CN114155319A - Method, system and device for generating auxiliary lane change information by high-precision map - Google Patents
Method, system and device for generating auxiliary lane change information by high-precision map Download PDFInfo
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Abstract
The invention provides a method, a system and a device for generating auxiliary lane change information of a high-precision map. The method comprises the following steps: s1: acquiring lane data of lane change in a high-precision map; s2: reconstructing lane topology according to lane characteristics in a lane change interval to generate a new lane center line link; s3: according to the newly generated lane central line link, generating lane change points and optimizing a lane change lane curve; s4: and outputting a new high-precision map, and refreshing the generated lane central line and lane change points into the high-precision map. The lane change identification is clear, the lane center line of the lane change road section is optimized, and the lane change identification can provide a lane guide effect; the lane change reminding and lane change guiding are realized, lane pressing and solid line lane changing are avoided, the driving experience is improved, and the support and the adaptation of a high-precision map to the lane change function of automatic driving are improved; the performance of the lane changing function in automatic driving is improved, and the automatic driving process is accelerated to a certain extent.
Description
Technical Field
The invention relates to the field of high-precision electronic map manufacturing, in particular to a method, a system and a device for generating auxiliary lane change information of a high-precision map.
Background
The high-precision electronic map is mainly used for automatically driving vehicles and provides lane level planning in road sections for the automatically driving vehicles. Scenes needing lane change often appear in roads, such as diverging and converging positions of upper and lower ramps of an expressway and scenes of increasing or decreasing lanes in an urban road. These scenarios may require changing the driving lane of the vehicle, and the lane change point is a data identifier used to assist lane changing.
The lane-level data of the high-precision electronic map generally only provides lane edges and lane centerlines, and lacks clear lane change identification. And the lane center line cannot provide lane-changing traction of the lane well.
Disclosure of Invention
The present invention provides a method, system and apparatus for high precision map generation assisted lane change information that overcomes or at least partially solves the above-mentioned problems.
According to a first aspect of the present invention, there is provided a method for generating auxiliary lane change information with a high-precision map, comprising the steps of:
s1: acquiring lane data of lane change in a high-precision map;
s2: reconstructing lane topology according to lane characteristics in a lane change interval to generate a new lane center line link;
s3: according to the newly generated lane central line link, generating lane change points and optimizing a lane change lane curve;
s4: and outputting a new high-precision map, and refreshing the generated lane central line and lane change points into the high-precision map.
On the basis of the technical scheme, the invention can be further improved as follows:
optionally, the step S1 is to collect and extract lane change sections, lane change lanes and lane change scene types according to the high-precision map data.
Optionally, the step S1 includes:
s11: generating attributes of road sections through the change of the number of lanes on the road sections in the high-precision map data, wherein the road sections are the same longitudinal section of the same road;
s12: generating lane change lane information according to the geometry and attributes of lane center lines in the lane change interval and the center lines of the forward lane and the backward lane;
s13: collecting the data information of lane change lanes and lane change intervals to obtain a lane change point processing information body, comprising the following steps: the lane change attribute comprises road sections, lane central lines, lane change attributes on the left side and the right side of a road, divergence and convergence lane change attributes, speed limit information and lane width.
Optionally, in step S2, the lane change scene types are accurately distinguished, where the lane change scene types include a simple divergence scene, a simple convergence scene, a multiple continuous divergence scene, a multiple continuous convergence scene, and a common divergence and convergence scene, and different lane change point information generation strategies are adopted for different lane change scene types.
Optionally, the generating strategy of the lane change point information includes road section topology collection, optimal driving length calculation, road section calculation affected by the lane change point, effective lane change point confirmation, topology reconstruction of a complex scene, and attribute refreshing.
Optionally, in step S3, the lane-change scene type of the generated lane-change point includes an earliest starting lane-change point and a latest ending lane-change point, where the earliest starting lane-change point and the latest ending lane-change point are respectively used to represent a position where the vehicle can start changing lanes earliest and a position where the vehicle can end changing lanes latest.
Optionally, when the generation of the lane change point and the curve optimization of the lane change are completed according to the newly generated lane center line link, it is ensured that the curvature of the lane center line is smooth and does not exceed a set threshold, and the lane center line is kept at the center of the lane without pressing a solid line.
According to a second aspect of the present invention, there is provided a system for generating auxiliary lane change information with a high-precision map, comprising:
sequentially and communicatively connected:
the lane change point information body track module is used for statistically collecting a lane change interval, a lane change lane, lane change attributes, speed limit information and an influence road interval set from the high-precision map data;
the lane change mode classification module is used for classifying lane change scenes and performing classification processing according to different modes according to the classification;
the topology reconstruction module is used for performing topology reconstruction aiming at a plurality of continuous lane changing scenes to generate lane central line links meeting the requirements;
the curve optimization module is used for performing curve optimization on the lane center line related to the lane change point to enable the lane center line to meet the lane driving requirement;
and the lane change point generating module is used for generating a lane change point on the lane center line of the influence range by the lane change point information body and providing the lane change point for lane recognition lane change start and lane change end.
According to a third aspect of the present invention, there is provided an apparatus for generating auxiliary lane change information with a high-precision map, comprising the system for generating auxiliary lane change information with a high-precision map.
The method, the system and the device for generating the auxiliary lane change information by the high-precision map have the advantages that lane change identification is made clearly, the lane center line of a lane change road section is optimized, and a lane guide effect can be provided; the lane change reminding and lane change guiding are realized, lane pressing and solid line lane changing are avoided, the driving experience is improved, and the support and the adaptation of a high-precision map to the lane change function of automatic driving are improved; and the generation of lane change information is realized by secondary processing of high-precision map data, including earliest lane change reminding, latest lane change reminding and curve optimization of lane change center lines, so that the purposes of reminding lane change and guiding lane change are achieved. The performance of the lane changing function in automatic driving is improved, and the automatic driving process is accelerated to a certain extent.
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Fig. 1 is a flowchart of a method for generating auxiliary lane change information for a high-precision map according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a system for generating auxiliary lane change information for a high-precision map according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a method for generating auxiliary lane change information by using a high-precision map according to an embodiment of the present invention;
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a method for generating auxiliary lane change information from a high-precision map according to an embodiment of the present invention, and as shown in fig. 1, the method for generating auxiliary lane change information from a high-precision map includes the following steps:
s1: acquiring lane data of lane change in a high-precision map;
s2: reconstructing lane topology according to lane characteristics in a lane change interval to generate a new lane center line link;
s3: according to the newly generated lane central line link, generating lane change points and optimizing a lane change lane curve;
s4: and outputting a new high-precision map, and refreshing the generated lane central line and lane change points into the high-precision map.
It can be understood that, in the embodiment, the lane change mark is clear, and the lane center line of the lane change road section is optimized, so that the lane change mark can provide a lane guiding function; the lane changing reminding and lane changing guiding are realized, lane pressing and solid line lane changing are avoided, the driving experience is improved, and the support and the adaptation of the high-precision map to the lane changing function of automatic driving are improved.
In a possible embodiment, the step S1 is to collect and extract lane change sections, lane change lanes and lane change scene types according to the high-precision map data.
It is understood that, in the present embodiment, the same longitudinal section of the same road is defined as a road section.
In a possible embodiment, the step S1 includes:
s11: generating the attribute of the road section by the change of the number of lanes on the road section in the high-precision map data, wherein the road section is the same longitudinal section of the same road;
s12: generating lane change lane information according to the geometry and attributes of lane center lines in the lane change interval and the center lines of the forward lane and the backward lane;
s13: collecting the data information of lane change lanes and lane change intervals to obtain a lane change point processing information body, comprising the following steps: the lane change attribute comprises road sections, lane central lines, lane change attributes on the left side and the right side of a road, divergence and convergence lane change attributes, speed limit information and lane width.
In a possible embodiment, in step S2, lane change scene types are accurately distinguished, where the lane change scene types include a simple divergence scene, a simple convergence scene, a multiple continuous divergence scene, a multiple continuous convergence scene, and a common divergence and convergence scene, and different lane change point information generation strategies are adopted for different lane change scene types.
Wherein, step S2 specifically includes:
s21: constructing a road section connectivity information dictionary according to the road section generated in the step S1 and the topological relation;
s22: obtaining the optimal driving length of the lane change according to the speed limit information and the lane width of the lane change point information body in the step S1 by combining the vehicle dynamic characteristic and the riding comfort characteristic;
s23: and determining an influence associated road section set of the lane change point information body by combining the optimal driving length according to the lane change point information body and the road section connectivity dictionary in the step S1. And confirm the first sending nature of the information body of lane change in the optimal driving length range (the information body of lane change point does not have other information bodies of lane change point in the topological range of the optimal driving length); and supplementing the road section set influenced by the road change point information body, and deleting the non-initial road change point information body.
S24: supplementing the lane change point information body of the road section set according to S23, screening the lane change point information body by using the connectivity relation among the road sections, and dividing the lane change point information body into the following scenes according to the bifurcation and confluence lane change attributes in the information body and the lane change section attributes in the road sections: a) a divergence convergence sharing scenario; b) a simple divergence scenario; c) a simple convergence scene; d) multiple continuous bifurcation scenes; e) multiple continuous convergence scenes; and the other scenes are obtained by combining the scenes. And recording the classification attribute of the lane change point information body into the lane change point information body.
S25: processing according to the classified scenes in S24; constructing new topological connection between an initial road section and a final road section of a road section in a lane change point information body according to the driving direction and generating a new lane center line; the new lane center line needs to be associated with the lane sideline.
The generating strategy of the lane change point information comprises road section topology collection, optimal running length calculation, lane change point influence road section calculation, effective lane change point confirmation, topology reconstruction of a complex scene and attribute refreshing.
In a possible embodiment, in step S3, the lane-change scene type of the generated lane-change point includes an earliest starting lane-change point and a latest ending lane-change point, and the earliest starting lane-change point and the latest ending lane-change point are respectively used for representing a position where the vehicle can start changing lane earliest and a position where the vehicle can end changing lane latest.
As shown in fig. 3, fig. 3 is a schematic diagram of a method for generating auxiliary lane change information by using a high-precision map according to the present invention, where the step S3 specifically includes:
s31: constructing a topological link of the lane change lane according to the classified lane change point information body in the step S2 and the connectivity among the road sections contained in the information body; the topological link here refers to a link set of lane centerlines constructed by topological link relation from one lane centerline.
S32: and according to the optimal running length in the step S2, combining the classification attributes of the lane change point information body to obtain the final lane center line range needing curve optimization. And for the branching and converging common scene, if the optimal running length is greater than twice of the total length of the road section set in the lane change point information body, the optimal running length is adjusted to be half of the total length of the road section set.
S33: and (4) performing curve optimization aiming at the range of the lane center line acquired in the step S32, wherein the optimization algorithm comprehensively considers the curvature change of the curve and the distance between the lane center line and the lane side line, and ensures that the lane center line cannot cover the solid line for driving.
S34: the lane change point is generated for the lane change lane in the lane change point information body in conjunction with the new lane center line in S33. The lane change points comprise an earliest lane change starting point and a latest lane change ending point and are used for prompting the vehicle to start lane change at the earliest time and finish lane change at the latest time.
In a possible embodiment mode, when the generation of the lane change point and the curve optimization of the lane change are completed according to the newly generated lane center line link, the curvature of the lane center line is ensured to be smooth and not to exceed a set threshold value, and the lane center line is kept at the center of the lane without pressing a solid line.
Fig. 2 is a schematic block diagram of a system for generating auxiliary lane change information with a high-precision map according to an embodiment of the present invention, and as shown in fig. 2, the system for generating auxiliary lane change information with a high-precision map includes:
sequentially and communicatively connected:
the lane change point information body track module is used for statistically collecting a lane change interval, a lane change lane, lane change attributes, speed limit information and an influence road interval set from the high-precision map data;
the lane change mode classification module is used for classifying lane change scenes and performing classification processing according to different modes according to the classification;
the topology reconstruction module is used for performing topology reconstruction aiming at a plurality of continuous lane changing scenes to generate lane central line links meeting the requirements;
the curve optimization module is used for performing curve optimization on the lane center line related to the lane change point to enable the lane center line to meet the lane driving requirement;
and the lane change point generating module is used for generating a lane change point on the lane center line of the influence range by the lane change point information body and providing the lane change point for lane recognition lane change start and lane change end.
It will be appreciated that, in this embodiment,
in addition, the embodiment also provides a device for generating the auxiliary lane change information by the high-precision map, which comprises the system for generating the auxiliary lane change information by the high-precision map.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A method for generating auxiliary lane change information by a high-precision map is characterized by comprising the following steps:
s1: acquiring lane data of lane change in a high-precision map;
s2: reconstructing lane topology according to lane characteristics in a lane change interval to generate a new lane center line link;
s3: according to the newly generated lane central line link, generating lane change points and optimizing a lane change lane curve;
s4: and outputting a new high-precision map, and refreshing the generated lane central line and lane change points into the high-precision map.
2. The method for generating auxiliary lane change information according to claim 1, wherein the step S1 is to collect and extract lane change sections, lane change lanes and lane change scene types according to the high-precision map data.
3. The method for generating auxiliary lane change information according to the high-precision map as claimed in claim 1, wherein the step S1 includes:
s11: generating attributes of road sections through the change of the number of lanes on the road sections in the high-precision map data, wherein the road sections are the same longitudinal section of the same road;
s12: generating lane change lane information according to the geometry and attributes of lane center lines in the lane change interval and the center lines of the forward lane and the backward lane;
s13: collecting the data information of lane change lanes and lane change intervals to obtain a lane change point processing information body, comprising the following steps: the lane change attribute comprises road sections, lane central lines, lane change attributes on the left side and the right side of a road, divergence and convergence lane change attributes, speed limit information and lane width.
4. The method for generating auxiliary lane change information for high-precision maps according to claim 1, wherein in step S2, lane change scene types are accurately distinguished, and the lane change scene types include a simple divergence scene, a simple convergence scene, a multiple continuous divergence scene, a multiple continuous convergence scene, and a common divergence and convergence scene, and different lane change point information generation strategies are adopted for different lane change scene types.
5. The method for generating auxiliary lane change information for the high-precision map according to claim 4, wherein the lane change point information generation strategy comprises road section topology collection, optimal driving length calculation, lane change point influence road section calculation, effective lane change point confirmation, topology reconstruction of a complex scene and attribute refreshing.
6. The method for generating auxiliary lane change information according to claim 5, wherein in step S3, the lane change scene type of the generated lane change point includes an earliest starting lane change point and a latest ending lane change point, and the earliest starting lane change point and the latest ending lane change point are respectively used for representing the position where the vehicle can start lane change earliest and the position where the vehicle can end lane change latest.
7. The method for generating auxiliary lane change information according to claim 1, wherein when the generation of the lane change point and the curve optimization of the lane change are completed according to the newly generated lane center line link, the curvature of the lane center line is ensured to be smooth and not to exceed a set threshold, and the lane center line is kept at the center of the lane without pressing a solid line.
8. A system for generating auxiliary lane change information for a high-precision map, comprising, communicatively connected in sequence:
the lane change point information body track module is used for statistically collecting a lane change interval, a lane change lane, lane change attributes, speed limit information and an influence road interval set from the high-precision map data;
the lane change mode classification module is used for classifying lane change scenes and performing classification processing according to different modes according to the classification;
the topology reconstruction module is used for performing topology reconstruction aiming at a plurality of continuous lane changing scenes to generate lane central line links meeting the requirements;
the curve optimization module is used for performing curve optimization on the lane center line related to the lane change point to enable the lane center line to meet the lane driving requirement;
and the lane change point generating module is used for generating a lane change point on the lane center line of the influence range by the lane change point information body and providing the lane change point for lane recognition lane change start and lane change end.
9. An apparatus for generating auxiliary lane change information with a high precision map, characterized in that it comprises a system for generating auxiliary lane change information with a high precision map according to claim 8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590260A (en) * | 2022-03-28 | 2022-06-07 | 智己汽车科技有限公司 | Method and system for changing lanes on ramp and ramp |
| CN115014280A (en) * | 2022-05-25 | 2022-09-06 | 高德软件有限公司 | Method and device for determining length of lane change virtual line and high-precision map |
| CN115273520A (en) * | 2022-08-01 | 2022-11-01 | 高德软件有限公司 | Method and device for detecting lane change virtual line |
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2021
- 2021-12-08 CN CN202111494251.6A patent/CN114155319A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590260A (en) * | 2022-03-28 | 2022-06-07 | 智己汽车科技有限公司 | Method and system for changing lanes on ramp and ramp |
| CN115014280A (en) * | 2022-05-25 | 2022-09-06 | 高德软件有限公司 | Method and device for determining length of lane change virtual line and high-precision map |
| CN115014280B (en) * | 2022-05-25 | 2024-05-31 | 高德软件有限公司 | Method and device for determining length of lane-changing virtual line and high-precision map |
| CN115273520A (en) * | 2022-08-01 | 2022-11-01 | 高德软件有限公司 | Method and device for detecting lane change virtual line |
| CN115273520B (en) * | 2022-08-01 | 2024-06-21 | 高德软件有限公司 | Method and device for detecting lane change virtual line |
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