EP3631364A1 - VERFAHREN UND VORRICHTUNG ZUR ERSTELLUNG EINER FAHRSPURGENAUEN STRAßENKARTE - Google Patents
VERFAHREN UND VORRICHTUNG ZUR ERSTELLUNG EINER FAHRSPURGENAUEN STRAßENKARTEInfo
- Publication number
- EP3631364A1 EP3631364A1 EP18713229.5A EP18713229A EP3631364A1 EP 3631364 A1 EP3631364 A1 EP 3631364A1 EP 18713229 A EP18713229 A EP 18713229A EP 3631364 A1 EP3631364 A1 EP 3631364A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- road
- model
- intersection
- lane
- lanes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3819—Road shape data, e.g. outline of a route
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
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- G—PHYSICS
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Definitions
- the present invention relates generally to the creation of road maps.
- the present invention relates to a method and a
- Data processing device for creating a digital lane-accurate road map.
- Data processing device can be provided.
- One aspect of the invention relates to a method for creating and / or
- the method has the following steps:
- Road map in at least one road segment
- Trajektoreins to the road model by determining at least one probability value for the road model, wherein the probability value with a quality and / or quality of an image, Replica and / or imitation of the trajectory data by the
- the "digital lane-exact road map” may here and hereinafter designate a road map which contains only information regarding a roadway and / or a lane, but no information regarding individual lanes on the lane.
- the lane-exact road map may have one or more nodes and edges , where an edge may be used to represent a road and / or a road section and a node to represent an intersection.
- the roadway may denote a graph with nodes and edges, where the edges may be arrows and the nodes may be points in the graph and / or the road-specific road map given and / or displayed.
- the term "lane-accurate road map” may designate a digital road map and / or graph having information regarding individual lanes.
- the lane-exact road map may in particular have information regarding a geometry of individual lanes, such as a lane width, a lane number, a distance between lanes
- the direction of travel and / or a curvature of a road and / or a road section may be considered and / or included in at least part of the "parameters for geometrically describing lanes of the road”.
- the "geometric description parameters” may include parameters for describing a number of lanes, a width of individual lanes, a curvature of a road or individual lanes, and / or a distance between lanes of opposite direction of travel
- topology Containing information regarding a topology of the lanes, wherein the topology may describe a connection path, a connection and / or a connectivity between individual lanes.
- This topological Information can be considered and / or contained in at least part of the "parameters for the topological description of lanes of the road"
- Lanes a disappearance of individual lanes in the road segment and / or generating an additional lane in the road segment.
- the term "trajectory data” may refer to geographic coordinates, such as Global Positioning System (GPS) coordinates and / or Global Navigation Satellite System (GNSS) data, which may include a trajectory, a motion profile, a driveway, and / or a Movement of one
- GPS Global Positioning System
- GNSS Global Navigation Satellite System
- Road user such as a vehicle, a bicycle and / or a pedestrian, describe along a road and / or at an intersection.
- trajectory data set may refer to a set of such trajectory data of one or more road users.
- modeling the road segment in at least one road model may include mapping, replicating, imitating, and / or modeling
- the road model can designate a mathematical and / or model-based abstraction and / or description of the road segment.
- the process according to the invention is summarized below.
- the lane-exact road map for example, in a
- Data processing device can be read. It can the
- road-specific road map one or more nodes and / or one or more edges for the geographical description of one or more roads and / or one or more intersections.
- Providing the lane-exact road map can thus include reading the lane-exact road map and / or reading the at least one edge and / or the at least one node.
- the lane-exact road map can then be analyzed, for example based on the at least one node and / or the at least one edge, and in at least one Road segment divided and / or segmented.
- the lane-exact road map may have a plurality of roads, which may each be subdivided into individual road segments, for example based on the nodes and / or edges.
- roads and / or the at least one road may be identified based on the nodes and / or edges. Subsequently, each of the identified
- Road segments are mapped, modeled, simulated and / or imitated in a separate street model. After that, for each of the
- Road models which may each be assigned to a road segment, at least a part of the parameters of the respective road model varies and / or changed.
- the parameters of each road model can be varied iteratively multiple times, with parameters
- Trajektoriensky to the respective road models, for example, based on geographical coordinates of the trajectory data and / or the
- Road models associated trajectory data can be determined.
- the step of modeling in the road model may occur prior to the step of associating the trajectory data with the road model. Subsequently, it can be checked how well the trajectory data are imitated and / or simulated by the respective road models, whereby a probability value can be determined for each of the road models as a measure of the quality and / or quality of such a map.
- the probability value can be determined for each of the road models as a measure of the quality and / or quality of such a map.
- Probability in the context of the invention a measure of a quality and / or quality of imaging, replica and / or imitation of the trajectory data by the corresponding road model denote.
- a plurality of probability values may be obtained by multiple independently varying a portion of the parameters each
- Road model are determined. From the likelihood values determined for each of the road models, at least one high and / or one highest likelihood value can be selected in each case in comparison with other likelihood values of the same road model, which thus corresponds to an optimum configuration of the associated road model and / or the optimal parameter values of the associated road model. Furthermore, in the context of identifying the highest
- Probable value the so-called simulated annealing method are used. This may cause change operations that deteriorate a correspondence between the road model and trajectory data to be accepted less frequently as the time of the optimization process progresses, and / or that the optimization of the road model may occur directly in the optimal parameter values of the road model, i. the most likely and / or best street model ends. Ultimately, therefore, the
- Road models are optimized iteratively.
- the optimal parameter values of the individual road models can be selected and / or selected and can thus represent a lane-accurate road map and / or
- the lane-exact road map may be given by the optimal parameters of the at least one road model.
- the method according to the invention can thus provide that one or more road segments are imaged in one or more road models, and subsequently the optimal parameter values of the one road model or the road models are determined iteratively.
- the method according to the invention can therefore be model-based
- Designate an optimization method based on which can be derived and / or determined from motion profiles, trajectory data and / or driving trajectories of one or more road users an accurate topological and geometric road map of a busy road network in an advantageous manner.
- a number, a course, a width, a distance and / or a connectivity of individual lanes can be determined with high precision. This can be for straight road segments,
- Curve segments and / or done for crossing segments are straight-edged segments and / or done for crossing segments.
- the invention may be considered to be based upon the findings described below.
- the method according to the invention can therefore advantageously permit an exact mapping of a road network based on an analysis of known movement profiles, trajectory data and / or driving trajectories, for example a large vehicle fleet. For example, in comparison to a mapping by highly specialized measuring vehicles, as is often done by traditional card manufacturers, those for the inventive method
- the optimal parameter values are determined based on a Monte Carlo method, in particular based on a Reversible Jump Markov Chain Monte Carlo method (RJMCMC).
- RJMCMC Reversible Jump Markov Chain Monte Carlo method
- randomly selecting a change operation to randomly vary the parameter values of at least a portion of the parameters of the road model based on the Monte Carlo method and / or the Reversible Jump Markov Chain Monte Carlo method.
- all or at least a part of the change operations can be assumed to be equally distributed and, based on a random number, one of the change operations can be assumed to be random
- Variation of at least a portion of the parameter values is selected, i. to be diced, as it were. After randomly selecting a change operation, this change operation may be performed and then it may be decided whether the change in the parameter values caused thereby is accepted or discarded.
- input data such as the trajectory data
- the aim of the RJMCMC method can be the unknown
- the road model and / or the parameter values of the road model can be varied randomly and / or independently of the trajectory data. Subsequently, depending on the determined
- Probably the associated parameter values or the change of the parameter values are rejected or accepted, for example based on a comparison with a threshold and / or based on a
- Parameter values are a simulated annealing method used.
- the road model has at least one road block for modeling at least one partial area of the road block
- the road model has at least one connection block for modeling, based on at least one geometric parameter matrix and at least one topological parameter matrix, of a number of lanes changing at least in a subarea of the road segment, wherein values of the geometric parameter matrix are a change of a
- Describe lane numbers within the road segment, and where values of the topological parameter matrix describe a connection between individual lanes within the road segment.
- it may be provided to model each identified road segment by at least one road block and a connection block of the road model.
- each identified road segment may be provided, each identified road segment by at least one road block and a connection block of the road model.
- Road segment by a arranged between two connection blocks road block to model.
- one road block in each road segment which models a constant lane number, advantageously a computational effort can be reduced.
- flexibility of the road model may be increased, as any changes in geometry and / or topology of two adjacent ones
- connection block can each have one geometric and one topological parameter matrix for each
- Parameter matrices for modeling a geometry and / or topology of lanes have different direction of travel.
- Road segments in the road model the following sub-steps: Parameterizing the road segment in a unit interval such that each point of the road in the road segment passes over one
- Parameterization value is set in the unit interval
- Modeling emulating and / or imitating a disappearance or generation of a traffic lane within the road segment based on at least one geometric parameter matrix of the road
- the step of parameterizing may comprise a step of determining a length and / or a longitudinal extent of the road segment and a step of normalizing to the determined length.
- each road segment can be parameterized one-dimensionally, whereby advantageously each point of the road segment is represented by a value between zero and one, i. by a value of the unit interval.
- the digital roadway-specific roadmap has at least one intersection and a plurality of the intersection
- junction model a plurality of parameters to geometric and / or topological description of lanes of the intersection
- Trajectory data set to the intersection model determining at least one probability value for the intersection model, wherein the probability value correlates with a quality and / or a quality of an image of the trajectory data by the intersection model;
- each road segment of the roadway accurate road map by a road model can therefore be provided, each road segment of the roadway accurate road map by a road model and each
- Intersection segment to model by a crossing model As a result, the individual properties of intersections and roads can be modeled in an advantageous manner, and a computational effort can be reduced.
- this can be a precision and / or accuracy of the created
- an intersection in the lane-exact road map can be identified, for example, by identifying a node connected with more than two edges.
- the crossing model has an outer one
- junction segments in the intersection model the following sub-steps: - Means in an intersection node in the lane-exact road map, such as based on determining a node connected with more than two edges in the lane-exact road map; Determining a number of edges of the lane-exact road map associated with the intersection node by determining a number of roads connected to the intersection, the number of edges determined corresponding to the number of roads connected to the intersection; Generate and / or generate one of the number with the intersection
- Angular parameter (a) for indicating a rotation angle between the respective crossing arm and a reference direction, for example, a reference crossing arm is defined.
- connected streets accurately modeled and / or matched, for example, in terms of a number of lanes, a width of lanes, a distance between lanes of opposite
- the crossing model has an interior
- a crossing model for modeling based on a factor matrix (F) of the intersection model, intersection lanes, intersection lanes, and lane layout over a drivable area of the intersection.
- F factor matrix
- Step of modeling the intersection segment in the intersection model the following substeps:
- Factor matrix describe a course and a connection of lanes on the crossing surface
- Junction model each have a number parameter (L) for describing a number of lanes, a width parameter (W) for describing a width of individual lanes, a curvature parameter (C) for describing a curvature of a road and a distance parameter (G)
- the parameters mentioned above can be parameters of an inner intersection model and / or an outer intersection model of the intersection model. Also, the above parameters can be parameters of a road block and / or a connection block of the
- Driving direction can describe about a structural separation between adjacent lanes of opposite direction of travel.
- lane-exact road map can be created.
- Intersection model at least one change operation selected from the list consisting of an insertion operation for inserting a connection block into a road block, a merging operation for merging two road blocks and a connection block to a road block, a fitting operation for adjusting a parameterization value for parameterizing a longitudinal extension of a road; an add operation for adding a traffic lane, a removal operation for removing one
- Lane a distance adjustment operation for adjusting a distance between lanes of opposite direction of travel, a A width adjustment operation for adjusting a width of a lane and a curvature adjustment operation for adjusting a curvature of a road in the road model, a road block, and / or a connection block of the road model.
- Change operations may advantageously have the parameter values of all and / or at least a majority of the parameters of the
- Road model and / or the crossing model can be varied by random selection of one of the change operations. Furthermore, the
- the method further comprises a step of discarding or accepting randomly selected parameter values based on randomly selecting a change operation based on a
- Evaluation metric which describes the quality of the mapping of the trajectory data by the road model and / or an intersection model.
- the valuation metric has a first term for describing a
- the evaluation metric has a second term for taking into account at least one predetermined parameter of a road geometry, in particular a parameter with respect to one
- Lane width and / or a road width on.
- a parameter there may be a stochastic specification with respect to the values of the parameter, which can predetermine the dimension of the parameter.
- a track width can be determined by means of a normal distribution, so that a track width in the vicinity of approximately 3.25 m is to be searched.
- track widths e.g. 6 m to be examined. Therefore, any prior knowledge about a road geometry and / or a crossing geometry can advantageously be taken into account via the evaluation metric.
- the valuation metric For example, in the valuation metric
- Another aspect of the invention relates to a data processing apparatus for determining a lane-accurate road map based on a digital road-accurate road map.
- the data processing device is adapted to the method as above and below
- be set up mean that the data processing device, for example via a
- Program element has, which in its execution, for example on a processor of the data processing device, the data processing device instructs to carry out the inventive method.
- the program element may have corresponding software instructions.
- the data processing device has a data memory for storing a digital roadway-specific road map and a processor.
- On the data memory can also be a
- Program element to be stored, which when executed on the processor, the data processing device instructs to carry out the inventive method.
- Fig. 1 shows a data processing apparatus according to a
- FIG. 2 is a flow chart illustrating steps of a method of creating a lane-accurate road map according to FIG.
- FIGS. 3A to 3D each illustrate a method of creating a
- 4A to 4C each illustrate steps of a method for creating a lane-accurate road map according to an embodiment of the invention.
- Figs. 5A to 5C each illustrate a road model according to one
- FIGS. 6A to 6D each illustrate a crossing model according to one
- Figs. 7A to 7E respectively illustrate change operations according to one
- FIGS. 8A and 8B each illustrate an application of a score metric according to one embodiment of the invention.
- FIG. 1 shows a data processing device 10 according to a
- the data processing device 10 has a data memory 12.
- a roadway-compliant road map 14 which includes at least one node 11 (see, e.g., Figures 3C and 3D) and / or an edge 13 (see, e.g., Figures 3C and 3D) for describing
- Street road 17 (see Fig. 4A) and / or an intersection 19 (see Fig. 4A) may have.
- the roadway-accurate road map 14 may include a plurality of nodes 11 and / or edges 13 for
- Trajektoriensky 27 (see Fig. 3B) of road users may have.
- the data processing device 10 may have an interface 15 via which the lane-specific road map 14 and / or the trajectory data record 16 of the data processing device 10 can be provided.
- the interface 15 may be carried out wirelessly, for example, so that the road-specific road map 14 and / or the
- Trajektonenariessatz 16 can be received wirelessly, for example via WLAN, Bluetooth server and / or the like, for example, from at least one server and / or a cloud environment.
- the data processing device 10 has at least one processor 18. On the processor 18, a stored approximately in the data memory 12 program element can be executed, which the
- Data processing device 10 and / or the processor 18 instructs to carry out the inventive method for creating a lane-accurate road map 22, as described above and below.
- the data processing device 10 via an operating element 20 for inputting an operator input, such as by a user, have.
- the control element may also have a display element 21 for displaying the
- roadway accurate road map 14 the lane exact road map 22 and / or the trajectory data set 16 have.
- FIG. 2 is a flowchart illustrating steps of a method of creating a lane-accurate road map 22 according to one
- a digital roadway-accurate road map 14 is provided for describing a road course of at least one road 17 and / or at least one intersection 19, for example via the
- the roadway-compliant road map 14 may include a plurality of roads 17 and intersections 19.
- a trajectory data set 16 which includes a plurality of trajectory data 27 of road users along the at least one road 17 and / or the at least one intersection 19 has.
- the trajectory data record 16 can also be provided via the data memory 12 and / or via the interface 15 of the data processing device 10.
- the at least one road 17 is identified by segmenting the roadway-compliant road map 14 into at least one road segment 26 (see FIG. 4C). This can be done based on the node 1 1 and / or edges 13 of the roadway accurate road map 14.
- at least one intersection 19 may be segmented to segment the lane
- the road-by-road road map 14 may be divided into a plurality of road segments 26 and a plurality of crossing segments 19a.
- step S3 the at least one road segment 26 is modeled in at least one road model 28 (see FIGS. 5A, 5B).
- all road segments 26 can each be modeled in a road model 28.
- step S3 the at least one intersection 19 in a crossing model 34 (see FIGS. 6A-6C) can be modeled.
- each of the intersections 19 can be modeled in a separate intersection model 34.
- Junction models 34 a plurality of parameters for the geometric and / or topological description of lanes 23 on.
- step S4 parameter values of at least part of the parameters of the road model 28 and / or the intersection model 34 are obtained by randomly selecting a change operation 40, 41, 42, 43, 44, 46, 48, 50 (see FIGS. 7A-7E) Road model 28 and / or the crossing model 34 varies.
- step S4 the parameter values of all
- Road models 28 and all crossing models 34 are iteratively and repeatedly varied.
- step S5 at least part of the trajectory data 27 of the trajectory data record 16 is assigned to the road model 28 while determining at least one probability value for the road model 28.
- the trajectory data 27 may be added to each of the Road models 28, each determining at least one
- the trajectory data 27 may be assigned to the at least one intersection model 34 by determining at least one probability value in step S5, the trajectory data 27 to each of
- Crossing models 34 each determining at least one
- Probability value for each of the crossing models 34 are assigned.
- the probability values correlate with a quality of an image of the trajectory data 27 by the respective road model 28 and / or the respective intersection model 34.
- optimal parameter values of at least part of the parameters of the road model 28 and / or the intersection model 34 are determined based on the determined at least one probability value. In particular, for each of the road models 28 and / or for each of the
- Crossing models 34 optimal parameter values are determined.
- a lane-accurate road map 22 is created based on the optimum parameter values of the at least one road model 28 and / or the at least one intersection model 34.
- the lane-exact road map 22 may be given by the optimal parameter values of all road models 28 and / or all intersection models 34.
- FIGS. 3A to 3D each illustrate a method of creating a
- Road map 16 may serve as the basis for creating a lane-accurate road map 22. Accordingly, all the steps described with reference to FIGS. 3A to 3D can also be part of the method according to the invention for creating a lane-accurate road map 22.
- trajectory data set 16 having a plurality of collected trajectory data 27 and / or trajectories 27 is illustrated. Further, FIG. 3A illustrates segmenting and / or splitting the trajectory data 27 into various traffic scenarios and / or segments 24a-c. Schematically, in FIG. 3A, a first segment 24a describing a curve, a second segment 24b describing an intersection, and a third segment representing a road describes, shown. The segments 24a-c are determined as described below.
- the trajectory data 27 collected by a vehicle fleet, such as GNSS trajectories 27, can also be of any desired size in any number
- the trajectories 27 can be automatically divided according to a logic.
- the trajectory data 27 which as
- Input data can be divided into different traffic scenarios 24a-c and / or different segments 24a-c, where each of the
- Segments 24a-c a straight road, a curve or an intersection
- each trajectory 27 can be traversed and based on limits in a travel angle change and / or a
- the cluster When combined, the cluster is considered a curve and / or intersection. Based on the found curves and / or
- Intersections can then be triangulation and then a Delaunay decomposition constructed. Every cell of this decomposition can be a final one
- segments 24a-c can be considered as cells 24a-c of decomposition
- a lane-exact road map 14 may be generated, which may correspond to a graph consisting of node 1 1 and edges 13, wherein the nodes 1 1 and edges 13 may represent a road centerline. Exemplary is such a roadway accurate
- the input data 16, 27 can be segmented as described in FIG. 3A.
- For every Cell 24a-c may then be initialized with a graph which may describe the traffic scenario of the respective segment 24a-c or the respective cell 24a-c.
- the desired goal is that the models in the cells 24a-c, linked by boundary conditions, can be individually developed and finally fused into a graph.
- FIGS. 3B-3D the creation of a road-specific road map 14 in FIGS. 3B-3D for the
- FIG. 3A shows a cell 24c or a segment 24c and the vehicle trajectories 27.
- FIG. 3C shows an initial road map 14 and FIG. 3D an optimized road map 14.
- the road maps 14 of FIGS. 3C and 3D can also be referred to as cell graphs 14 ,
- first all cell edges 25 can be cut with the trajectories 27 in order to determine the road centers on the cell edges 25, as shown in FIG. 3B. These centers can be included in the graphs of the corresponding cells 24c as nodes 11, as shown in Fig. 3C. In addition, in each cell 24c, the center of gravity of the cell 24c may be inserted as node 1 1 in the graph and connected by edges 13 to the nodes 1 1 on the cell edges 25.
- a valuation metric can be introduced, which describes how well the models map the data. On the one hand, the distance between the models and the trajectory data 27 and, on the other hand, the differences in the direction of travel can be taken into account. To optimize the models and create the final lane-exact roadmap 16 as shown in FIG. 3B. These centers can be included in the graphs of the corresponding cells 24c as nodes 11, as shown in Fig. 3C. In addition, in each cell 24c, the center of gravity of the cell 24c may be inserted as node 1 1 in the graph and connected by edges
- RJMCMC Reversible Jump Markov Chain Monte Carlo
- split operation and / or merge operation At the moving operation a node 1 1 of a cell graph 24c is moved in space.
- the create operation describes adding a new node 11 into the graph 24c and forms a reversible pair of operations with the remove operation.
- a node 1 1 In the fusing operation, a node 1 1 is inserted into an adjacent edge 13, so that two closely adjacent edges 13 are unitized piecewise.
- the splitting operation reverts such a construct and thus represents the opposite of the merging operation.
- the presence of reversible pairs may be advantageous for a correct stochastic description of the operation.
- the middle node 1 1 was removed during the optimization, since it is used for the
- FIGS. 4A to 4C respectively illustrate steps of a method for creating a lane-accurate road map 22 according to an embodiment of the invention.
- a roadway-accurate road map 14 is shown.
- Fig. 4B illustrates a parameterization
- Fig. 4C illustrates a segmentation of road 17 of the road map 14.
- Figs. 5A to 5C respectively show
- Fig. 5A shows a connection block 30 of the road model 28
- Fig. 5B shows a road block 32 of the road model 28
- Fig. 5C shows geometric and topological parameter matrices of the connection block 30 of Fig. 5A.
- FIG. 4A shows a road-grade graph 14 and / or a lane-exact road map 14, which includes a road 17 and at the ends a respective one
- junction 19 by means of nodes 11 and edges 13 describes.
- the road 17 is first parameterized one-dimensionally.
- each point p of the road 17 may have a value p e [0; 1] of the unit interval.
- road segments 26, as shown in FIG. 4C can be defined.
- the road 17 is subdivided into one or more road segments 26, which may be identified based on the nodes 11 and / or edges 13, for example.
- the segmentation of the road 17 into road segments 26 may allow lane-level traffic situations in the road model 28
- the driving on a constant number of lanes 23 and the widening or narrowing of the road 17 is distinguished by a lane 23.
- a general road block 32 as shown in Fig. 5B may have a number parameter L for describing a number of lanes 23, a width parameter W for describing a width of individual lanes 23, a curvature parameter C for describing a curvature of a road 17, and a distance parameter G for describing a distance between adjacent lanes 23 have opposite direction of travel.
- the road block 28 may have a type parameter T for describing a type of lane marking for each lane 23.
- the parameter G can be a size of a structural separation between the
- a generic road block 32 may thus be sized
- a road 17 is thus defined as a set of m road segments 26
- connections of lanes 23 on the road segment 26 can be described by cubic Hermite polynomials.
- a road segment 26 not only to have a constant curvature, but also to assume an arbitrary course, whereby only the boundary conditions of continuity and differentiability are adhered to in order to produce a realistic road course.
- the boundary conditions are introduced by specifying the connection points and the slope or the gradient vector in the connection points.
- the magnitude of the slope vectors is accessible or integrated as parameter C in the road model 28.
- a general road block 32 also referred to below as B A , may be specified by further restrictions or additions.
- 5B includes the restriction that the number L of the lanes 23 in the respective road segment 26 remains constant.
- a road segment can be imaged on which only the inherent properties such as the track widths W change.
- the lanes 23 are marked with characteristic values -1, -2, +1, +2, wherein the sign indicates a direction of travel and the lanes of each direction of travel are numbered with consecutive natural numbers 1, 2.
- connection block 30 also referred to below as B C , as illustrated in FIG. 5A, describes a traffic situation in which the number L of lanes 23 changes and in which a combination or splitting of lanes 23 can be modeled. Therefore, the connection block 30 becomes opposite to the road block 32 by a connection permutation
- Lane 23 disappears or is generated, as well as topologically defined which lanes 23 are connected. As shown in FIG. 5C, an individual geometric parameter matrix and an individual geometric parameter matrix are used for each direction of travel
- Connectedness of lanes 23 is indicated in binary terms by a one and a non-connectedness by a zero, as shown in Fig. 5C. Also in Figures 5A and 5C, the lanes 23 are marked with characteristics -1, -2, +1, +2, the sign indicating a direction of travel and the
- Lanes 23 are numbered in each direction with consecutive natural numbers 1, 2. For example, in the situation illustrated in FIG. 5A, it is topologically possible to change from the lane -1 to the new lane -2 on the left side, or to remain on the existing lane. This topological information is not synonymous with a simple one
- a connection block 30 can therefore be used as
- connection block 30 is, if necessary, to compensate for the differences between the road blocks 32 (eg with respect to the lane number L). If no changes are necessary, the connection block 30 can represent a road block 32 as a special case.
- FIGS. 6A to 6D each illustrate a crossing model 34 according to one
- FIGS. 6A and 6B show an outer intersection model 36 of the intersection model 34
- FIG. 6C shows an inner intersection model 38 of the intersection model 34
- FIG. 6D shows a factor matrix F of the inner intersection model of FIG. 6C.
- an intersection 19 has been represented by a node 11 connected to more than two edges 13.
- a node 11 connected to more than two edges 13.
- the roadway-accurate road map 14 is first segmented into at least one crossing segment 19 a and / or a
- junction segment 19a is in the lane road map 14th
- the crossing segment 19a is then in an inner
- junction model 38 and an outer intersection model 36 models, as explained in more detail below.
- the crossing model 34 also referred to below, sets itself apart
- FIGS. 6A and 6B show an outer crossing model 36, also designated below.
- intersection nodes 35 are identified. Since a large intersection 19 in the lane-exact road map 14 may be described by a plurality of nodes 11, by means of a
- the outer intersection model 36 may be generated on the center of the participating nodes 11. On the basis of the identified crossing nodes 35, the information can be taken directly from how many roads 17 are connected to the junction 19. For each street 17, a crossing arm A1-A4 is created.
- everyone Junction arm A1-A4 has a distance parameter d which describes the distance from the center to the beginning of the crossing surface 37 with respect to this crossing arm A1-A4 and an angle parameter a which defines a rotation angle relative to a reference direction, for example the east direction.
- a a transition point from the road 17 to the crossing area 37 is defined for each crossing arm A1-A4.
- the inner crossing model 38 is in
- Figs. 6C and 6D illustrate.
- the inner crossing model 38 describes the
- Each intersection arm A1-A4 has the same information as a general road block 32 of the lane
- each connection is influenced by a parameter C, which can specify the course over the crossing surface 37.
- the parameters C are stored in the factor matrix F, as shown in Fig. 6D, where a value of zero indicates that the connection does not exist.
- the boundary of the intersection area 37 is additionally defined.
- the factor matrix F can be used for each
- each crossing arm A1-A4 have a row and a column. For the sake of clarity, different directions of travel are illustrated by different signs of the indices in FIG. 6D. Furthermore, the lanes 23 of the individual crossing arms A1-A4 in FIG. 6D are numbered consecutively with natural numbers.
- the roadway-specific road map 14 is divided into roads 17 and intersections 19.
- Angular parameter a of the crossing arms A1-A4 can be determined from the road map 14. Subsequently, the road models 28 between the intersections 19, where a road 17 in the graph is described by a chain ⁇ v x , ..., v y ⁇ . In the lane-specific road model 28, a connection block 30 is generated on each node 11 and a road block 32 is created therebetween. Each road 17 begins and ends with a connection block 30 which may optionally correct the differences between the adjacent road block 32 and the intersection. Each road 17 is initialized as two lanes with one lane 23 per direction of travel. The totality of the ⁇ road models 28 and for intersection models 34 will be referred to as.
- the initialized models 28, 34, ⁇ represent the current configuration of the overall model.
- the parameters of these models are the described properties of the road blocks 32, the connection blocks 30, the inner intersection models 36, and the outer intersection models 38 RJMCMC method are varied, therefore, the following are the possible change operations and the
- FIGS. 7A to 7E respectively illustrate change operations 40, 41, 42, 43, 44, 46, 48, 50 according to an embodiment of the invention. Specifically, FIG. 7A on the left side illustrates an insertion operation 40 for inserting a
- Fig. 7A illustrates a right hand one
- Fig. 7B illustrates a
- Fig. 7C shows a distance adjusting operation 46 for adjusting a distance G between opposite-direction lanes 23
- Fig. 7D shows a width adjustment operation 48 for adjusting a width W of a lane 23
- Fig. 7E shows a curvature adjustment operation 50 for adjusting a curvature C of a road 17.
- the change operations 40, 41, 42, 43, 44, 46, 48, 50 are again divided into two classes.
- the merging operation 41 and the fitting operation 42 as shown in Fig. 7A change the road model 28 at the block level, that is, the individual properties are not changed but only the number of road blocks 32 and connection blocks 30 and their spatial
- an existing road block 32 becomes two road blocks 32 and one
- the removal operation 44 correspondingly connects such a constellation and, with the addition operation 43, forms a reversible pair whose selection probabilities can be selected to satisfy the extended detailed balance condition.
- the adaptation operation 42 the boundaries of a road block 32 and / or connection block 30 are changed with respect to the parameterization of the road model 28.
- Parameter values of a road block 32 are parameter values of a road block 32.
- the parameter values of a road block 32 are parameter values of a road block 32.
- Connection block 30 can not be active, but only passively changed. These adapt their parameters to the adjacent road blocks 32.
- Distance operation 44 also forms a reversible pair, while the three adjustment operations 42, 46, 50 only change the values of the parameters.
- the acceptance probability is determined as:
- the Jacobian of transformation is with a determinant of 1, because the matrix has triangular shape.
- the merge operation 41 can be considered as a reverse case.
- the constellation road block 32, connection block 30, road block 32 is summarized, with no new components being needed for the transformation, but being calculated.
- the constellation is in the parameterization P of the road model 28 by the sequence ⁇ p a , b , p c , p ci ⁇ dei ⁇ eri.
- the fitting operation 42 describes as a transition between the upper view in FIG. 7A and the right-hand view in FIG. 7A.
- the parameter can be changed by a maximum of half the parametrized length p, of the road block 32.
- the search function is realized as a random movement:
- the road model 28 is supplemented by a new lane width of a lane 23.
- the new track width is drawn from a normal distribution whose expected value and variance result from road construction specifications. These can be determined in the context of the scenario or the type of road 17. For the transformation follows:
- the acceptance probability for the opposite distance operation 44 is calculated accordingly, where the component u is the track width of the lane 23 to be removed:
- intersection model 34 consists of the inner intersection model 36 and the outer intersection model 38, there are various change operations for each sub-model 36, 38.
- the two parameters distance d and angle a influence the shape of the outer intersection model 36.
- the number of intersection arms A1-A4 is already extracted from the road map 14 in the initialization process and is not changed any more.
- two change operations are defined which change the two parameters d, a but not the dimension of the outer intersection model 36.
- the outer crossing model may have a Distance parameter change operation and a
- each crossing arm A1-A4 has a connection cross-section which has the same characteristics as a road block 32. Since at each crossing arm A1-A4 a connection block 30th
- Factor matrix F of Figure 6D is not done by an RJMCMC operation.
- FIGS. 8A and 8B each illustrate an application of a score metric according to one embodiment of the invention.
- the vehicle trajectories 27 are displayed on the lanes 23.
- each center line of each road segment 26 and each intersection 19 is converted into a graph, wherein the center line is discretized in small steps with node 11 and edges 13.
- Each graph is then optimized to a minimum number of nodes 11 using the Douglas-Peucker algorithm. Finally, these graphs become one
- HMM hidden Markov model
- the Euclidean distance Y d between the trajectory and lane according to FIG. 8A, as well as the included driving angle Y a are determined as the evaluation measure
- the jump function for consideration of the passages is defined as: where the lanes of the model, the number of trajectories that have been mapped to the ⁇ th track and ⁇ describes the minimum number of passes to be reached.
- the method may be varied using the defined RJMCMC change operations 40, 41, 42, 43, 44, 46, 48, 50. This will be an objective function
- a corresponding algorithm for carrying out the method according to the invention can be subdivided into a warm-up phase and a main phase.
- the warm-up phase for example, not all change operations 40, 41, 42, 43, 44, 46, 48, 50 can be available, but only
- Distance adjustment operation 46 of the road models 28 and crossing model 34 are used.
- the problem addressed by this measure occurs on roads with great structural separation: with equal choice of operations and an initial model with no structural separation, the method can quickly generate a multi-lane model. Many iterations are then used to replace the redundant lanes 23 with a structural separation. By the warm-up phase can be a better initial estimation of separation can be achieved in very few iterations.
- simulated annealing method can be used, the purpose of which is to influence the above-described objective function as a function of the transit time:
- the cooling function is an exponentially decreasing function:
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JP5064870B2 (ja) * | 2007-04-17 | 2012-10-31 | 株式会社日立製作所 | デジタル道路地図の生成方法及び地図生成システム |
WO2010040401A1 (en) * | 2008-10-08 | 2010-04-15 | Tomtom International B.V. | A system and method for determining road attributes |
US20130278441A1 (en) * | 2012-04-24 | 2013-10-24 | Zetta Research and Development, LLC - ForC Series | Vehicle proxying |
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US9384394B2 (en) * | 2013-10-31 | 2016-07-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method for generating accurate lane level maps |
US9170116B1 (en) * | 2014-07-11 | 2015-10-27 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method for generating accurate lane level maps |
US10013508B2 (en) * | 2014-10-07 | 2018-07-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Joint probabilistic modeling and inference of intersection structure |
US10533863B2 (en) * | 2014-10-10 | 2020-01-14 | Here Global B.V. | Apparatus and associated methods for use in lane-level mapping of road intersections |
DE102015000399B4 (de) * | 2015-01-13 | 2019-08-29 | Audi Ag | Kartographieren von Fahrspuren mittels Fahrzeugflottendaten |
-
2017
- 2017-06-01 DE DE102017209346.3A patent/DE102017209346A1/de not_active Withdrawn
-
2018
- 2018-03-23 JP JP2019566326A patent/JP2020524295A/ja active Pending
- 2018-03-23 CN CN201880036146.8A patent/CN111065893A/zh active Pending
- 2018-03-23 WO PCT/EP2018/057506 patent/WO2018219522A1/de active Application Filing
- 2018-03-23 EP EP18713229.5A patent/EP3631364A1/de not_active Withdrawn
- 2018-03-23 US US16/617,774 patent/US20200132476A1/en not_active Abandoned
- 2018-03-23 KR KR1020197038750A patent/KR20200012960A/ko unknown
Also Published As
Publication number | Publication date |
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JP2020524295A (ja) | 2020-08-13 |
KR20200012960A (ko) | 2020-02-05 |
CN111065893A (zh) | 2020-04-24 |
DE102017209346A1 (de) | 2019-01-10 |
US20200132476A1 (en) | 2020-04-30 |
WO2018219522A1 (de) | 2018-12-06 |
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