obtain a corresponding lane line coordinate matching result specifically includes:
matching the initial coordinate information of the first left lane line with the initial coordinate information of the second left lane line to obtain a first matching result; the method comprises the following steps of obtaining a first circular area by taking the initial coordinate of the first left lane line as the circle center and a preset first radius as the radius; if the second left lane line start coordinate is located in the first circular area, the first matching result is credible, and if the second left lane line start coordinate is located outside the first circular area, the first matching result is not credible;
matching the initial coordinate information of the first right lane line with the initial coordinate information of the second right lane line to obtain a second matching result; the starting coordinate of the first right lane line is used as a circle center, and a preset second radius is used as a radius to obtain a second circular area; if the second right lane start coordinate is located in the second circular area, the second matching result is credible, and if the second right lane start coordinate is located outside the second circular area, the second matching result is not credible;
and determining a final lane line coordinate matching result by combining the first matching result and the second matching result.
According to a fifth optional implementation manner, in a sixth optional implementation manner, the determining a final lane line coordinate matching result by combining the first matching result and the second matching result includes:
if the first matching result and the second matching result are both credible, determining that the final lane line coordinate matching result is credible;
if the first matching result is not credible, determining that the final lane line coordinate matching result is not credible;
if the matching result of the lane line coordinates is credible, the confidence coefficient of the initial position information is a first confidence coefficient; and if the lane line coordinate matching result is not credible, the confidence coefficient of the initial position information is a second confidence coefficient.
According to the embodiment of the first invention, in a seventh optional implementation manner, the determining whether the first position information is initial position information according to the matching result of the first lane feature information and the second lane feature information includes:
matching the first lane characteristic information and the second lane characteristic information to obtain a corresponding lane characteristic matching result;
determining the confidence of the first position information according to the lane feature matching result; the confidence of the first position information at least comprises a high confidence and a low confidence;
if the confidence coefficient of the first position information is high confidence coefficient, determining that the first position information is initial position information; and if the confidence coefficient of the first position information is low, determining that the initial position information is invalid initial position information.
To achieve the object of the present invention, a second embodiment of the present invention provides an automatic driving vehicle lane-level positioning system, comprising:
a first information acquisition unit configured to acquire a road image ahead of the vehicle and absolute position information and high-precision map data in real time;
an image identification unit configured to identify the front road image to obtain first road characteristic information; the first lane characteristic information includes at least a first lane element;
a second information acquisition unit configured to acquire first position information that matches the first lane feature information in the high-precision map data;
a third information acquisition unit configured to acquire second lane feature information that matches the absolute position information in the high-precision map data;
a first determination unit configured to determine whether the first position information is initial position information according to a matching result of the first lane feature information and second lane feature information; the initial position information includes at least a second lane element corresponding to the first lane element;
a second determination unit configured to acquire the coordinate information of the first lane element and the coordinate information of the second lane element in response to a determination that the first position information is initial position information, and determine whether the initial position information is final vehicle positioning information according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element.
According to the second aspect embodiment, in an optional implementation manner, the first information obtaining unit 1 includes an image collecting unit, a high-precision absolute positioning unit and a high-precision map unit, wherein the image collecting unit is used for obtaining an image of a road ahead of the vehicle in real time, the high-precision absolute positioning unit is used for obtaining absolute position information of the vehicle in real time, and the high-precision map unit is used for providing high-precision map data.
According to an embodiment of the second aspect of the present invention, in an optional implementation manner, the first lane element is a first lane line, and the second lane element is a second lane line corresponding to the first lane line in the high-precision map data.
Preferably, the lane line coordinate information includes first left lane line coordinate information and first right lane line coordinate information; the lane line coordinate information and the second lane line coordinate information comprise second left lane line coordinate information and second right lane line coordinate information;
the second determining unit comprises a first matching unit, a second matching unit and a judging unit,
the first matching unit is used for matching the first left lane line coordinate information with the second left lane line coordinate information to obtain a first matching result;
the second matching unit is used for matching the second left lane line coordinate information with the second left lane line coordinate information to obtain a second matching result;
and the judging unit is used for determining a final lane line coordinate matching result by combining the first matching result and the second matching result.
To achieve the object of the present invention, an embodiment of a third aspect of the present invention provides a computer device, including a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor executes the program to implement the lane-level positioning method for an autonomous vehicle according to the embodiment of the first aspect.
To achieve the object of the present invention, a fourth aspect of the present invention provides a vehicle, including an autonomous vehicle lane-level positioning system as described in the second aspect of the present invention or a computer apparatus as described in the third aspect of the present invention.
To achieve the object, a fifth aspect of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the lane-level positioning method for an autonomous vehicle according to the first aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a lane-level positioning method for an autonomous vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a vehicle coordinate system and lane line coordinate information in one or two embodiments of the invention.
Fig. 3 is a structural diagram of a lane-level positioning system of an autonomous vehicle according to a second embodiment of the present invention.
Fig. 4 is a structural diagram of a computer device according to a third embodiment of the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, well known means have not been described in detail so as not to obscure the present invention.
As shown in fig. 1, a lane-level positioning method for an autonomous vehicle according to an embodiment of the present invention includes the following steps:
s1, acquiring a front road image and absolute position information of the vehicle and high-precision map data in real time;
in this embodiment, the front road image may be acquired by a front view camera mounted on the front of the vehicle, and the front view camera acquires an image including information such as the number of lane lines, the color types of the lane lines, ground signs, and traffic signs within a certain distance of the road in front of the vehicle. Preferably, the front view camera may be mounted inside the front windshield, near the interior rear view mirror.
In this embodiment, the absolute position information may be obtained in real time by a high-precision absolute positioning module, and the high-precision absolute positioning module may provide, for example, real-time high-precision absolute positioning information including longitude, latitude, vehicle heading angle, and the like. When the method is applied to automatic driving of the expressway, the high-precision absolute positioning technology can ensure that high-precision absolute positioning information with sub-meter-level absolute positioning errors (within 1 meter) is provided in the expressway (except for the long tunnel section).
In this embodiment, the high-precision map data may be provided by a high-precision map module, where the high-precision map is a map defined in a high-precision and fine manner, and the precision of the high-precision map can be determined by reaching a decimeter level, specifically, an absolute position error of each element of the high-precision map is within 1 meter, and a relative position error is within 20 cm. With the development of positioning technology, high-precision positioning has become possible. The fine definition is to format and store various traffic elements in the traffic scene, and can provide information such as the number of lane lines of the road in front of the vehicle, the color type of each lane line, ground marks, traffic marks and the like in real time. The high-precision map module can provide over-the-horizon information for the automatic driving system, and can improve the performance of the automatic driving system.
S2, recognizing the front road image to obtain first road characteristic information; the first lane characteristic information includes at least a first lane element;
in this embodiment, in step S2, the image processing technology is performed on the front road image to extract first road characteristic information, where the first road characteristic information includes, but is not limited to, the number of lane lines, the color type of each lane line, the relative road edge distance, the road edge type, the ground sign, the traffic sign, and other information.
Specifically, the first lane feature information may include multiple elements, for example, the number of lane lines on a road in front of the vehicle, the color and type of each lane line, the relative road edge distance, the road edge type, ground signs, traffic sign information, and other elements obtained through image recognition, where the colors of the lane lines are divided into white, yellow, orange, blue, and the like, the types of the lane lines are divided into a single solid line, a single dotted line, a left virtual and right real, a right real and left virtual, a double solid line, a double dotted line, and a diversion line, and the like, the types of the road edges include guard rails, curb stones, protection walls, and the like, the ground sign information includes highest speed limit information, lowest speed limit information, and the like, the traffic sign information includes a highest speed limit sign, a lowest speed limit sign, a speed limit release sign, and the like, and this embodiment does not.
S3, acquiring first position information matched with the first road characteristic information in the high-precision map data;
specifically, in step S4 of this embodiment, information such as a road or a lane where the vehicle is currently located is obtained through the high-precision map module, for example, the number of lane lines, road edge types, ground signs, and traffic sign information in front of the vehicle obtained through image recognition are combined with the number of lane lines, road edge types, ground signs, and traffic sign information in front of the vehicle obtained from the high-precision map, so that the road where the vehicle is currently located, for example, on a certain expressway, can be determined; the number of lane lines in front of the vehicle, the color of each lane line, the type of each lane line, the relative road edge distance, the ground mark, and the like, which are obtained by image recognition, may be combined with the number of lane lines in front of the vehicle, the color of each lane line, the type of each lane line, the relative road edge distance, the ground mark, and the like, which are obtained from the high-precision map, to determine the lane on which the vehicle is located on the road at the current time, and thus, the position information of the vehicle at the current time, that is, the first position information defined herein, may be obtained.
S4, second lane feature information matched with the absolute position information in the high-precision map data is obtained;
in this embodiment, the current position of the vehicle may be determined in the high-precision map by using longitude and latitude information in the current absolute position information, and according to the current heading angle of the vehicle, second lane feature information of the road in front of the vehicle, which corresponds to the absolute position information, may be extracted from the high-precision map.
In this embodiment, the second lane characteristic information may include a plurality of elements, for example, the number of lane lines on the road in front of the vehicle, the color and type of each lane line, the relative road edge distance, the road edge type, the ground sign, and traffic sign information, where the colors of the lane lines are divided into white, yellow, orange, blue, and the like, the types of the lane lines are divided into a single solid line, a single dotted line, a left virtual and right real, a right virtual and left virtual, a double solid line, a double dotted line, and a diversion line, and the like, the types of the road edge include a guard fence, a curb, a protection wall, and the like, the ground sign information includes the highest speed limit information and the lowest speed limit information, and the traffic sign information includes the highest speed limit sign, the lowest speed limit sign, a speed limit release sign, and the like.
S5, determining whether the first position information is initial position information according to the matching result of the first lane characteristic information and the second lane characteristic information; the initial position information includes at least a second lane element corresponding to the first lane element;
in this embodiment, as described above, the first lane characteristic information and the second lane characteristic information may include a plurality of elements or information, and the second lane characteristic information includes a plurality of elements or information corresponding to the first lane characteristic information; after the matching, if the matching result of the first lane characteristic information and the second lane characteristic information is within a certain error range, the first position information determined in step S3 is relatively accurate, the first position information is determined to be the initial position information, and then the next operation is performed. In the matching process, only a plurality of key elements or information in the first lane characteristic information can be selected for comparison and matching.
S6, if it is determined that the first position information is initial position information, acquiring coordinate information of the first lane element and coordinate information of the second lane element, and determining whether the initial position information is final vehicle positioning information according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element.
In this embodiment, after the matching of the coordinate information of the first lane element and the coordinate information of the second lane element is performed, if the matching result of the coordinate information of the first lane element and the coordinate information of the second lane element is within a certain error range, the initial position information determined in step S5 is relatively accurate, and the initial position information is determined to be the final vehicle positioning information.
Compared with the prior art, the first embodiment of the invention realizes lane-level positioning by high-precision absolute positioning, vehicle front road image and high-precision map matching technology to obtain corresponding initial position information, then further verifies the accuracy of the initial position information by utilizing the coordinate information of the vehicle front road image, namely extracts the coordinate information of a first element by identifying the front road image information and obtains the coordinate information of a second element corresponding to the first element in a high-precision map, and can know the accuracy of the initial position information by comparing the coordinate information of the first element with the coordinate information of the second element, wherein the accuracy is embodied in a confidence degree mode, so that the reliability of the automatic driving lane-level positioning can be improved to ensure the safety of an automatic driving automobile, and the cost of a vehicle lane-level positioning scheme can be reduced, thereby better supporting mass production.
According to the first embodiment, in a first optional implementation manner, since lanes generally have lane lines, lane elements are preferably lane lines so as to perform subsequent coordinate information matching verification, where the first lane element is a first lane line, and the second lane element is a second lane line corresponding to the first lane line in the high-precision map data.
According to the first optional implementation manner, in the second optional implementation manner, as shown in fig. 2, the lane line coordinate information is coordinate information based on each point on a lane line in a vehicle coordinate system, and the vehicle coordinate system is a vehicle coordinate system which is constructed by taking a center of mass of the vehicle as an origin, an X-axis forward direction directly in front of the vehicle, and a Y-axis forward direction directly on the right side of the vehicle.
According to the second alternative implementation, in a third alternative implementation, the determining whether the initial position information is the final vehicle positioning information in S6 includes:
s61, matching the first lane line coordinate information with the corresponding second lane line coordinate information to obtain a corresponding lane line coordinate matching result;
in this embodiment, the first lane line coordinate information includes coordinate information of a plurality of points on the first lane line, the second lane line coordinate information includes coordinate information of a plurality of points on the second lane line, and when matching is performed, one or more points on the first lane line and one or more corresponding points on the second lane line may be selected to perform one-to-one matching, so as to obtain a corresponding lane line coordinate matching result.
It should be noted that the lane line is one of the lane elements, and therefore the principle of matching the coordinates of the lane line in this embodiment may be used to explain matching of coordinate information of other lane elements.
S62, determining the confidence of the initial position information according to the lane line coordinate matching result; the confidence degrees comprise at least a first confidence degree and a second confidence degree;
s63, determining whether the initial position information is final vehicle positioning information according to the confidence coefficient of the initial position information; and if the lane line coordinate matching result corresponds to the first confidence degree, determining whether the initial position information is the final vehicle positioning information, and if the lane line coordinate matching result corresponds to the second confidence degree, determining that the initial position information is invalid vehicle positioning information.
It should be noted that, the setting of the confidence of the initial position information may be three, four or more, and all belong to the inventive concept of the present embodiment.
According to the third optional implementation manner, in a fourth optional implementation manner, the step S61 of matching the first lane line coordinate information and the second lane line coordinate information to obtain a corresponding lane line coordinate matching result specifically includes:
s611, matching the initial coordinate information of the first left lane line with the initial coordinate information of the second left lane line to obtain a first matching result; the method comprises the following steps of obtaining a first circular area by taking the initial coordinate of the first left lane line as the circle center and a preset first radius as the radius; if the second left lane line start coordinate is located in the first circular area, the first matching result is credible, and if the second left lane line start coordinate is located outside the first circular area, the first matching result is not credible;
the preset first radius is used for determining an error range, and can be determined according to actual control precision.
S612, matching the initial coordinate information of the first right lane line with the initial coordinate information of the second right lane line to obtain a second matching result; the starting coordinate of the first right lane line is used as a circle center, and a preset second radius is used as a radius to obtain a second circular area; if the second right lane start coordinate is located in the second circular area, the second matching result is credible, and if the second right lane start coordinate is located outside the second circular area, the second matching result is not credible;
the preset second radius is used for determining an error range, and can be specifically determined according to actual control accuracy.
S613 determines a final lane line coordinate matching result by combining the first matching result and the second matching result.
In this embodiment, if the matching result and the second matching result are both relatively accurate, that is, both are within a certain error range, the lane line matching result is that the geometric information of the first lane line is consistent with the geometric information of the second lane line.
According to the fifth optional implementation manner, in a sixth optional implementation manner, the determining, by the S613, a final lane line coordinate matching result by combining the first matching result and the second matching result includes:
if the first matching result and the second matching result are both credible, determining that the final lane line coordinate matching result is credible;
if the first matching result is not credible, determining that the final lane line coordinate matching result is not credible;
if the matching result of the lane line coordinates is credible, the confidence coefficient of the initial position information is a first confidence coefficient; and if the lane line coordinate matching result is not credible, the confidence coefficient of the initial position information is a second confidence coefficient.
In a seventh alternative implementation manner, the determining, by the S5, whether the first position information is initial position information according to the matching result of the first lane characteristic information and the second lane characteristic information includes:
s51, matching the first lane characteristic information and the second lane characteristic information to obtain a corresponding lane characteristic matching result;
s52, determining the confidence of the first position information according to the lane feature matching result; the confidence of the first position information at least comprises a high confidence and a low confidence;
s53, if the confidence of the first location information is high, determining that the first location information is initial location information; and if the confidence coefficient of the first position information is low, determining that the initial position information is invalid initial position information.
It should be noted that the setting of the confidence of the first position information may be three, four or more, and all belong to the inventive concept of the present embodiment.
As shown in fig. 3, a second embodiment of the present invention provides an automatic driving vehicle lane-level positioning system, which is used to implement the automatic driving vehicle lane-level positioning method according to the first embodiment, and includes:
a first information acquisition unit 1 configured to acquire a road image ahead of a vehicle and absolute position information and high-precision map data in real time;
an image recognition unit 2 configured to recognize the front road image to obtain first road characteristic information; the first lane characteristic information includes at least a first lane element;
a second information acquisition unit 3 configured to acquire first position information that matches the first lane feature information in the high-precision map data;
a third information acquisition unit 4 configured to acquire second lane feature information that matches the absolute position information in the high-precision map data;
a first determination unit 5 configured to determine whether the first position information is initial position information according to a matching result of the first lane feature information and the second lane feature information; the initial position information includes at least a second lane element corresponding to the first lane element;
a second determination unit 6 configured to, in response to determining that the first position information is initial position information, acquire coordinate information of the first lane element and coordinate information of the second lane element, and determine whether the initial position information is final vehicle positioning information according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element.
According to the second embodiment, in an optional implementation manner, the first information obtaining unit 1 includes an image collecting unit 11, a high-precision absolute positioning unit 12 and a high-precision map unit 13, the image collecting unit 11 is used for obtaining an image of a road ahead of the vehicle in real time, the high-precision absolute positioning unit 12 is used for obtaining absolute position information of the vehicle in real time, and the high-precision map unit 13 is used for providing high-precision map data.
According to the second embodiment, in an optional implementation manner, the first lane element is a first lane line, and the second lane element is a second lane line corresponding to the first lane line in the high-precision map data.
Preferably, the second determining unit 6 includes a first matching unit 61, a second matching unit 62, and a judging unit 63; the lane line coordinate information and the first lane line coordinate information comprise first left lane line coordinate information and first right lane line coordinate information; the lane line coordinate information and the second lane line coordinate information comprise second left lane line coordinate information and second right lane line coordinate information;
the first matching unit 61 is configured to match the first left lane line coordinate information with the second left lane line coordinate information to obtain a first matching result;
the second matching unit 62 is configured to match the second left lane line coordinate information with the second left lane line coordinate information to obtain a second matching result;
the judging unit 63 is configured to determine a final lane line coordinate matching result by combining the first matching result and the second matching result.
It should be noted that, for the system disclosed in the second embodiment, since it corresponds to the method disclosed in the first embodiment, the specific working process of the system described in the second embodiment may refer to the partial description of the method process described in the first embodiment, and details are not described here.
As shown in fig. 4, a third embodiment of the present invention provides a computer apparatus 100, which includes a memory 101, a processor 102, and a computer program 103 stored in the memory 101 and executable on the processor 102, wherein when the processor 102 executes the computer program 103, the lane-level positioning method of the autonomous vehicle according to the first embodiment is implemented.
It should be noted that the foregoing explanation of the method described in the first embodiment is also applicable to the computer device in the third embodiment, and the implementation principle is similar and will not be described herein again.
A fourth embodiment of the present invention provides a vehicle, including the lane-level localization system of an autonomous vehicle as described in the second embodiment or the computer device as described in the third embodiment.
Fifth, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the lane-level positioning method for an autonomous vehicle according to the first embodiment.
It should be noted that the foregoing explanation of the method according to the first embodiment also applies to the non-transitory computer-readable storage medium according to the fifth embodiment, and the implementation principle thereof is similar and will not be described herein again.
In the description of the present specification, different embodiments or examples and features of different embodiments or examples described in the specification may be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. A lane-level positioning method for an autonomous vehicle is characterized by comprising the following steps:
acquiring a front road image and absolute position information of a vehicle and high-precision map data in real time;
identifying the front road image to obtain first road characteristic information; the first lane characteristic information includes at least a first lane element;
acquiring first position information matched with the first lane feature information in the high-precision map data;
acquiring second lane characteristic information matched with the absolute position information in the high-precision map data;
determining whether the first position information is initial position information according to a matching result of the first lane characteristic information and the second lane characteristic information; the initial position information includes at least a second lane element corresponding to the first lane element;
if the first position information is determined to be initial position information, acquiring coordinate information of the first lane element and coordinate information of the second lane element, and determining whether the initial position information is final vehicle positioning information according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element.
2. The autonomous vehicle lane-level positioning method of claim 1 wherein the first lane element is a first lane line and the second lane element is a second lane line corresponding to the first lane line in the high accuracy map data.
3. The autonomous-vehicle lane-level positioning method of claim 2, wherein the coordinate information of the lane line is coordinate information based on each point on the lane line in a vehicle coordinate system constructed with a center of mass of the vehicle as an origin, a direction directly in front of the vehicle as an X-axis forward direction, and a direction directly on a right side of the vehicle as a Y-axis forward direction.
4. The autonomous-vehicle lane-level locating method of claim 3, wherein the determining whether the initial position information is final vehicle location information comprises:
matching the first lane line coordinate information with the corresponding second lane line coordinate information to obtain a corresponding lane line coordinate matching result;
determining the confidence of the initial position information according to the lane line coordinate matching result; the confidence degrees comprise at least a first confidence degree and a second confidence degree;
determining whether the initial position information is final vehicle positioning information according to the confidence of the initial position information; and if the lane line coordinate matching result corresponds to the first confidence degree, determining whether the initial position information is the final vehicle positioning information, and if the lane line coordinate matching result corresponds to the second confidence degree, determining that the initial position information is invalid vehicle positioning information.
5. The autonomous-vehicle lane-level positioning method of claim 4, wherein the matching the first lane line coordinate information and the second lane line coordinate information to obtain the corresponding lane line coordinate matching result specifically comprises:
matching the initial coordinate information of the first left lane line with the initial coordinate information of the second left lane line to obtain a first matching result; the method comprises the following steps of obtaining a first circular area by taking the initial coordinate of the first left lane line as the circle center and a preset first radius as the radius; if the second left lane line start coordinate is located in the first circular area, the first matching result is credible, and if the second left lane line start coordinate is located outside the first circular area, the first matching result is not credible;
matching the initial coordinate information of the first right lane line with the initial coordinate information of the second right lane line to obtain a second matching result; the starting coordinate of the first right lane line is used as a circle center, and a preset second radius is used as a radius to obtain a second circular area; if the second right lane start coordinate is located in the second circular area, the second matching result is credible, and if the second right lane start coordinate is located outside the second circular area, the second matching result is not credible;
and determining a final lane line coordinate matching result by combining the first matching result and the second matching result.
6. The autonomous-vehicle lane-level positioning method of claim 5, wherein the determining a final lane-line coordinate match result in combination with the first and second match results comprises:
if the first matching result and the second matching result are both credible, determining that the final lane line coordinate matching result is credible;
if the first matching result is not credible, determining that the final lane line coordinate matching result is not credible;
if the matching result of the lane line coordinates is credible, the confidence coefficient of the initial position information is a first confidence coefficient; and if the lane line coordinate matching result is not credible, the confidence coefficient of the initial position information is a second confidence coefficient.
7. The autonomous-vehicle lane-level locating method of claim 1, wherein the determining whether the first location information is initial location information according to the matching result of the first lane feature information and the second lane feature information comprises:
matching the first lane characteristic information and the second lane characteristic information to obtain a corresponding lane characteristic matching result;
determining the confidence of the first position information according to the lane feature matching result; the confidence of the first position information at least comprises a high confidence and a low confidence;
if the confidence coefficient of the first position information is high confidence coefficient, determining that the first position information is initial position information; and if the confidence coefficient of the first position information is low, determining that the initial position information is invalid initial position information.
8. An autonomous vehicle lane-level positioning system, comprising:
a first information acquisition unit configured to acquire a road image ahead of the vehicle and absolute position information and high-precision map data in real time;
an image identification unit configured to identify the front road image to obtain first road characteristic information; the first lane characteristic information includes at least a first lane element;
a second information acquisition unit configured to acquire first position information that matches the first lane feature information in the high-precision map data;
a third information acquisition unit configured to acquire second lane feature information that matches the absolute position information in the high-precision map data;
a first determination unit configured to determine whether the first position information is initial position information according to a matching result of the first lane feature information and second lane feature information; the initial position information includes at least a second lane element corresponding to the first lane element;
a second determination unit configured to acquire the coordinate information of the first lane element and the coordinate information of the second lane element in response to a determination that the first position information is initial position information, and determine whether the initial position information is final vehicle positioning information according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element.
9. The autonomous-vehicle lane-level positioning method according to claim 8, wherein the first information acquiring unit 1 includes an image acquiring unit for acquiring an image of a road ahead of the vehicle in real time, a high-precision absolute positioning unit for acquiring absolute position information of the vehicle in real time, and a high-precision map unit for providing high-precision map data;
the first lane element is a first lane line, and the second lane element is a second lane line corresponding to the first lane line in the high-precision map data.
10. The autonomous-vehicle lane-level locating system of claim 9, wherein the lane line coordinate information first lane line coordinate information comprises first left-side lane line coordinate information and first right-side lane line coordinate information; the lane line coordinate information and the second lane line coordinate information comprise second left lane line coordinate information and second right lane line coordinate information;
the second determining unit comprises a first matching unit, a second matching unit and a judging unit,
the first matching unit is used for matching the first left lane line coordinate information with the second left lane line coordinate information to obtain a first matching result;
the second matching unit is used for matching the second left lane line coordinate information with the second left lane line coordinate information to obtain a second matching result;
and the judging unit is used for determining a final lane line coordinate matching result by combining the first matching result and the second matching result.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing an autonomous vehicle lane-level positioning method as claimed in any of claims 1-8.
12. A vehicle comprising an autonomous vehicle lane-level positioning system according to any of claims 8-10 or a computer device according to claim 11.
13. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the method of lane-level localization of an autonomous vehicle as recited in any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910097651.XA CN111507129B (en) | 2019-01-31 | 2019-01-31 | Lane-level positioning method and system, computer equipment, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910097651.XA CN111507129B (en) | 2019-01-31 | 2019-01-31 | Lane-level positioning method and system, computer equipment, vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111507129A true CN111507129A (en) | 2020-08-07 |
| CN111507129B CN111507129B (en) | 2023-08-22 |
Family
ID=71873936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910097651.XA Active CN111507129B (en) | 2019-01-31 | 2019-01-31 | Lane-level positioning method and system, computer equipment, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111507129B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284402A (en) * | 2020-10-15 | 2021-01-29 | 广州小鹏自动驾驶科技有限公司 | Vehicle positioning method and device |
| CN112328731A (en) * | 2021-01-06 | 2021-02-05 | 禾多科技（北京）有限公司 | Vehicle lane level positioning method and device, electronic equipment and computer readable medium |
| CN112380313A (en) * | 2020-12-01 | 2021-02-19 | 北京罗克维尔斯科技有限公司 | Method and device for updating confidence coefficient of high-precision map |
| CN113232658A (en) * | 2021-06-28 | 2021-08-10 | 驭势（上海）汽车科技有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
| CN113701781A (en) * | 2021-09-30 | 2021-11-26 | 重庆长安汽车股份有限公司 | Matching lane searching method based on high-precision map and visual lane line |
| CN114396957A (en) * | 2022-02-28 | 2022-04-26 | 重庆长安汽车股份有限公司 | Positioning pose calibration method based on matching of vision and map lane line and automobile |
| CN115223118A (en) * | 2022-06-09 | 2022-10-21 | 广东省智能网联汽车创新中心有限公司 | High-precision map confidence judgment method and system and vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180189578A1 (en) * | 2016-12-30 | 2018-07-05 | DeepMap Inc. | Lane Network Construction Using High Definition Maps for Autonomous Vehicles |
| CN108303103A (en) * | 2017-02-07 | 2018-07-20 | 腾讯科技（深圳）有限公司 | The determination method and apparatus in target track |
-
2019
- 2019-01-31 CN CN201910097651.XA patent/CN111507129B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180189578A1 (en) * | 2016-12-30 | 2018-07-05 | DeepMap Inc. | Lane Network Construction Using High Definition Maps for Autonomous Vehicles |
| CN108303103A (en) * | 2017-02-07 | 2018-07-20 | 腾讯科技（深圳）有限公司 | The determination method and apparatus in target track |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284402B (en) * | 2020-10-15 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | Vehicle positioning method and device |
| CN112284402A (en) * | 2020-10-15 | 2021-01-29 | 广州小鹏自动驾驶科技有限公司 | Vehicle positioning method and device |
| CN112380313B (en) * | 2020-12-01 | 2023-07-28 | 北京罗克维尔斯科技有限公司 | Method and device for updating confidence coefficient of high-precision map |
| CN112380313A (en) * | 2020-12-01 | 2021-02-19 | 北京罗克维尔斯科技有限公司 | Method and device for updating confidence coefficient of high-precision map |
| CN112328731B (en) * | 2021-01-06 | 2021-07-09 | 禾多科技（北京）有限公司 | Vehicle lane level positioning method and device, electronic equipment and computer readable medium |
| CN112328731A (en) * | 2021-01-06 | 2021-02-05 | 禾多科技（北京）有限公司 | Vehicle lane level positioning method and device, electronic equipment and computer readable medium |
| CN113232658A (en) * | 2021-06-28 | 2021-08-10 | 驭势（上海）汽车科技有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
| CN113232658B (en) * | 2021-06-28 | 2022-06-28 | 驭势（上海）汽车科技有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
| CN113701781A (en) * | 2021-09-30 | 2021-11-26 | 重庆长安汽车股份有限公司 | Matching lane searching method based on high-precision map and visual lane line |
| CN113701781B (en) * | 2021-09-30 | 2023-07-18 | 重庆长安汽车股份有限公司 | Matching lane searching method based on high-precision map and visual lane lines |
| CN114396957A (en) * | 2022-02-28 | 2022-04-26 | 重庆长安汽车股份有限公司 | Positioning pose calibration method based on matching of vision and map lane line and automobile |
| CN114396957B (en) * | 2022-02-28 | 2023-10-13 | 重庆长安汽车股份有限公司 | Positioning pose calibration method based on vision and map lane line matching and automobile |
| CN115223118A (en) * | 2022-06-09 | 2022-10-21 | 广东省智能网联汽车创新中心有限公司 | High-precision map confidence judgment method and system and vehicle |
| CN115223118B (en) * | 2022-06-09 | 2024-03-01 | 广东省智能网联汽车创新中心有限公司 | High-precision map confidence judging method, system and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111507129B (en) | 2023-08-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111507129B (en) | Lane-level positioning method and system, computer equipment, vehicle and storage medium | |
| CN111507130B (en) | Lane-level positioning method and system, computer equipment, vehicle and storage medium | |
| CN111522003B (en) | Vehicle positioning method and system, computer equipment, vehicle and storage medium | |
| CN108303103B (en) | Method and device for determining target lane | |
| US10558869B2 (en) | Location specifying apparatus and non-transitory computer-readable medium | |
| CN111046709B (en) | Vehicle lane level positioning method and system, vehicle and storage medium | |
| EP3470789A1 (en) | Autonomous driving support apparatus and method | |
| CN109752741B (en) | Vehicle positioning apparatus | |
| EP2950292B1 (en) | Driving support device, driving support method, and recording medium storing driving support program | |
| US9208389B2 (en) | Apparatus and method for recognizing current position of vehicle using internal network of the vehicle and image sensor | |
| EP3819897B1 (en) | Driving support method and driving support device | |
| CN111149011A (en) | Method and vehicle system for locating highly automated vehicles (HAF), in particular highly automated vehicles | |
| CN110796007A (en) | Scene recognition method and computing device | |
| US20190180117A1 (en) | Roadside object recognition apparatus | |
| US20180208197A1 (en) | Lane keeping assistance system | |
| CN112327855A (en) | Control method and device for automatic driving vehicle and electronic equipment | |
| CN114383620A (en) | Vehicle accurate position obtaining method and system, readable storage medium and vehicle | |
| CN110940974A (en) | Object detection device | |
| US11482098B2 (en) | Localization in complex traffic scenarios with the aid of markings | |
| KR102137043B1 (en) | Positioning accuracy improvement system | |
| CN110023781B (en) | Method and device for determining the exact position of a vehicle from a radar signature of the surroundings of the vehicle | |
| CN108242163B (en) | Driver assistance system, motor vehicle, method and medium for outputting traffic information | |
| CN112384820A (en) | Method and device for determining the position of a vehicle | |
| WO2022123713A1 (en) | Driving assistance control device and driving assistance control method | |
| CN113566824A (en) | Vehicle positioning method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |