TW202147273A - System and method for updating and sharing intersection dynamic map information can enable self-driving vehicle to perform comprehensive navigation decision-making to ensure driving safety - Google Patents

Abstract

A system and method for updating and sharing the intersection dynamic map information is for receiving detection information output by a detection device on a vehicle. The detection information includes the absolute positioning coordinates of the vehicle, the heading of the vehicle, the speed of the vehicle, relative speed between the object and the vehicle, and the original relative coordinates of the object and the vehicle. The absolute positioning coordinate of the vehicle is matched with the original relative coordinate of the object and the vehicle plus an estimated coordinate displacement, respectively. According to the vehicle heading and the reference orientation of the geodetic coordinate system, the matched relative coordinates are performed with coordinate rotation conversion to form matching conversion coordinates. The absolute positioning coordinates of the vehicle and the matching conversion coordinates of the object are merged into the intersection area map information to form the intersection dynamic map information. The intersection dynamic map information is outwardly shared to achieve the purpose of updating and sharing the intersection dynamic map information.

Description

System and method for updating and sharing dynamic map information at intersections

The present invention relates to a system and method for updating and sharing map information, in particular to a system and method for updating and sharing dynamic map information at an intersection.

With the development of Intelligent Transport System (ITS), self-driving vehicles (self-driving cars) will become one of the mainstream modes of transportation in the future. Self-driving cars can drive on roads and make navigation decisions mainly based on computers; among them, The self-driving car can be equipped with detection units such as cameras, optical radar (LiDAR), global navigation satellite system (GNSS) and inertial navigation system (INS), etc., to locate the position of the self-driving car and detect the objects around the self-driving car. For example, other vehicles or pedestrians, the self-driving car can make navigation decisions based on the detection data of the detection unit.

Different from the controlled road environment like a laboratory or a test site, there are all kinds of vehicles and pedestrians on the actual road, and even illegal vehicles and pedestrians, such as speeding, running red lights, etc., especially at intersections (such as fork roads or intersections) , vehicles and pedestrians cross the intersection from different directions. It can be seen that, for self-driving cars, passing the intersection smoothly is an important issue.

However, the detection range of existing self-driving cars is limited, and the detection range is limited to the surrounding area of the self-driving car itself. Vehicles and pedestrians at the intersection come from all directions, so some road conditions at the intersection (especially the road conditions far away from the self-driving car) are self-driving cars. If it cannot be detected, the existing self-driving cars cannot effectively and comprehensively grasp the intersection information when passing through the intersection, so that more comprehensive navigation decisions cannot be performed.

In view of this, the main purpose of the present invention is to provide a system and method for updating and sharing dynamic map information at an intersection, so as to overcome the shortcomings of the limited detection range of self-driving cars in the prior art.

The dynamic map information update and sharing system for intersections of the present invention includes: An on-vehicle detection device is set on a vehicle for detecting objects around the vehicle and periodically outputs a detection information, the detection information includes an absolute positioning coordinate of the vehicle, a vehicle heading, a vehicle velocity, a relative velocity of the at least one object and the vehicle, and an original relative coordinate of the at least one object and the vehicle; and a computing device, storing an intersection area map data, the intersection area map data is established in a geodetic coordinate system, and the geodetic coordinate system includes a reference azimuth; Wherein, when the computing device receives the detection information from the on-vehicle detection device, the computing device adds the absolute positioning coordinates of the vehicle to an estimated vehicle coordinate displacement to obtain a matching absolute coordinate, and the The original relative coordinates of at least one object and the vehicle are added with an estimated coordinate displacement of the object to obtain a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated according to the speed of the vehicle and a time difference, The estimated coordinate displacement of the object is calculated according to the relative speed and the time difference; the computing device performs coordinate rotation transformation of the matching relative coordinates according to the vehicle heading and the reference azimuth to form a matching transformation coordinate, and then the The matching absolute coordinates and the matching conversion coordinates are merged into the intersection area map data to become an intersection dynamic map data, and the intersection dynamic map data is shared externally.

The method for updating and sharing intersection dynamic map information of the present invention is executed on a computing device, and the method includes: Receive a detection information output by at least one vehicle detection device, the detection information includes an absolute positioning coordinate of a vehicle, a vehicle heading of the vehicle, a vehicle speed, and a relative relationship between at least one object and the vehicle velocity and an original relative coordinate of the at least one object to the vehicle; The absolute positioning coordinates of the vehicle are added to the estimated coordinate displacement of a vehicle to obtain a matching absolute coordinate, and the original relative coordinates of the at least one object and the vehicle are added to the estimated coordinate displacement of an object to obtain a matching absolute coordinate. a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated according to the speed of the vehicle and a time difference, and the estimated coordinate displacement of the object is calculated according to the relative speed and the time difference; According to the own vehicle heading of the vehicle and a reference orientation of the geodetic coordinate system, coordinate rotation transformation is performed on the matching relative coordinate to form a matching transformation coordinate; combining the matching absolute coordinates and the matching transformation coordinates into an intersection area map data to become a road intersection dynamic map data; and Share the dynamic map of the intersection with the outside world.

To sum up, the dynamic map of intersections shared by the present invention can present the positions of objects passing through the intersection. Provide its own detection information to the computing device for the computing device to generate and share the dynamic map of the intersection. In this way, the self-driving car passing through the intersection can receive the dynamic map of the intersection, and can obtain the road condition information beyond the detection range of its on-board detection device (that is, the detection information generated by other self-driving cars) from the dynamic map of the intersection. ), especially the object position of the dynamic map of the intersection is estimated, which is closer to the current actual road conditions broadcast by the dynamic map of the intersection, rather than the earlier road conditions, self-driving can conduct comprehensive navigation based on the dynamic map of the intersection Therefore, the problems described in the prior art can be overcome by making decisions to ensure driving safety.

Please refer to FIG. 1 , an embodiment of the system for updating and sharing dynamic image information at intersections of the present invention includes at least one on-vehicle detection device 10 and at least one computing device 11 , or further includes at least one object detection device 12 . The device 10 is installed in a vehicle, and the object detection device 12 is installed in an intersection. As a whole, the present invention uses the on-vehicle detection device 10 or further combined with the object detection device 12 to detect the position of the object around the vehicle or at the intersection, and periodically report the detection result. It is transmitted to the computing device 11, wherein the object is a detected object, such as various vehicles, pedestrians or other objects (such as scattered objects). The computing device 11 matches the received detection results and merges them into an intersection area map to form an intersection dynamic map; the computing device 11 can periodically broadcast the intersection area map to Share the dynamic map of the intersection to a receiving device 13, such as a self-driving car, a car audio-visual navigation device or a user electronic device (such as a smart phone), etc., for the receiving device 13 to receive the dynamic map of the intersection and be used. Further technical details of the present invention are described below.

In an embodiment of the present invention, please refer to FIG. 2 and FIG. 3 , each of the on-board detection devices 10 may be installed on a vehicle 20 driving on the road, and the vehicle 20 may be, for example, an autonomous vehicle (self-driving car) or a non-driving vehicle. For self-driving cars, the on-board detection device 10 may include, for example, cameras, optical radars (LiDAR), global navigation satellite systems (GNSS), inertial navigation systems (INS), and wireless communication modules for data transmission. The sensing function and the data transmission function are common knowledge in the technical field and will not be described in detail here. Therefore, the on-board detection device 10 can periodically output a detection information 30, for example, the detection information 30 can be broadcast through (but not limited to) dedicated short-range communication technology (DSRC), or through a mobile communication technology (such as The fifth generation (5G) or higher-level mobile communication technology) outputs the detection information 30, please refer to FIG. 4, the detection information 30 includes an absolute value of each vehicle 20 generated by the on-vehicle detection device 10 through the positioning function Positioning coordinates 31, and including at least one relative velocity 32 between at least one object and the vehicle 20, a vehicle heading 33, at least one relative coordinate 34 between the at least one object and the vehicle 20, and a vehicle speed 35 through the sensing function , wherein the vehicle heading 33 refers to the heading of the vehicle 20 . In the embodiment of the present invention, the following description only takes the detection of an object by the vehicle 20 as an example, and the relative coordinate 34 in the detection information 30 is defined as an original relative coordinate.

Please refer to FIG. 4 , the absolute positioning coordinate 31 reflects the absolute position of the vehicle 20 in the intersection area map, and the relative coordinate 34 reflects the relative position between the object and the vehicle 20 . For the convenience of description, the absolute positioning coordinates 31 and the relative coordinates 34 are the coordinate values of the X-Y plane coordinate system, which can be mutually converted with the longitude and latitude of the geodetic coordinate system.

An embodiment of the computing device 11 may be an edge computing device disposed at an intersection, which includes a wireless communication module and a processor for receiving broadcast information, processing information, and externally broadcasting information, for example, The computing device 11 can broadcast information and receive information through dedicated short-range communication technology (DSRC), but not limited to this; therefore, when the vehicle 20 passes through the intersection, the on-board detection device 10 of the vehicle 20 can broadcast its detection The detection information 30 can be received by the computing device 11 . In addition, another embodiment of the computing device 11 can be a cloud server, and the on-board detection device 10 can establish a connection with the computing device 11 through a mobile communication technology, so that the on-board detection device 10 can be connected to the computing device 11. The device 11 can transmit the detection information 30 through a mobile communication technology.

Please refer to FIG. 3 , the computing device 11 stores the intersection area map data 110 , and the intersection area map data 110 may be a high-precision intersection plan view, which may include lane marking information of the intersection (such as lane markings or zebra crossings, etc.), wherein, The intersection area map 110 can be built on a geodetic coordinate system that includes a reference orientation. For example, the range of the intersection area map 110 may be specified and divided by the longitude and latitude values of the geodetic coordinate system, and the reference orientation may include east, west, south, and north.

The following describes the method for updating and sharing the dynamic map data of an intersection according to the present invention through an example, and the method for updating and sharing the dynamic map data of an intersection of the present invention is executed by the computing device 11 . Please refer to FIG. 2 , FIG. 3 and FIG. 9 , the computing device 11 is an edge computing device. When the vehicle 20 passes through an intersection, as described above, the on-board detection device 10 of the vehicle 20 periodically broadcasts the The detection information 30 is received by the computing device 11 (step S01). Whenever the computing device 11 receives the detection information 30, the computing device 11 adds the absolute positioning coordinates 31 in the detection information 30 to the estimated coordinate displacement of a vehicle (described later) to obtain a match absolute coordinates, and the original relative coordinates (ie: the relative coordinates 34 ) plus an estimated object coordinate displacement (described later) to obtain a matching relative coordinate (step S02 ). Because the matching relative coordinates only represent a relative position relationship between the object and the vehicle 20 , the computing device 11 further performs coordinate rotation transformation on the matching relative coordinates according to the vehicle heading 33 and the reference orientation, so as to convert The relative position between the object and the vehicle 20 is correspondingly positioned in the XY plane coordinate system, and then the matching absolute coordinate of the position of the vehicle 20 and the matching relative coordinate after the rotation conversion corresponding to the position of the object are converted into longitude After combining with the latitude, it is merged into the intersection area map data 110 to become an intersection dynamic map data (step S03), and the intersection dynamic map data is shared externally (step S04), and the sharing method can be, for example, through dedicated short-range communication technology (DSRC). ) broadcast method.

In step S02, regarding the generation of the estimated coordinate displacement of the own vehicle and the estimated coordinate displacement of the object, please refer to FIG. 5 together with FIG. 2 to FIG. 4, when the vehicle 20 is in a first position, the The on-board detection device 10 of the vehicle as a whole spends ΔT _P time for information calculation and ΔT _T time for information transmission, and the on-board detection device 10 broadcasts the detection information 30 at a first time point t1 , the detection information 30 is the detection result of the on-board detection device 10 corresponding to the first position; the broadcast period of the on-board detection device 10 may be _TR , and the broadcast period of the computing device 11 may be T _{B; foregoing, ΔT P, ΔT T, T} R and T _B are known information, can be preset in the arithmetic unit 11, for example, ΔT _P and ΔT _T respectively 5 milliseconds (ms), T _R may be 125 (ms), and T _B may be 200 (ms).

It can be seen that the computing device 11 can broadcast at a second time point t2, the time point when the vehicle 20 is located at the first position and the second time point t2 have a time difference ΔT for information computing and transmission, as described above Time data, ΔT is 85 (ms). The position of the vehicle 20 and the relative position of the object and the vehicle 20 may vary with time, and the estimated coordinate displacement of the vehicle and the estimated coordinate displacement of the object are the detection information 30 during the time difference ΔT The complex estimated change in . In this way, the dynamic map of the intersection broadcast by the computing device 11 at the second time point t2 will be more in line with the actual road conditions at the second time point t2, rather than the earlier road conditions.

The estimated coordinate displacement of the object can be expressed as follows:

為該物件預估座標位移量，

為該物件與該車輛20的該相對速度32，ΔT為該時間差。故該匹配相對座標可表示如下：In the above formula, X and Y can respectively represent the coordinate axes of the XY plane coordinate system;

Estimated coordinate displacement for the object,

is the relative speed 32 of the object and the vehicle 20, and ΔT is the time difference. Therefore, the matching relative coordinates can be expressed as follows:

表示該匹配相對座標，

表示該原始相對座標(即：該物件與該車輛20的該相對座標34)。In the above formula,

represents the relative coordinates of the match,

Indicates the original relative coordinates (ie, the relative coordinates 34 of the object and the vehicle 20).

On the other hand, the estimated coordinate displacement of the vehicle can be expressed as follows:

為該本車預估座標位移量，

為該車輛20的該本車速度35，ΔT為該時間差。故該匹配絕對座標可表示如下：In the above formula, X and Y can respectively represent the coordinate axes of the XY plane coordinate system,

Estimated coordinate displacement for this vehicle,

is the host vehicle speed 35 of the vehicle 20, and ΔT is the time difference. Therefore, the matching absolute coordinates can be expressed as follows:

表示該車輛20的該匹配絕對座標，

表示該車輛20的該絕對定位座標31。In the above formula,

represents the matched absolute coordinates of the vehicle 20,

The absolute positioning coordinates 31 of the vehicle 20 are represented.

The following further describes the usage scenarios of the present invention with the help of the drawings. Please refer to the intersection shown in FIG. 6 and with reference to FIG. 2 to FIG. 4 , there are four self-driving cars and one motorcycle 50 on the east-west lane, and the four self-driving cars are the first, second, fourth and fourth cars respectively. Five self-driving cars 41, 42, 44, 45; the north-south lanes include the third and sixth self-driving cars 43, 46 and a non-self-driving car 51, and each self-driving car 41-46 is equipped with the on-board detection system of the present invention device 10.

The objects detected by the on-board detection device 10 of the first self-driving car 41 include the second self-driving car 42 , so in a first detection information 410 generated by the first self-driving car 41 , the first self-driving car 41 The original relative coordinates of the self-driving car 41 and the second self-driving car 42 can show that the second self-driving car 42 is located in the left front of the first self-driving car 41 , and a first self-driving car heading 331 of the first self-driving car 41 is east. Similarly, the second to sixth detection information 420 to 460 of the on-board detection device 10 of the second to sixth self-driving cars 42 to 46 can be deduced by analogy.

The detection information 410 - 460 of each of the self-driving cars 41 - 46 is sent to the computing device 11 , and the computing device 11 performs the coordinate matching and merging as described above, wherein the first self-driving car 41 is used for the first self-driving car 41 . Taking the detection information 410 as an example, the heading 331 of the first self-driving car 41 is east, and the matching relative coordinates only show that the second self-driving car 42 is located in the left front of the first self-driving car 41 . The "front" of the positional relationship is transformed into the "east" of the geodetic coordinate system, and the "front" and "east" of the relative position are different by 90 degrees, so the matching of the first self-driving car 41 can be relative to the first self-driving car 41 through a rotation matrix. The coordinates are transformed by coordinate rotation, so that the "front" of the relative positional relationship is transformed into the "east" of the geodetic coordinate system.

Please refer to Figure 7. X ^A and Y ^A respectively represent the coordinate axes of the XY plane coordinate system. ^{The arrow of the Y A} axis points to the north of the geodetic coordinate system, and ^{the arrow of the X A} axis points to the east of the geodetic coordinate system. X ^R and Y ^R are coordinate axes representing the relative positional relationship between the object and the vehicle 20 . Generally speaking, the aforementioned coordinate rotation transformation can be expressed as follows:

為經過座標旋轉轉換後的該匹配相對座標，後稱之為一匹配轉換座標，以反映物件位置；

為旋轉矩陣，

為旋轉矩陣的旋轉角度；上式的

為該匹配相對座標。in,

is the matching relative coordinate after coordinate rotation transformation, which is referred to as a matching transformation coordinate to reflect the object position;

is the rotation matrix,

is the rotation angle of the rotation matrix; the above formula

Relative coordinates for this match.

為90度，該第二至第六偵測資訊420~460的座標轉換可依此類推，惟需留意其相對位置關係的「前方」與該大地座標系統的該參考方位的對應關係，以確認旋轉矩陣的旋轉角度。Taking the first detection information 410 of FIG. 6 as an example, the matching absolute coordinates of the first self-driving car 41 are taken as the origin and rotated 90 degrees clockwise, that is,

It is 90 degrees, the coordinate conversion of the second to sixth detection information 420~460 can be deduced by analogy, but it is necessary to pay attention to the corresponding relationship between the "front" of the relative position relationship and the reference orientation of the geodetic coordinate system to confirm The rotation angle of the rotation matrix.

Please refer to the merged dynamic map 60 of the intersection shown in FIG. 8 , and refer to FIG. 6 , taking the first detection information 410 and the second detection information 420 as examples, a The position of the first matching absolute coordinate 411 corresponds to a first matching transformation coordinate 421 calculated from the second detection information 420 . Similarly, the position of a second matching absolute coordinate 422 of the second self-driving car 42 corresponds to A second matching transformation coordinate 412 calculated from the first detection information 410 .

The situations of the third to sixth self-driving cars 43 to 46 can be deduced by analogy. In short, the position of a fourth matching absolute coordinate 441 of the fourth self-driving car 44 corresponds to the position calculated from the fifth detection information 450 A fourth matching transformation coordinate 451 of the fifth self-driving car 45 corresponds to a fifth matching absolute coordinate 452 of the fifth self-driving car 45 corresponding to a fifth matching transformation coordinate 442 calculated from the fourth detection information 440, the motorcycle 50 The position of , corresponds to a third matching transformation coordinate 443 calculated from the fourth detection information 440 , the position of the non-self-driving car 51 corresponds to a sixth matching transformation coordinate 453 calculated from the fifth detection information 450 , and A seventh matching conversion coordinate 461 calculated from the sixth detection information 460, a third matching absolute coordinate 431 of the third self-driving car 43 and a sixth matching absolute coordinate 462 of the sixth self-driving car 46 are independent show.

To sum up, the intersection dynamic map 60 can present the positions of objects passing through the intersection, as shown in FIG. 6 with reference to FIGS. 2 to 4 , taking the first self-driving car 41 as an example, although the first self-driving car 41 The detection range of the on-vehicle detection device 10 in 41 does not cover the third to sixth self-driving cars 43-46, the motorcycle 50 and the non-self-driving car 51, but after coordinate conversion and matching, it is compatible with those shown in FIG. 8 . The dynamic map data 60 of the intersection shown can also obtain the real-time dynamics of the third to sixth self-driving cars 43-46, the motorcycle 50 and the non-self-driving car 51, and when the computing device 11 periodically broadcasts the dynamic map data of the intersection At 60 o'clock, the position of the object is periodically updated, and the dynamic map 60 of the intersection enables the object to be dynamically presented.

Therefore, when the self-driving car passes the intersection, it can receive the dynamic map data 60 of the intersection broadcast by the computing device 11, and the self-driving car can make a comprehensive navigation decision according to the dynamic map data 60 of the intersection; on the other hand, Vehicles or user electronic devices (such as smart phones) capable of receiving broadcast messages can also receive the intersection dynamic map 60 broadcast by the computing device 11, so as to display the intersection dynamic map 60 to the driver or driver. Passenger inspection allows drivers to instantly grasp the road conditions at the intersection and improve driving safety at the intersection.

On the other hand, other embodiments of the present invention may further include the object detection device 12. Compared with the on-vehicle detection device 10, the object detection device 12 can be fixedly erected on the roadside to detect objects at intersections, And the object detected by the object detection device 12 and the on-board detection device 10 may be the same or different objects. It should be noted that the at least one object detected by the on-board detection device 10 is defined as At least one first object, at least one object detected by the object detection device 12 is defined as at least one second object. Please refer to FIG. 2 and FIG. 3 , the object detection device 12 can also transmit an auxiliary detection information 120 to the computing device 11 through broadcasting or mobile communication technology, the auxiliary detection information 120 and the on-board detection device The detection information 30 generated by 10 is similar, that is, the object detection device 12 can also detect the at least one second object such as vehicles, pedestrians or other objects (such as scattered objects) at the intersection, and use the auxiliary detection The information 120 is sent to the computing device 11 . The difference is that since the position of the object detection device 12 is fixed, the auxiliary detection information 120 is not the same as the vehicle heading 33 and the vehicle speed 35 of the detection information 30 . It includes an absolute positioning coordinate of the object detection device 12 itself and a relative velocity and a relative coordinate between the at least one second object and the object detection device 12 .

Since the position of the object detection device 12 is fixed, the computing device 11 can preset the absolute positioning coordinates of the object detection device 12, and according to the above-mentioned step S02 and so on, the computing device 11 according to the at least one second object The relative speed with the object detection device 12 and a time difference between information calculation and transmission generate an auxiliary coordinate displacement (the calculation of the auxiliary coordinate displacement is equivalent to the estimated coordinate displacement of the object), and the The relative coordinates between the at least one second object and the object detection device 12 are added to the auxiliary coordinate displacement to obtain an auxiliary matching coordinate; the computing device 11 can directly add the absolute positioning coordinates of the object detection device 12 to the coordinates. The coordinate position of the at least one second object can be located by adding the auxiliary matching coordinates to be converted into longitude and latitude and then merged into the intersection dynamic map 60. The auxiliary matching coordinates do not need to be transformed by coordinate rotation.

The foregoing describes the embodiment in which the computing device 11 is an edge computing device. In other embodiments, when the computing device 11 is a cloud server, the received detection information 30 and the auxiliary detection information 120 can be used to implement multiplexing service function. For example, the computing device 11 can store each piece of the auxiliary detection information 120 transmitted from the object detection device 12, and each piece of the auxiliary detection information 120 can include the coordinates of a plurality of second objects, so the computing device 11. It can judge whether the object moves according to whether the coordinates of one of the second objects change before and after the second object, and can accumulate a static time Ts of each second object. The computing device 11 may be provided with a plurality of different time thresholds, and the time thresholds may include, for example, a first time threshold Ta, a second time threshold Tb, a third time threshold Tc and a fourth time threshold Td, where Ta>Tb>Tc>Td, for example, Td can be 1 second, Tc can be 1 minute, Tb can be 1 hour, and Ta can be 1 month.

When Ts>Td, the computing device 11 can determine that the second object corresponds to a dynamic object information, such as a vehicle or a pedestrian; when Td>Ts>Tc, the computing device 11 can determine that the second object corresponds to half of the dynamic information, such as an accident , road construction or traffic jam; and so on, when Tc>Ts>Tb, the computing device 11 can determine that the second object is half static information; when Tb>Ts>Ta, the computing device 11 can determine that the second object is a static information. By judging the aforementioned object stationary time Ts and each time threshold value Ta, Tb, Tc, Td, the service function of classifying object information can be achieved as a reference for evaluating road conditions at intersections.

10: On-board detection device 11: Computing device 110: Maps of the intersection area 12: Object detection device 120: Auxiliary detection information 13: Receiver 20: Vehicles 30: Detection information 31: Absolute positioning coordinates 32: Relative speed 33: The direction of the vehicle 331: The first car heading 332: Second vehicle heading 333: The third vehicle heading 334: Fourth vehicle heading 335: The fifth vehicle heading 336: The sixth vehicle heading 34: Relative coordinates 35: Own vehicle speed 41: The first self-driving car 410: First detection information 411: The first matching absolute coordinates 412: Second matching transformation coordinates 42: The second self-driving car 420: Second detection information 421: The first matching conversion coordinate 422: Second matching absolute coordinates 43: The third self-driving car 430: Third Detection Information 431: The third matching absolute coordinates 44: Fourth self-driving car 440: Fourth Detection Information 441: Fourth matching absolute coordinates 442: Fifth matching conversion coordinates 443: The third matching transformation coordinate 45: Fifth self-driving car 450: Fifth Detection Information 451: Fourth matching conversion coordinate 452: fifth matching absolute coordinates 453: The sixth matching conversion coordinate 46: The sixth self-driving car 460: Sixth Detection Information 461: The seventh matching conversion coordinate 462: sixth matching absolute coordinates 50: Motorcycle 51: Non-self-driving cars 60: Dynamic map of intersection

Fig. 1 is a block schematic diagram of the system for updating and sharing dynamic map information at intersections of the present invention. FIG. 2 is a schematic diagram of the usage scenario of the dynamic map information update and sharing system at the intersection of the present invention. FIG. 3 is a schematic diagram of the computing device of the present invention generating dynamic map data of the intersection according to the detection information. FIG. 4 is a block diagram of the detection information of the present invention. FIG. 5 is a time schematic diagram of the present invention broadcasting the dynamic map information of the intersection. FIG. 6 is a schematic diagram of a plurality of on-board detection devices respectively generating detection information in an embodiment of the present invention. FIG. 7 is a schematic diagram of coordinate rotation conversion performed by the present invention. Figure 8: A schematic diagram of the intersection dynamic map of the present invention. FIG. 9 is a schematic flow chart of the method for updating and sharing dynamic map data at intersections of the present invention.

Claims (10)

A system for updating and sharing dynamic map information at intersections, comprising: An on-vehicle detection device is set on a vehicle for detecting objects around the vehicle and periodically outputs a detection information, the detection information includes an absolute positioning coordinate of the vehicle, a vehicle heading, a vehicle velocity, a relative velocity of the at least one object and the vehicle, and an original relative coordinate of the at least one object and the vehicle; and a computing device, storing an intersection area map data, the intersection area map data is established in a geodetic coordinate system, and the geodetic coordinate system includes a reference azimuth; Wherein, when the computing device receives the detection information from the on-vehicle detection device, the computing device adds the absolute positioning coordinates of the vehicle to an estimated vehicle coordinate displacement to obtain a matching absolute coordinate, and the The original relative coordinates of at least one object and the vehicle are added with an estimated coordinate displacement of the object to obtain a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated according to the speed of the vehicle and a time difference, The estimated coordinate displacement of the object is calculated according to the relative speed and the time difference; the computing device performs coordinate rotation transformation of the matching relative coordinates according to the vehicle heading and the reference azimuth to form a matching transformation coordinate, and then the The matching absolute coordinates and the matching conversion coordinates are merged into the intersection area map data to become an intersection dynamic map data, and the intersection dynamic map data is shared externally. The system for updating and sharing the dynamic map information of the intersection as described in claim 1, wherein the estimated coordinate displacement of the object is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system,

Estimated coordinate displacement for the object,

is the relative speed of the at least one object and the vehicle, ΔT is the time difference; the matching relative coordinates are expressed as follows:

In the above formula,

represents the relative coordinates of the match,

represents the original relative coordinates; the matching transformation coordinates are represented as follows:

in,

transform the coordinates for this match;

is a rotation matrix,

is the rotation angle of the rotation matrix; the estimated coordinate displacement of the vehicle is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system,

Estimated coordinate displacement for this vehicle,

is the own vehicle speed of the vehicle, ΔT is the time difference; the matching absolute coordinates are expressed as follows:

In the above formula,

represents the matched absolute coordinates of the vehicle,

Represents the absolute positioning coordinates of the vehicle. The system for updating and sharing the dynamic map information of an intersection as described in claim 1, further comprising an object detection device, wherein the at least one object detected by the on-board detection device is defined as at least one first object, and the object The at least one object detected by the detection device is defined as at least one second object; The object detection device is fixedly erected on the roadside, and the object detection device transmits an auxiliary detection information of the object detection device to the computing device, and the auxiliary detection information includes an absolute positioning coordinate of the object detection device and the at least one a relative velocity and a relative coordinate between the second object and the object detection device; The computing device generates an auxiliary coordinate displacement according to the relative speed and a time difference between the at least one second object and the object detection device, and calculates the distance between the at least one second object and the object detection device The relative coordinate is added with the displacement of the auxiliary coordinate to obtain an auxiliary matching coordinate; the operation device directly adds the auxiliary matching coordinate to the absolute positioning coordinate of the object detection device to merge into the dynamic map of the intersection. The system for updating and sharing intersection dynamic map information according to any one of claim 1 to 3, wherein the computing device is an edge computing device. The system for updating and sharing intersection dynamic map data according to any one of claims 1 to 3, wherein the computing device is a cloud server, and the cloud server implements a service function by using the received detection information. A method for updating and sharing intersection dynamic map information is executed on a computing device, and the method includes: Receive a detection information output by at least one vehicle detection device, the detection information includes an absolute positioning coordinate of a vehicle, a vehicle heading of the vehicle, a vehicle speed, and a relative relationship between at least one object and the vehicle velocity and an original relative coordinate of the at least one object to the vehicle; The absolute positioning coordinates of the vehicle are added to the estimated coordinate displacement of a vehicle to obtain a matching absolute coordinate, and the original relative coordinates of the at least one object and the vehicle are added to the estimated coordinate displacement of an object to obtain a matching absolute coordinate. a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated according to the speed of the vehicle and a time difference, and the estimated coordinate displacement of the object is calculated according to the relative speed and the time difference; According to the own vehicle heading of the vehicle and a reference orientation of the geodetic coordinate system, coordinate rotation transformation is performed on the matching relative coordinate to form a matching transformation coordinate; combining the matching absolute coordinates and the matching transformation coordinates into an intersection area map data to become a road intersection dynamic map data; and Share the dynamic map of the intersection with the outside world. The method for updating and sharing the dynamic map information of the intersection as described in claim 6, wherein the estimated coordinate displacement of the object is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system,

Estimated coordinate displacement for the object,

is the relative speed of the at least one object and the vehicle, ΔT is the time difference; the matching relative coordinates are expressed as follows:

In the above formula,

represents the relative coordinates of the match,

Represents the original relative coordinates. The method for updating and sharing the dynamic map information at the intersection according to claim 7, wherein the estimated coordinate displacement of the vehicle is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system,

Estimated coordinate displacement for this vehicle,

is the own vehicle speed of the vehicle, ΔT is the time difference; the matching absolute coordinates are expressed as follows:

In the above formula,

represents the matched absolute coordinates of the vehicle,

Represents the absolute positioning coordinates of the vehicle. The method for updating and sharing dynamic map information at an intersection according to claim 8, wherein the matching transformation coordinates are represented as follows:

in,

transform the coordinates for this match;

is a rotation matrix,

is the rotation angle of the rotation matrix. The method for updating and sharing dynamic image data at an intersection according to claim 6, wherein the at least one object is defined as at least one first object, and the method further comprises: Receive an auxiliary detection information of at least one object detection device, the auxiliary detection information includes an absolute positioning coordinate of the object detection device, a relative velocity and a relative velocity between at least one second object and the object detection device relative coordinates; generating an auxiliary coordinate displacement amount according to the relative velocity and a time difference between the at least one second object and the object detection device; adding the displacement of the auxiliary coordinate to the relative coordinate between the at least one second object and the object detection device to obtain an auxiliary matching coordinate; The absolute positioning coordinates of the object detection device are directly added to the auxiliary matching coordinates, so as to be incorporated into the dynamic map of the intersection.

Images