CN206961119U - A kind of distributed memory system of intelligent driving automobile operation system and high-precision map - Google Patents
A kind of distributed memory system of intelligent driving automobile operation system and high-precision map Download PDFInfo
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- CN206961119U CN206961119U CN201720113417.8U CN201720113417U CN206961119U CN 206961119 U CN206961119 U CN 206961119U CN 201720113417 U CN201720113417 U CN 201720113417U CN 206961119 U CN206961119 U CN 206961119U
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Abstract
The application provides a kind of intelligent driving automobile operation system and a kind of distributed memory system of high-precision map.The intelligent driving automobile operation system includes more intelligent driving automobiles；Host node, the global high-precision map of storage；And multiple memory nodes, each memory node are arranged at least one of road infrastructure or the building in roadside and above or as new road infrastructure installed；Each memory node includes：Information transceiver, it is used to send and/or receives the subgraph of high-precision map, and it can be with that can carry out radio communication with intelligent driving automobile and host node；With subgraph memory, it is used for the sub-collective drawing for storing high-precision map.The technical scheme of the application saves the memory space of intelligent driving system, there is provided a kind of truly feasible scheme that intelligent driving is carried out using high-precision map.
Description
Technical field
The application belongs to intelligent driving technical field, more particularly to a kind of intelligent driving automobile operation system and high accuracy
The distributed memory system of map.
Background technology
Intelligent driving can be divided into automatic Pilot and unmanned.Automatic Pilot be it is man-machine drive altogether, refer on some sections
Being driven by people and on some sections by automatic driving, it is necessary to people drive situation more at least automatic Pilot degree more
It is high.It is unmanned not need driver, drive trip by automobile to realize completely.High-precision map be realize it is unmanned extensive
One of necessary technology of deployment.Even if to highly automated driving, high-precision map is also indispensable technology.Due to high accuracy
Map contains abundant Traffic Information element, is compared with common map of navigation electronic, and high-precision map can not only carry
For high-precision geographical position coordinates, moreover it is possible to describe accurate road shape, the number in track, the gradient in each track, curvature, boat
To, roll etc..The combination of these abundant information and relevant locating technology may insure the security of intelligent driving and good
Ride experience.
In general navigation map can provide navigation clothes with offline storage because information content is smaller on automobile and to driver
Business.Different from general navigation map, the rich of information described by high-precision map determines that high-precision map needs to take
Bigger memory space (such as high-precision every mile of the map that the figure that is gone out with Laser Radar Scanning of Google is formed after mark
Need the memory space of occupancy about 1G bytes).Due to storing the capacity of memory device of high-precision map on intelligent driving automobile
Limited, the high-precision map of one large area of covering can not all be stored in general intelligent driving automobile, and this will be straight
Connecing influences the enforcement scope of intelligent driving vehicle.And pass through the global high-precision map in high in the clouds during intelligent vehicle running
Dynamic renewal needs to expend very big bandwidth and produces longer delay, so this dynamic renewal side in practical application scene
The feasibility of method is smaller.The popularization of intelligent driving is badly in need of a kind of practical method to realize on intelligent driving automobile accurately
Effective dynamic of figure updates.
For the navigation map of routine, the map of very big regional extent, the dynamic more cenotype of map can be stored on vehicle
Also it is fairly simple for, typically only need to compare the difference between two map versions and the part of differentiation is sent to car
Can on.But for high-precision map, the storage on normal navigation map, renewal and the method that uses is applied to will be unable to
It is directly applied.
Utility model content
For one or more problems present in prior art, the application provides a kind of intelligent driving automobile operation system
System, a kind of memory node of high-precision map, the high-precision map distributed memory system comprising the memory node will high accuracy
Map is deployed in the method in the distributed memory system, using the intelligent driving system of high-precision map, and installs the intelligence
The vehicle of energy control loop.
The application includes following content：
A kind of intelligent driving automobile operation system, including：
More intelligent driving automobiles, intelligent driving system, the intelligent driving system are installed on each intelligent driving automobile
System includes the intelligence of intelligent driving information transceiver, the control device for controlling vehicle movement and the current high-precision map of storage
Storage device can be driven, the current high-precision map includes the subgraph of high-precision map, and the subgraph institute of the high-precision map
Corresponding frequency of usage；
Host node, the global high-precision map of storage；And
Multiple memory nodes, each memory node are arranged at least one in road infrastructure or the building in roadside
Installed in kind or as new road infrastructure；
Each memory node includes：
Information transceiver, it is used to send and/or receives the subgraph of high-precision map, its can with can be with intelligent driving
Automobile and host node carry out radio communication；With
Subgraph memory, it is used for the sub-collective drawing for storing high-precision map.
Described information transceiver or intelligent driving information transceiver can be each independently in some embodiments
Wireless communication module and the optional communication module with cloud system, such as the common information using 4G wireless broad band technologies are received
Send out the information transceiver in device, such as 4G cell phone.The host node can be cloud system.
A kind of distributed memory system of high-precision map, it includes
Host node, it is used to store global high-precision map；With
Multiple memory nodes, each memory node include：
Information transceiver, it is used to send and/or receives the subgraph of high-precision map；With
Subgraph memory, it is used for the sub-collective drawing for storing high-precision map, wherein the sub-collective drawing includes saving with this storage
The cartographic information of the directly related travel direction of point, each subgraph correspond to a traveling side directly related with this memory node
To cartographic information,
Wherein each memory node is arranged at the particular locations of high-precision map.
In some embodiments, the memory node is installed in existing road infrastructure and the building in roadside
It is at least one upper or as new road infrastructure installation.
In some embodiments, the existing road infrastructure is selected from traffic lights, street lamp, video camera violating the regulations, road
The one or more of board, roadside electric pole and bridge.
In some embodiments, described distributed memory system also includes emergent website, it is characterised in that Mei Gecun
Storing up storage in node, from currently stored node to the high-precision map subgraph of nearest emergent website route, described nearest meets an urgent need
Website at least stores the high-precision map subgraph that all directly follow-up memory nodes of currently stored node are stored.
In some embodiments, the direct preamble memory node that the sub-collective drawing includes currently stored node (is current
The preamble memory node of memory node, and reach in the preamble memory node and be not present on the shortest path of currently stored node
Other memory nodes) by currently stored node to direct follow-up memory node (be the follow-up memory node of currently stored node,
And other memory nodes are not present on the shortest path of currently stored node to the follow-up memory node) between all travelings
The high-precision cartographic information in direction, each subgraph correspond to the high-precision cartographic information of each travel direction.
In some embodiments, stored in the memory node from this memory node to nearest emergent website route
High-precision map subgraph, the emergent website storage is than the high-precision map subgraph in the range of memory node broader area.It is described
Host node can be cloud system.
The application specifically also includes following content：
A kind of memory node of high-precision map of embodiment 1., it includes：
Signal dispatcher module, it is used to send and/or receives the subgraph of high-precision map；With
Storage device, it is used for the sub-collective drawing for storing high-precision map, wherein the sub-collective drawing includes and this memory node
The cartographic information of directly related travel direction, each subgraph correspond to a travel direction directly related with this memory node
Cartographic information.
The memory node of high-precision map of the embodiment 2. according to embodiment 1, wherein the sub-collective drawing includes
The direct preamble memory node of currently stored node (is the preamble memory node of currently stored node, and stored in the preamble
Node reaches and other memory nodes is not present on the shortest path of currently stored node) by currently stored node to it is direct subsequently
Memory node (be the follow-up memory node of currently stored node, and currently stored node to the follow-up memory node most
Other memory nodes are not present on short path) between all travel directions high-precision cartographic information, each subgraph corresponds to every
The high-precision cartographic information of individual travel direction.
Memory node of the embodiment 3. according to embodiment 1, wherein described information transceiver module include channel radio
Interrogate module and the optional communication module with cloud system.
Memory node of the embodiment 4. according to embodiment 3, wherein the wireless communication module is using the logical of V2X
Interrogate agreement (communication protocol between automobile and other objects) and carry out radio communication.
Memory node of the embodiment 5. according to embodiment 4, wherein the communications protocol of the V2X is selected from DSRC
(Dedicated Short Range Communications, DSRC technology), a kind of LTE-V (4G WiMAXs
At least one of technology) and 5G (the 5th generation mobile communication technology).
Memory node of the embodiment 6. according to any one of embodiment 1 to 5, wherein being deposited in the memory node
Storage compares memory node from this memory node to the high-precision map subgraph of nearest emergent website route, the emergent website storage
High-precision map subgraph in the range of broader area.
Memory node of the embodiment 7. according to any one of embodiment 1 to 5, it also includes CPU, GPS system
And internal memory.
The distributed memory system of 8. high-precision map of embodiment, it includes
Host node, it is used to store global high-precision map；With
Multiple memory nodes according to any one of embodiment 1 to 7, wherein each memory node be arranged at it is high-precision
Spend the particular locations of map.
Distributed memory system of the embodiment 9. according to embodiment 8, wherein the memory node is installed on both
At least one of some road infrastructures and the building in roadside are upper or are installed as new road infrastructure.
Distributed memory system of the embodiment 10. according to embodiment 9, wherein the existing road basis is set
Apply the one or more selected from traffic lights, street lamp, video camera violating the regulations, guideboard, roadside electric pole and bridge.
Distributed memory system of the embodiment 11. according to embodiment 8, wherein the accurately figure includes：
High-precision geographical position coordinates, and road shape, the number in track, the gradient in each track, curvature, course and inclination letter
Breath it is a kind of, a variety of or whole.
Distributed memory system of the embodiment 12. according to embodiment 8, in addition to emergent website, its feature exist
Storage is from currently stored node to the high-precision map subgraph of nearest emergent website route in each memory node, it is described most
Near emergent website at least stores the high-precision map subgraph that all directly follow-up memory nodes of currently stored node are stored.
Distributed memory system of the embodiment 13. according to embodiment 12, wherein the emergent website have with
Netting twine and/or USB communication modes access and download the interface of high-precision map subgraph.The passenger of intelligent driving car can pass through this
A little interfaces and human-computer interaction interface are downloaded than the common more atlases of memory node, for example can download to completion traveling institute
The partial high-precision atlas needed.
Distributed memory system of the embodiment 14. according to embodiment 8, wherein the multiple memory node is on ground
The dense degree of setting in face is set according to the information storage density of high-precision map with the communication efficiency including bandwidth and delay
Put so that：The memory capacity of each memory node can accommodate the size of the high-precision map sub-collective drawing stored, and each
Memory node disclosure satisfy that the bandwidth and latency requirement of high-precision map subgraph transmission.
Distributed memory system of the embodiment 15. according to embodiment 12 or 13, wherein the emergent website is
Memory node according to any one of embodiment 1 to 7, wherein the emergent website also stores the memory node around it
The sub-collective drawing of middle stored high-precision map.
Distributed memory system of the embodiment 16. according to embodiment 8, wherein the host node is high in the clouds system
System, wherein the cloud system includes high in the clouds communication module.
A kind of distributed storage being deployed in high-precision map any one of embodiment 8-16 of embodiment 17.
Method in system, comprises the following steps：
The global high-precision map of storage in the master node；
For each memory node (being referred to as currently stored node), following process is performed：
Search out all straight of currently stored node determined by all directly preamble nodes and each direct preamble node
Subsequent node is connect, for each directly preamble node to the travel direction of currently stored node, is constructed from the direct preamble section
High-precision map subgraph of the point by currently stored node to its all directly subsequent node,
The high-precision map subgraph of possessive construction is stored in memory node, forms the sub-collective drawing.
Embodiment 18. according to the method for embodiment 17, in addition to：
The position topological diagram of memory node is formed,
Wherein, " all directly preamble nodes and each currently stored node institute directly determined by preamble node are searched out
Have direct subsequent node " the step of carried out according to the position topological diagram of memory node.
Embodiment 19. is according to the method for embodiment 17, wherein the distributed memory system also includes emergent website,
Methods described also includes：Storage is from currently stored node to the high accuracy of nearest emergent website route in each memory node
Map subgraph, and at least store in the nearest emergent website all directly follow-up memory node institutes of currently stored node
The high-precision map subgraph of storage.
Embodiment 20. according to the method for embodiment 17, including：
Map rejuvenation process：
In the master node original high-precision map in the region is replaced using the high-precision map of update area；
To each memory node in update area, following process is performed：
Search out currently stored node all directly preamble nodes and each directly preamble node determined by currently deposit
All direct subsequent nodes of node are stored up, for each directly preamble node to the travel direction of currently stored node, are constructed
All directly follow-up sections for passing through currently stored node to currently stored node from the direct preamble node of currently stored node
The high-precision map subgraph of point,
The high-precision map subgraph of possessive construction is stored in memory node, forms the sub-collective drawing.
Embodiment 21. according to the method for embodiment 17, including：
Memory node disposes renewal process：
For each memory node in new memory node set, all directly preamble nodes and each are re-searched for out
All direct subsequent nodes of currently stored node determined by direct preamble node, before the result re-searched for and renewal
Result contrasted,
For " currently stored node is all direct determined by all directly preamble nodes and each direct preamble node
The memory node that subsequent node " changes, perform following process：
For each directly preamble node to the travel direction of currently stored node, construct and lead to from the direct preamble node
Cross current memory node to its it is all directly subsequent nodes high-precision map subgraph,
The high-precision map subgraph of possessive construction is stored in memory node, forms the sub-collective drawing.
A kind of intelligent driving system using high-precision map of embodiment 22., including：
Intelligent driving signal dispatcher module；
Control device, it is used to control vehicle movement；With
Intelligent driving storage device, it is used to store current high-precision map, and the current high-precision map includes high-precision
Spend the sub-collective drawing of map, and the frequency of usage corresponding to the subgraph of optional each high-precision map；
The intelligent driving system is configured to perform following steps：
Receiving step：It is currently stored being provided with the vehicle of the intelligent driving system from direct preamble memory node and driving towards
During node, the intelligent driving signal dispatcher module receives the subgraph of high-precision map from currently stored node, and it is
The subgraph of the high-precision map of the travel direction of currently stored node is driven towards from direct preamble memory node；
Map rejuvenation step：The subgraph of the high-precision map received is updated into current high-precision map；With
Perform step：Control device carries out intelligent driving according to current high-precision map control vehicle.
Intelligent driving system of the embodiment 23. according to embodiment 22, wherein in the receiving step, it is described
Intelligent driving signal dispatcher module receives the version information of the subgraph of high-precision map from currently stored node first, judges " intelligence
Storage device can be driven " in whether there is identical high accuracy map subgraph, if there is no identical high accuracy map
Subgraph, then continue the reception of the subgraph of high-precision map, if there is the subgraph of identical high accuracy map, then stop connecing
Receive the subgraph of high-precision map；
Update the frequency of usage information of the subgraph of the high-precision map.
Intelligent driving system of the embodiment 24. according to embodiment 23, wherein the version information is including following
At least one, it is a variety of or whole：The subgraph of the high-precision map drives towards currently stored section from direct preamble memory node
The travel direction of point, update date, and the version number of renewal.
Intelligent driving system of the embodiment 25. according to embodiment 22, wherein the map rejuvenation step is also wrapped
Include：Judge whether the memory space of the intelligent driving storage device is enough, if enough, continuing to store, if not
It is enough, then the subgraph of one or more high-precision maps is deleted untill memory space is enough.
Intelligent driving system of the embodiment 26. according to embodiment 25, wherein " being deleted one or more described
In the step of subgraph of high-precision map ", according to the frequency of usage information of the subgraph of high-precision map, frequency of usage is preferentially deleted
The subgraph of relatively low high-precision map.
Intelligent driving system of the embodiment 27. according to embodiment 22, wherein receiving step also include：The intelligence
Energy driving information transceiver module drives towards the travel direction of nearest emergent website from the currently stored node of currently stored node reception
High-precision map subgraph.
Intelligent driving system of the embodiment 28. according to embodiment 27, wherein the control loop is additionally configured to
When the vehicle for being provided with the intelligent driving system close to the position of currently stored node still not from currently stored section
When point receives information, height of the vehicle according to the travel direction that nearest emergent website is driven towards from direct preamble memory node is controlled
The subgraph of precision map drives towards nearest emergent website.
Intelligent driving system of the embodiment 29. according to embodiment 22, wherein the intelligent driving system is also matched somebody with somebody
It is set to execution following steps：
Memory node updates step：After the vehicle crosses currently stored node and drive towards a directly follow-up storage
During node, the current memory node is updated to direct preamble node, and the directly follow-up memory node is updated to currently
Node.
Embodiment 30. is provided with the vehicle of the intelligent driving system any one of embodiment 22 to 29.
Global high-precision map is solved high-precision map in intelligence by the application by the system of memory node distributed storage
Storage demand is greatly on energy automobile and dynamic updates the problem of difficult.The deployment of the high-precision map of the overall situation provided by the utility model and
Update method easily can determine the high-precision map subgraph of each memory node and global high according to the distribution of memory node
The dynamic renewal of each memory node high accuracy map subgraph is effectively realized during precision map rejuvenation.The intelligent driving system of the application
Immediate updating travels required high-precision map to system in the process of moving, so as to save the memory space of intelligent driving system,
High-precision map subgraph is cached by usage frequency and efficiently avoid frequently subgraph download, really may be used so as to provide one kind
The capable intelligent driving system that intelligent driving is carried out using high-precision map.The consideration of emergent website is also intelligent driving automobile
Safety traffic adds guarantee.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the embodiment of the present disclosure, the accompanying drawing of embodiment will be simply situated between below
Continue, it should be apparent that, drawings in the following description merely relate to some embodiments of the present disclosure, rather than the limitation to the disclosure.
Fig. 1 is the outside schematic diagram of the distributed memory system of the high-precision map of the application.
Fig. 2 is the system structure diagram of the memory node of the application, and it is also a kind of intelligent driving according to the application
The schematic diagram of automobile operation system.
Fig. 3 is the storage schematic diagram of partial high-precision map in the memory node of the application.
Fig. 4 is the algorithm flow chart being deployed in high-precision map in the memory node of distributed memory system of the application
Example.
Fig. 5 is the algorithm flow illustrated example of the high-precision map dynamic renewal of the application.
Fig. 6 is renewal and the process for using illustrated example of the partial high-precision map of the intelligent driving system of the application.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
Accompanying drawing, the technical scheme of the embodiment of the present disclosure is clearly and completely described.Obviously, described embodiment is this public affairs
The part of the embodiment opened, rather than whole embodiments.Based on described embodiment of the disclosure, ordinary skill
The every other embodiment that personnel are obtained on the premise of without creative work, belong to the scope of disclosure protection.
Global high-precision map is segmented into many fritters in fact, and each fritter is a sub- map of part.From
In theory, no matter in which geographical position, as long as store inside each intelligent driving automobile some near current location
Individual high-precision map subgraph, then this intelligent driving automobile just being capable of normally travel.Therefore in this application, high-precision map
Subgraph refer to the overall situation high-precision map the sub- map of part.In ideal conditions, as long as intelligent driving automobile can be constantly
Obtain on the driving path planned from current location to the above high-precision map subgraph in a segment distance, intelligent driving automobile
Also being capable of normally travel.
The one side of the application provides a kind of memory node of high-precision map, and it includes：Signal dispatcher module, it is used for
Send and/or receive the subgraph of high-precision map；And storage device, it is used for the sub-collective drawing for storing high-precision map, wherein institute
Stating sub-collective drawing includes the cartographic information of the travel direction directly related with this memory node, and each subgraph corresponds to be saved with this storage
The cartographic information of a directly related travel direction of point.The memory node of present embodiment is that the distribution of high-precision map is deposited
The important component of storage system, the automobile that it is used in real time into traveling send the subgraph of high-precision map, are to realize this Shen
The key point of intelligent driving method please.At each memory node, automobile close to memory node, is just recognized from different directions
It is for the ease of being made a distinction in the high-precision map subgraph stored, automobile is nearest to be different travel directions be present
For the memory node that the memory node crossed drives towards with automobile as a travel direction, the travel direction determines one accurately
Figure subgraph, the high-precision map that all follow-up memory nodes are reached in the travel direction should be included in the high-precision map subgraph
Information.
In some embodiments, the direct preamble memory node that the sub-collective drawing includes currently stored node (is current
The preamble memory node of memory node, and reach in the preamble memory node and be not present on the shortest path of currently stored node
Other memory nodes) by currently stored node to direct follow-up memory node (be the follow-up memory node of currently stored node,
And other memory nodes are not present on the shortest path of currently stored node to the follow-up memory node) between all travelings
The high-precision cartographic information in direction, each subgraph correspond to the high-precision cartographic information of each travel direction.As can be seen here, each
Travel direction determined by a direct preamble memory node and currently stored node, and each high-precision map subgraph include from
The travel direction can reach the high-precision cartographic information of all directly follow-up memory nodes.Travel direction in the application is main
For planning that rational travel route is used, therefore in general, travel direction described herein only includes reasonably
Travel direction, and not comprising the travel direction in the case of not observing traffic rules and regulations, for example drive in the wrong direction, across solid line reversing etc. does not all include
It is reasonable travel direction.
In some embodiments, described information transceiver module include wireless communication module and optionally with cloud system
Communication module.The wireless communication module enters row information with the automobile in traveling and exchanged, and main driven to the intelligence on automobile
Sail system and send high-precision map picture information.
In some embodiments, the wireless communication module uses V2X communications protocol (between automobile and other objects
Communication protocol) carry out radio communication.Here other objects are primarily referred to as roadside equipment unit, such as are installed on road basis
Memory node on facility or roadside buildings thing.
In some embodiments, the communications protocol of the V2X can be selected from DSRC (Dedicated Short Range
Communications, DSRC technology), LTE-V (a kind of 4G wireless broad band technologies) and 5G (the 5th generation mobile communication
At least one of technology).However, it should be appreciated by those skilled in the art that bandwidth and delay meet communicating requirement it is all its
His communications protocol may be used in the application.
In some embodiments, stored in the memory node from this memory node to nearest emergent website route
High-precision map subgraph, the emergent website storage is than the high-precision map subgraph in the range of memory node broader area.It is described
Emergent website can be one in memory node, except that the storage capacity of emergent website should be than common storage section
Point is big, the nearest emergent website at least store currently stored node all directly follow-up memory nodes stored it is high-precision
Map subgraph is spent, and the high-precision map of relative broad range in certain current administrative region can also be stored.In intelligent driving automobile
When running to present node, discovery can not be communicated with present node, and now, intelligent driving automobile is used and downloaded recently
Run from this memory node to the high-precision map subgraph of nearest emergent website route to emergent website, and at emergent station
Point obtains the storage map in wider range, and the memory node in generation relative broad range is delayed in the case of machine, also can
Meet current driving demand.
In some embodiments, the memory node also includes CPU, GPS system and internal memory.Memory node can include
One complete computer and GPS system, therefore CPU and internal memory can be included.
The distributed memory system for the high-precision map that the application provides includes host node, and it is used to store global high accuracy
Map；With multiple above-described memory nodes, wherein each memory node is arranged at the particular locations of high-precision map.It is main
The global high-precision map of node storage, memory node store high-precision map subgraph.Global high-precision map refers to whole high-precision
Spend map, it is however generally that, the scope that the map includes includes the whole maps or bag a country such as within Chinese territory
Include whole maps of such as one province in some administrative region.And the size of high-precision map subgraph is then the portion according to memory node
Administration's situation, distributed by host node from global high-precision map.
In some embodiments of distributed memory system, the memory node is installed on existing road infrastructure
It is upper or as new road infrastructure installation with least one of the building in roadside.The existing road basis is set
The one or more of traffic lights, street lamp, video camera violating the regulations, guideboard, roadside electric pole and bridge can be selected from by applying.
In some embodiments of distributed memory system, the high-precision map includes：High-precision geographical position
One kind in coordinate, and road shape, the number in track, the gradient in each track, curvature, course and inclination information, Duo Zhonghuo
Person is whole.
In some embodiments, described distributed memory system also includes emergent website, wherein each memory node
Middle storage is from currently stored node to the high-precision map subgraph of nearest emergent website route, and the nearest emergent website is extremely
The high-precision map subgraph that all directly follow-up memory nodes of currently stored node are stored is stored less.Emergent website have compared with
Strong storage capacity, larger range of high-precision map subgraph can be stored, it might even be possible to store an administrative region such as one
Individual county town or the high-precision map subgraph in whole city.
In some embodiments, the emergent website has and is accessed and downloaded high-precision with netting twine and/or USB communication modes
Spend the interface of map subgraph.The passenger of intelligent driving automobile can be (man-machine by these interfaces and corresponding human-computer interaction interface
Interactive interface can meet an urgent need on website on intelligent driving automobile or at this) download than the common more maps of memory node
Collection, for example, the intelligent driving system in intelligent driving automobile memory space can receive in the case of, it might even be possible to download to
Complete all partial high-precision maps required for current driving.
In some embodiments, the multiple memory node sets dense degree according to high-precision map on ground
Information storage density is set with the communication efficiency including bandwidth and delay so that：The memory capacity energy of each memory node
The size of the high-precision map sub-collective drawing stored is enough accommodated, and each memory node disclosure satisfy that high-precision map subgraph passes
Defeated bandwidth and latency requirement.For example in the case of using 4G wireless broadband communication agreements, it can pacify in each crossroad
Memory node is filled, on the expressway of no crossroad, memory node can be installed at the entrance and exit of highway,
4G wireless broad band technology can reach about 100,000,000 speed of download per second at present, and running at high speed, lower speed can decrease,
Therefore, under this design condition, even if the distance between each two crossroad has one mile, high-precision map takes 1G words
Section, map can also be downloaded in or so tens of seconds and finished, and the high-precision cartographic information of highway can take smaller deposit
Space is stored up, therefore, using this layout type, can be completed using communication network general at present.Using lower accuracy
In the case of high-precision map, more sparse memory node layout type can also be used.With the improvement of communication system,
In the case of the 5th later third generation mobile communication network, it is also possible to use more sparse memory node layout type.
In some embodiments, the emergent website is to store section according to any one described in mode noted earlier
Point, wherein the emergent website also stores the sub-collective drawing of the high-precision map stored in the memory node around it.In this reality
Apply in mode, emergent website is the memory node of a reinforcement.
In a kind of especially specific implementation, each memory node is configured to emergent website, namely each storage
Node all stores the sub-collective drawing of the high-precision map stored in the memory node around it.In this case, each storage
Node all serves not only as memory node, also as emergent website, so that if one or two is deposited in the network of memory node
Storage node goes wrong, and has no effect on the operation of whole distributed memory system, hence in so that whole distributed memory system tool
There is higher robustness.
In some embodiments of distributed memory system, the host node is cloud system, wherein the high in the clouds system
System includes high in the clouds communication module.High in the clouds described herein has the implication that those skilled in the art are generally understood that, is exactly in fact
Refer to network.And term cloud system, just refer to the webserver.The cloud system employs high in the clouds communication module, so that
Obtain the data (global high-precision map) that memory node accesses cloud system in any place for being connectable to network.
The application, which also provides, a kind of to be deployed in high-precision map in the distributed memory system described in any of the above item
Method, comprise the following steps：
The global high-precision map of storage in the master node；
For each memory node, following process is performed：
Search out all straight of currently stored node determined by all directly preamble nodes and each direct preamble node
Subsequent node is connect, for each directly preamble node to the travel direction of currently stored node, is constructed from the direct preamble section
High-precision map subgraph of the point by currently stored node to its all directly subsequent node,
The high-precision map subgraph of possessive construction is stored in memory node, forms the sub-collective drawing.
In this application, direct preamble node refers to the preamble memory node of currently stored node, and is deposited in the preamble
Storage node reaches and other memory nodes is not present on the shortest path of currently stored node.In this application, direct subsequent node
Refer to the follow-up memory node of currently stored node, and on the shortest path of currently stored node to the follow-up memory node
In the absence of other memory nodes.In this application, term " each all direct subsequent nodes directly determined by preamble node "
Refer to from direct preamble node to all direct subsequent nodes that can reach in travel direction determined by present node.
In general, in this application, each high-precision map subgraph is straight to this including a direct preamble node from present node
Connect the high-precision cartographic information of all directly subsequent nodes determined by preamble node.
In some embodiments of methods described, methods described also includes：The position topological diagram of memory node is formed, its
In, " search out all directly preamble nodes and each currently stored node directly determined by preamble node it is all directly after
The step of continuous node ", is carried out according to the position topological diagram of memory node.Can be more square by the topological diagram for forming memory node
Just direct preamble node and direct subsequent node are scanned for, had in computer realm almost completely ready-made based on figure
Data structure algorithm can complete the search.
In some embodiments of methods described, the distributed memory system also includes emergent website, methods described
Also include：Storage is from currently stored node to the high-precision map of nearest emergent website route in each memory node
Figure, and at least store in the nearest emergent website what all directly follow-up memory nodes of currently stored node were stored
High-precision map subgraph.
In actual applications, high-precision map with e measurement technology renewal and road conditions renewal situations such as can exist
The problem of updating at any time, therefore, method of the present utility model further comprises map rejuvenation process.Therefore, the one of methods described
In a little embodiments, methods described also includes：
Map rejuvenation process：
In the master node original high-precision map in the region is replaced using the high-precision map of update area；
To each memory node in update area, following process is performed：
Search out currently stored node all directly preamble nodes and each directly preamble node determined by it is all straight
Subsequent node is connect, for each directly preamble node to the travel direction of currently stored node, is constructed from currently stored node
The direct preamble node pass through currently stored node to currently stored node it is all directly subsequent nodes high-precision map
Subgraph,
The high-precision map subgraph of possessive construction is stored in memory node, forms the sub-collective drawing.
In actual applications, the deployment of high-precision map is there is the change needed according to the deployment of memory node and at any time
The problem of renewal, therefore, method of the invention, further comprises memory node deployment renewal process.Therefore, the one of methods described
In a little embodiments, methods described also includes：
Memory node disposes renewal process：
For each memory node in new memory node set, all directly preamble nodes and each are re-searched for out
All direct subsequent nodes of currently stored node determined by direct preamble node, before the result re-searched for and renewal
Result contrasted,
There is change for " all directly preamble nodes and each all direct subsequent nodes directly determined by preamble node "
The memory node of change, perform following process：
For each directly preamble node to the travel direction of currently stored node, construct and lead to from the direct preamble node
Cross current memory node to its it is all directly subsequent nodes high-precision map subgraph,
The high-precision map subgraph of possessive construction is stored in memory node, forms the sub-collective drawing.
The application also provides a kind of intelligent driving system using high-precision map, including：Intelligent driving information transmit-receive mould
Block；Control device, it is used to control vehicle movement；With intelligent driving storage device, it is used to store current high-precision map, institute
Stating current high-precision map includes the sub-collective drawing of high-precision map, and makes corresponding to the subgraph of optional each high-precision map
Use the frequency；The intelligent driving system is configured to perform following steps：Receiving step：The intelligent driving system is being installed
Vehicle is from during direct preamble memory node drives towards currently stored node, and the intelligent driving signal dispatcher module is from current
Memory node receives the subgraph of high-precision map, and it is the travel direction that currently stored node is driven towards from direct preamble memory node
High-precision map subgraph；Map rejuvenation step：The subgraph renewal of the high-precision map received is arrived currently accurately
In figure；With execution step：Control device carries out intelligent driving according to current high-precision map control vehicle.In present embodiment
In, described memory node can be the memory node in the distributed memory system of high-precision map described herein.
With intelligent driving system response, the application also provides a kind of intelligent driving system using high-precision map
Intelligent driving method, the intelligent driving, which is reminded, to be included：Intelligent driving signal dispatcher module；Control device, it is used to control car
Motion；With intelligent driving storage device, it is used to store current high-precision map, and the current high-precision map includes high-precision
Spend the sub-collective drawing of map, and the frequency of usage corresponding to the subgraph of optional each high-precision map；Methods described includes as follows
Step：Receiving step：In the vehicle for being provided with the intelligent driving system currently stored section is driven towards from direct preamble memory node
During point, the intelligent driving signal dispatcher module receives the subgraph of high-precision map from currently stored node, its be from
Direct preamble memory node drives towards the subgraph of the high-precision map of the travel direction of currently stored node；Map rejuvenation step：Will
The subgraph of the high-precision map received is updated into current high-precision map；With execution step：Control device is according to current
High-precision map control vehicle carries out intelligent driving.
In some embodiments, in the receiving step, the intelligent driving signal dispatcher module is first from current
Memory node receives the version information of the subgraph of high-precision map, judges to whether there is identical in " intelligent driving storage device "
The subgraph of high-precision map, if there is no the subgraph of identical high accuracy map, then continue the subgraph of high-precision map
Reception, if there is the subgraph of identical high accuracy map, then stop receiving the subgraph of high-precision map；Update described high-precision
Spend the frequency of usage information of the subgraph of map.This step is in view of the intelligent driving storage device in intelligent driving system usually can
Multiple high-precision map subgraphs are stored, and the map subgraph usually used can be stored in intelligent driving storage device, when need
Will be in use, only needing that once version number is newest with currently stored node switching, if newest, you can not have to
Repeated downloads high accuracy map subgraph, and directly use, bandwidth so can have both been saved, energy can also be saved.Make when every time
During with identical high accuracy map subgraph, all its frequency of usage information is updated, it is however generally that, if frequency of usage information
It is access times, then frequency of usage information is just added 1, represents that frequency of use improves once.
In some embodiments, the version information includes following at least one, a variety of or whole：The high accuracy
The travel direction that currently stored node is driven towards from direct preamble memory node of the subgraph of map, update date, and the version of renewal
This number.
In some embodiments, the map rejuvenation step also includes：Judge depositing for the intelligent driving storage device
Whether enough space is stored up, if enough, continuing to store, if not enough, deleting one or more high-precision maps
Subgraph is untill memory space is enough.
In some embodiments, the intelligent driving system is additionally configured to the intelligent driving automobile of surrounding to share
The subgraph of high-precision map.
In some embodiments, in the step of " subgraph for deleting one or more high-precision maps ", according to
The frequency of usage information of the subgraph of high-precision map, the preferential subgraph for deleting the relatively low high-precision map of frequency of usage.
In some embodiments, the receiving step also includes：The intelligent driving signal dispatcher module is deposited from currently
The currently stored node of storage node reception drives towards the subgraph of the high-precision map of the travel direction of nearest emergent website.
In some embodiments, the control loop is additionally configured to when the car for being provided with the intelligent driving system
Close to the position of currently stored node still do not receive information from currently stored node when, control vehicle is according to from direct
The subgraph that preamble memory node drives towards the high-precision map of the travel direction of nearest emergent website drives towards emergent website.At some
In embodiment, the intelligent driving method also comprises the following steps：When the vehicle for being provided with the intelligent driving system
When still not receiving information from currently stored node close to the position of currently stored node, control vehicle is according to before directly
The subgraph that sequence memory node drives towards the high-precision map of the travel direction of nearest emergent website drives towards emergent website.
In some embodiments, the intelligent driving system is additionally configured to perform following steps：Memory node renewal step
Suddenly：After the vehicle crosses currently stored node and when driving towards direct follow-up memory node, by the current memory node more
It is newly direct preamble node, and the directly follow-up memory node is updated to current node.In some embodiments, it is described
Intelligent driving method also includes above-described memory node renewal step.
The application also provides the vehicle for being provided with the intelligent driving system described in any of the above item.
Embodiment
More specifical explanation is done to the technical scheme of the application below in conjunction with the accompanying drawings, it should be appreciated that embodiment is only used for
Illustrate the technical scheme of the application, be not the limitation to technical scheme.
Fig. 1 is the outside schematic diagram of the distributed memory system of the high-precision map of the application.In Fig. 1, memory node
It is installed on the bar of street lamp (2 in Fig. 1).If pacify in the infrastructure (such as traffic lights, video camera violating the regulations, street lamp) in roadside
The high-precision map (being the subgraph of global high-precision map in fact) near this infrastructure, the storage are stored equipped with memory node
Node is substantially the small-sized calculating for having storage, receiving, sending the function such as (one-to-many), the high-precision map subgraph of renewal
Machine device (referring to Fig. 2).When intelligent driving automobile (1 in Fig. 1) passes through corresponding infrastructure in the process of moving by with
The communication of corresponding currently stored node can download the high-precision map subgraph of storage to (4 in Fig. 1) on intelligent driving automobile.
Said from certain angle, intelligent driving automobile is mounted with intelligent driving system, " can also regard as " be an enhanced edition movement
" memory node ", it can store, receive, update and share multiple high-precision map subgraphs.Because the storage section in infrastructure
The high-precision map of point storage is the Local Subgraphs of global high-precision map, and the design and deployment of process are so that even in height
V2X communications protocol (such as DSRC, LTE-V and 5G) can also meet the band of partial high-precision Map in the case of speed traveling
Wide and latency requirement.So each intelligent automobile is only needed to store some smaller local maps, and intelligent automobile is being run over
It can be stored with journey from roadside and the required high-precision map (class of current driving is persistently obtained at the infrastructure of high-precision map
It is similar to a local window in global high-precision map continually to switch).
In the present embodiment, the node for being stored with high-precision map installed on roadside infrastructure forms a net in fact
Network figure.In the infrastructure in roadside, each memory node only needs storage to run over the direct preamble storage section in journey in fact
Point (reached in this preamble node and other memory nodes are not present on the road of present node) is by this memory node to directly subsequently
All reasonable sections between memory node (other memory nodes are not present on currently stored node to the road of follow-up memory node)
High-precision cartographic information.Because can have by the vehicle traveling direction of a memory node a variety of, each memory node can
Multiple high-precision map subgraphs can be stored with.Such as in figure 3, A, B, C, D, E, F, G, H, K are the memory nodes on road, often
The arrow drawn on bar road represents the direction that automobile can exercise above road.Memory node B is according to may cross its 3 kinds of differences
Mode (from left to right, from right to left and from top to bottom) is just stored with 3 high-precision map subgraphs, and each intelligent driving automobile exists
By obtaining corresponding high-precision map subgraph according to travel direction during B.In each subgraph, in fact from some preamble node to
The section of present node can uniquely determine a subgraph.It should be noted that some in road driving direction in Fig. 3 are single
To current road, have plenty of the road of opposing traffic, can directly ignore in high-precision map subgraph and not observe traffic rules and regulations
Driving path.In figure 3, when vehicle from left to right close to memory node B when, vehicle from memory node B obtain accurately
Figure subgraph should be all straight to what is be likely to be breached determined by memory node B in travel direction with direct preamble memory node A
Meet follow-up memory node F, D, E, G and C.For the high accuracy corresponding to other two kinds of travel directions existing for memory node B
Map subgraph, similarly it can be explained according to Fig. 3.
The information storage density (average every kilometer constitutes about how many byte number) of high-precision map is with vehicle with infrastructure
Between communication efficiency (bandwidth and delay) will influence memory node the dense degree of deployment.Once the position of memory node determines,
Cloud system (5 in Fig. 1) can calculate each deposit according to the position topology of the high-precision map and memory node of the overall situation
One or more partial high-precision map subgraphs (specific algorithm refers to Fig. 4) of storage required for storing up node are then corresponding high
Precision map subgraph can pass through (3 in Fig. 1) on network design to corresponding memory node.When memory node has increase and decrease,
The algorithm that cloud system can re-execute Fig. 3 needs the high accuracy disposed so as to calculate each memory node after memory node increases and decreases
Map subgraph, the memory node that now cloud system only needs to change subgraph dispose new high-precision map subgraph.
In actual applications, high-precision map with e measurement technology renewal and road conditions renewal situations such as can exist
The problem of updating at any time, therefore, the present processes further comprises the dynamic updating process of high-precision map.No matter which kind of uses
The global high-precision map of method renewal, when the high-precision map of the overall situation has renewal, it is distributed which cloud system can calculate
High-precision map subgraph in memory node needs to be updated, and and then the new high accuracy of the memory node arrangement that is updated to needs
Map subgraph (referring to Fig. 5).
There is distributed memory system as described above, it is possible to design corresponding intelligent driving system.In this implementation
In example, intelligent driving system includes：Intelligent driving signal dispatcher module；Control device, it is used to control vehicle movement；And intelligence
Storage device is driven, it is used to store current high-precision map, and the current high-precision map includes the subgraph of high-precision map
Collection, and the frequency of usage corresponding to the subgraph of optional each high-precision map；The intelligent driving system is configured to perform such as
Lower step：Receiving step：It is currently stored being provided with the vehicle of the intelligent driving system from direct preamble memory node and driving towards
During node, the intelligent driving signal dispatcher module receives the subgraph of high-precision map from currently stored node, and it is
The subgraph of the high-precision map of the travel direction of currently stored node is driven towards from direct preamble memory node；Map rejuvenation step：
The subgraph of the high-precision map received is updated into current high-precision map；With execution step：Control device is according to current
High-precision map control vehicle carry out intelligent driving.
After automobile is mounted with the intelligent driving system of the above, it is possible to carry out intelligent driving using high-precision map
.
Memory space on common intelligent automobile should be enough to leave quite a lot of high-precision map subgraphs, but often deposit not
The lower high-precision map of the overall situation.High-precision map memory space on intelligent automobile can manage according to usage frequency, that is, deposit
Storage space retains those high-precision map subgraphs of high usage frequency in the case of allowing.When intelligent automobile receive it is new high-precision
Spend map subgraph and during insufficient memory on car, then frequency of use is relatively low in the high-precision map subgraph originally cached
Those subgraphs can be replaced away.Memory space on intelligent automobile is bigger, the high-precision map subgraph that it can be cached
Can be more, in the case where high-precision map subgraph does not update, can reduces intelligent automobile in the region frequently travelled
Re-download the probability of high-precision map subgraph.There is high-precision map, along with corresponding location algorithm, intelligent driving automobile
The abundant information in high-precision map can be obtained so as to make preferably planning and control, allow passenger to enjoy good Consumer's Experience
Safety trip (referring to Fig. 6)
During actual deployment, it may be considered that set at some places (such as charging station, parking lot, rest service area)
Emergent website, also may be used when intelligent driving automobile Communication (such as unexpected network paralysis) occurs with memory node
To have an opportunity to update high-precision map.The passenger of intelligent driving automobile can use other communication modes in emergent website
(such as netting twine, USB etc.) connects the high-precision Map service system in intelligent driving automobile and emergent website, then according to destination
Selection sub-graph data collection downloads to this car, so that intelligent driving automobile can continue traveling to destination.That is, support this
The intelligent driving automobile of emergency plan must mark one piece of specific storage region storage and be travelled from some memory node to some
The high-precision map subgraph of emergent website nearby, intelligent driving automobile can drive safely to neighbouring emergent during to go wrong
Website.More storages one are from currently stored node to the high-precision map of nearest emergent website in its tangible each memory node
Subgraph can meets this scene demand, and now Fig. 4, Fig. 5 and Fig. 6 algorithm just need to do corresponding extension.
Fig. 4, Fig. 5 and Fig. 6 algorithm are described below.
Fig. 4 is the algorithm flow chart being deployed in high-precision map in the memory node of distributed memory system of the application
Example.The process of the algorithm is as follows.First, global high-precision map is stored into host node, and host node obtains storage section
The position topological diagram of point.Then to all memory nodes, handled.In the process handled each memory node N
In, memory node N each travel direction is handled：Under current enforcement direction, according to the position of memory node
Topological diagram, calculate memory node N all directly preamble nodes and all directly subsequent nodes (be actually it is each directly before
All direct subsequent nodes determined by sequence node), current driving direction Xia Bao is then constructed according to global high-precision map
Containing N and the high-precision map sub-collective drawing of its all directly preamble nodes and all directly subsequent nodes.
Fig. 5 is the algorithm flow illustrated example of the high-precision map dynamic renewal of the application.The process of the algorithm is as follows.It is first
First, according to the update area of global high-precision map and the topology diagram of all memory nodes, look for what is included in update area
Memory node set S.Then memory node all in S is carried out being similar to the high-precision map Deployment Algorithm shown in Fig. 4.
This algorithm is the example of map rejuvenation algorithm.
Fig. 6 is renewal and the process for using illustrated example of the partial high-precision map of the intelligent driving system of the application.The calculation
The process of method is as follows.In the presence of intelligent driving automotive check to front memory node CurNode (i.e. currently stored node),
Communicated with the current storage node CurNode, direct preamble node PreNode is sent to memory node CurNode.So
Intelligent driving automobile (namely the intelligent driving system being installed on the automobile) receives the high-precision map that CurNode is sent afterwards
The version identifier of subgraph.If high-precision map comprising same version in the high-precision cache map of intelligent driving automobile
Figure, need not just re-download, otherwise re-download high-precision map subgraph.Re-downloading the situation of high-precision map subgraph
Under, if the high-precision map spatial cache on intelligent driving automobile is inadequate, the high-precision map subgraph just received as needed
Size eliminate the relatively low high-precision map subgraph of frequency of use in several cachings.Then receive what CurNode was sent again
Using PreNode to CurNode as the high-precision map subgraph of first section (i.e. travel direction), and this high-precision map subgraph
It is stored in high-precision cache map.After the high-precision map subgraph being ready on current driving direction, intelligent driving vehicle
(namely the intelligent driving system) carries out intelligent driving according to current high-precision map.
Fig. 2 shows a kind of schematic diagram of intelligent driving automobile operation system according to the application.As illustrated, the intelligence
Can be driven a car operation system, including：More intelligent driving automobiles (1), intelligent driving is installed on each intelligent driving automobile
System, the intelligent driving system include intelligent driving information transceiver, the control device for controlling vehicle movement and storage
The intelligent driving storage device of current high-precision map, the current high-precision map include the subgraph of high-precision map, and should
Frequency of usage corresponding to the subgraph of high-precision map；Host node (5), the global high-precision map of storage；And multiple storage sections
Point (2), each memory node are arranged at least one of road infrastructure or the building in roadside above or as new
Road infrastructure installation；Each memory node includes：Information transceiver (transceiver module i.e. shown in figure), it is used to send out
The subgraph of high-precision map is sent and/or receives, it can be with that can carry out radio communication with intelligent driving automobile and host node；With
Subgraph memory (storage device i.e. shown in figure), it is used for the sub-collective drawing for storing high-precision map.In specific example,
Each memory node is arranged at the particular locations of high-precision map, is exchanged for entering row information with intelligent driving automobile, is
Intelligent driving automobile provides high-precision map subgraph.The intelligent driving automobile operation system of the application can utilize high-precision map
Operation to intelligent driving automobile manipulates, it is possible to increase the control accuracy of intelligent driving automobile, improves intelligent driving automobile
Safety in operation and comfortableness, improve the experience of seating.
Described above is only the exemplary embodiment of the disclosure, not for the protection domain of the limitation disclosure, this public affairs
The protection domain opened is determined by appended claim.
Claims (9)
- A kind of 1. intelligent driving automobile operation system, it is characterised in that including：More intelligent driving automobiles, intelligent driving system, the intelligent driving system bag are installed on each intelligent driving automobile The intelligence for including intelligent driving information transceiver, the control device for controlling vehicle movement and the current high-precision map of storage is driven Storage device is sailed, the current high-precision map includes the subgraph of high-precision map, and corresponding to the subgraph of the high-precision map Frequency of usage；Host node, the global high-precision map of storage；AndMultiple memory nodes, each memory node are arranged at least one of road infrastructure or the building in roadside Or installed as new road infrastructure；Each memory node includes：Information transceiver, it is used to send and/or receives the subgraph of high-precision map, and it can be with intelligent driving automobile and main section Point carries out radio communication；WithSubgraph memory, it is used for the sub-collective drawing for storing high-precision map.
- 2. intelligent driving automobile operation system according to claim 1, it is characterised in that the host node is cloud system.
- 3. the distributed memory system of high-precision map, it includesHost node, it is used to store global high-precision map；WithMultiple memory nodes, each memory node include：Information transceiver, it is used to send and/or receives the subgraph of high-precision map；WithSubgraph memory, it is used for the sub-collective drawing for storing high-precision map, wherein the sub-collective drawing is including straight with this memory node The cartographic information of the travel direction of correlation is connect, each subgraph corresponds to a travel direction directly related with this memory node Cartographic information,Wherein each memory node is arranged at the particular locations of high-precision map.
- 4. distributed memory system according to claim 3, it is characterised in that the memory node is installed on existing road At least one of roadbed Infrastructure and the building in roadside are upper or are installed as new road infrastructure.
- 5. distributed memory system according to claim 4, it is characterised in that the existing road infrastructure is selected from Traffic lights, street lamp, the one or more of break rules and regulations video camera, guideboard, roadside electric pole and bridge.
- 6. distributed memory system according to claim 3, in addition to emergent website, it is characterised in that each memory node Middle storage is from currently stored node to the high-precision map subgraph of nearest emergent website route, and the nearest emergent website is extremely The high-precision map subgraph that all directly follow-up memory nodes of currently stored node are stored is stored less.
- 7. distributed memory system according to claim 3, it is characterised in that the sub-collective drawing includes currently stored node High accuracy of the direct preamble memory node by currently stored node to all travel directions between direct follow-up memory node Cartographic information, each subgraph correspond to the high-precision cartographic information of each travel direction.
- 8. the distributed memory system according to any one of claim 3 to 7, it is characterised in that in the memory node Storage is from this memory node to the high-precision map subgraph of nearest emergent website route, and the emergent website storage is than storage section High-precision map subgraph in the range of point broader area.
- 9. distributed memory system according to claim 3, it is characterised in that the host node is cloud system.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106790680A (en) * | 2017-02-07 | 2017-05-31 | 驭势（上海）汽车科技有限公司 | The distributed memory system of high accuracy map and its application |
| CN109507999A (en) * | 2017-09-15 | 2019-03-22 | 丰田自动车株式会社 | Travel controlling system, drive-control system and travel control method |
| CN110488830A (en) * | 2019-08-26 | 2019-11-22 | 吉林大学 | High-precision cartographic information pre-parsed system and pre-parsed method towards intelligent vehicle speed energy conservation plan |
| CN110864695A (en) * | 2019-11-21 | 2020-03-06 | 东风商用车有限公司 | High-precision map acquisition method in automatic driving |
| CN111060123A (en) * | 2019-06-13 | 2020-04-24 | 广东星舆科技有限公司 | Method and system for realizing lane-level navigation based on common map |
| CN111623789A (en) * | 2020-05-25 | 2020-09-04 | 北京汽车研究总院有限公司 | Automatic driving method and device for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106790680A (en) * | 2017-02-07 | 2017-05-31 | 驭势（上海）汽车科技有限公司 | The distributed memory system of high accuracy map and its application |
| CN106790680B (en) * | 2017-02-07 | 2023-09-19 | 驭势（上海）汽车科技有限公司 | Distributed storage system of high-precision map and application thereof |
| CN109507999A (en) * | 2017-09-15 | 2019-03-22 | 丰田自动车株式会社 | Travel controlling system, drive-control system and travel control method |
| CN111060123A (en) * | 2019-06-13 | 2020-04-24 | 广东星舆科技有限公司 | Method and system for realizing lane-level navigation based on common map |
| CN110488830A (en) * | 2019-08-26 | 2019-11-22 | 吉林大学 | High-precision cartographic information pre-parsed system and pre-parsed method towards intelligent vehicle speed energy conservation plan |
| CN110488830B (en) * | 2019-08-26 | 2021-11-19 | 吉林大学 | High-precision map information pre-analysis system and pre-analysis method for intelligent vehicle speed energy-saving planning |
| CN110864695A (en) * | 2019-11-21 | 2020-03-06 | 东风商用车有限公司 | High-precision map acquisition method in automatic driving |
| CN111623789A (en) * | 2020-05-25 | 2020-09-04 | 北京汽车研究总院有限公司 | Automatic driving method and device for vehicle |
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