WO2020063815A1 - 道路特征点提取方法及系统 - Google Patents

道路特征点提取方法及系统 Download PDF

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Publication number
WO2020063815A1
WO2020063815A1 PCT/CN2019/108401 CN2019108401W WO2020063815A1 WO 2020063815 A1 WO2020063815 A1 WO 2020063815A1 CN 2019108401 W CN2019108401 W CN 2019108401W WO 2020063815 A1 WO2020063815 A1 WO 2020063815A1
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WIPO (PCT)
Prior art keywords
road
lane
attribute
ramp
lower road
Prior art date
Application number
PCT/CN2019/108401
Other languages
English (en)
French (fr)
Inventor
和林
甄龙豹
张凯
赵俊鹏
李卫
王天培
刘洪亮
曾荣林
邓伟峰
Original Assignee
长城汽车股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Priority to EP19867725.4A priority Critical patent/EP3859278A4/en
Priority to KR1020217013024A priority patent/KR102574546B1/ko
Priority to JP2021517841A priority patent/JP7185774B2/ja
Priority to US17/281,558 priority patent/US20210365027A1/en
Publication of WO2020063815A1 publication Critical patent/WO2020063815A1/zh

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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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00184—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to infrastructure
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • 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
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • 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
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • 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
    • G01C21/3626—Details of the output of route guidance instructions
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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

Definitions

  • the invention relates to the field of intelligent transportation, in particular to a road feature point extraction method and system.
  • ADS Autonomous Driving System
  • the vehicle in order to achieve precise control of the vehicle, it is necessary to provide the vehicle with information for performing specific actions at a specific position. For example, when the vehicle passes from the ramp to the main highway, it will pass through the acceleration lane. At this time, it must be provided to the vehicle quickly and accurately.
  • the start and end points of the acceleration lane are used to accurately describe the road scene when the vehicle enters the acceleration lane.
  • the present invention aims to propose a road feature point extraction method to at least partially solve the above technical problems.
  • a road feature point extraction method includes: obtaining map information for a current position of a vehicle, and the map information includes current road attributes and lower road attributes; comparing the current road attributes and the lower road attributes to determine a lower road The road type of the lower road; and the map information corresponding to the road type of the lower road and the lower road, extract road feature points on the lower road that characterize the road scene, and output the names of the extracted road feature points and the The relative distance information between road feature points and own vehicle is described.
  • the road feature point extraction method further includes: acquiring navigation information for the current position of the vehicle; and before comparing the current road attribute and the lower road attribute to determine the road type of the lower road, passing the The forward road conditions indicated by the navigation information are used to trigger the execution of the comparison of the current road attribute and the lower road attribute.
  • the outputting the names of the extracted road feature points includes: determining and outputting the names of the extracted road feature points in combination with the navigation information.
  • the current road attribute and the lower road attribute include respective corresponding swap area attributes, lane line attributes, and / or tunnel attributes, wherein the swap area attributes are information indicating whether a road has a change in the number of lanes, so
  • the lane line attribute is information indicating the number of lane lines of the road
  • the tunnel attribute is information indicating whether a tunnel exists on the road.
  • the comparing the current road attribute and the lower road attribute to determine the road type of the lower road includes any one of the following: the swap area attribute of the current road is None, and the swap zone attribute of the lower road is a lane output entrance If the attribute of the current road's swap area is None and the attribute of the swap area of the lower road is a lower ramp, determine that the lower road contains a deceleration lane; on the current road's In the case where the number of lanes attribute is less than the number of lanes of the lower road, and the swap zone attribute of the lower road is increased as the main lane, it is judged that the lower road includes a wider lane of the main road; the lane number attribute of the current road is lower than that of the lower road If the attributes of the number of lanes are many and the attribute of the swap zone of the lower road increases, it is judged that the lower road includes the narrow lane of the main road; the attribute of the current zone is none, and the swap zone of the lower road In the case where the attribute is the main road
  • extracting the road feature points on the lower road and outputting the names of the extracted road feature points and the relative distance information between the road feature points and the own vehicle includes: determining the lower road Including acceleration lanes, deceleration lanes, main lanes widening lanes, main lanes narrowing lanes, main lane bifurcating lanes, ramp bifurcating lanes, ramp widening lanes, ramp narrowing lanes, ramp merge lanes, ramp interchange lanes, tunnels For any one of the two, a corresponding lane feature point is extracted, and a lane start point, a lane end point, and a relative position of the lane start point and the lane end point to the own vehicle corresponding to the lane feature point are output.
  • the road feature point extraction method described in the present invention has the following advantages:
  • the road feature point extraction method of the present invention does not need to separately collect the overall road information near the current position of the vehicle, but determines the road feature points that can accurately represent the road scene through the map information, and extracts the vehicle control-related points.
  • the name and location information of important road feature points reduces the amount of data analysis for vehicle control, and is more targeted. It can accurately extract the information that is really needed for vehicle control, so that it can accurately control the vehicle to achieve acceleration, deceleration, and change. Road and other actions.
  • Another object of the present invention is to provide a road feature point extraction system to at least partially solve the above technical problems.
  • a road feature point extraction system includes: a map system installed on a vehicle to obtain map information for the current position of the vehicle, and the map information includes current road attributes and lower road attributes; and a feature point extraction unit, Electrically connected with the map system, for comparing the current road attribute and the lower road attribute to determine the road type of the lower road, and combining map information corresponding to the lower road type and the lower road, The road feature points representing the road scene on the lower road are extracted, and the names of the extracted road feature points and the relative distance information between the road feature points and the own vehicle are output.
  • the road feature point extraction system further includes a navigation system installed on the vehicle for obtaining navigation information for the current position of the vehicle; wherein the feature point extraction unit is also electrically connected to the navigation system. For triggering the comparison of the current road attribute and the lower road attribute through the forward road conditions prompted by the navigation information.
  • the feature point extraction unit is further configured to determine a name of the extracted road feature point in combination with the navigation information.
  • the current road attribute and the lower road attribute include respective corresponding swap area attributes, lane line attributes, and / or tunnel attributes, wherein the swap area attributes are information indicating whether a road has a change in the number of lanes, so
  • the lane line attribute is information indicating the number of lane lines of the road
  • the tunnel attribute is information indicating whether a tunnel exists on the road.
  • the feature point extraction unit is used to compare the current road attribute and the lower road attribute to determine the road type of the lower road including any one of the following: the attribute of the current road exchange area is None, and the exchange of the lower road is In the case where the zone attribute is a lane output entrance, it is judged that the lower road includes an acceleration lane; in the case that the current road's swap zone attribute is None and the lower road's swap zone attribute is a lower ramp, it is judged that the lower road contains a deceleration Lanes; if the attributes of the number of lanes of the current road are less than the attributes of the number of lanes of the lower road, and the attributes of the swap zone of the lower road increase as the lanes of the main road, determine that the lower road includes the widened lane of the main road; If the attributes of the number of lanes are more than the attributes of the number of lanes of the lower road, and the attribute of the swap zone of the lower road increases as the lane of the main road, it is judged that the lower road includes
  • the feature point extraction unit is configured to extract a road feature point on the lower road, and output a name of the extracted road feature point and relative distance information between the road feature point and the own vehicle, including: It is determined that the lower section of the road includes an acceleration lane, a deceleration lane, a main lane widening lane, a main lane narrowing lane, a main lane fork lane, a ramp branch lane, a ramp wide lane, a ramp narrow lane, a ramp merge lane, When any one of the ramp intersection lane and the tunnel is selected, the corresponding lane feature point is extracted, and the lane start point, lane end point, and the relative position of the lane start point and the lane end point to the vehicle are output corresponding to the lane feature point.
  • the road feature point extraction system has the same advantages as the above-mentioned road feature point extraction method over the prior art, and is not repeated here.
  • Another object of the present invention is to provide a machine-readable storage medium having instructions stored on the machine-readable storage medium, which are used to cause the controller to extract the road feature points described above.
  • FIG. 1 is a schematic flowchart of a road feature point extraction method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of extracting feature points of an acceleration lane in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of extracting feature points of a deceleration lane in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of extracting a feature point of a main track widening according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of narrowing feature points of a main track in an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of extracting a branch point feature point of a main track in an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of extracting a bifurcation feature point of a ramp in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of extracting a ramp widening feature point in an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of extracting a narrowing feature point of a ramp in an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of extracting a merged feature point of a ramp in an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of extracting a ramp intersection feature point in an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of extracting a feature point of a tunnel in an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a road feature point extraction system according to another embodiment of the present invention.
  • Map system 2. Feature point extraction unit; 3. Navigation system.
  • electrical connection is used to describe a signal connection between two components, such as a control signal and a feedback signal, and an electrical power connection between the two components.
  • connection involved in the embodiment of the present invention may be a wired connection or a wireless connection, and the “electrical connection” may be a direct electrical connection between two components, or may be through another Indirect electrical connection of components.
  • FIG. 1 is a schematic flowchart of a road feature point extraction method according to an embodiment of the present invention, where the road feature points are points on a specific location of a road that can characterize a road scene, such as the start and end points of an accelerated lane, which can characterize a vehicle entering Accelerating lane scene.
  • the road feature point extraction method may include the following steps:
  • step S110 map information for the current position of the vehicle is obtained, and the map information includes current road attributes and lower road attributes.
  • the current road attribute and the lower road attribute include respective corresponding swap area attributes, lane line attributes, and / or tunnel attributes, where the swap area attributes are information indicating whether a change in the number of lanes occurs on the road, and
  • the lane line attribute is information indicating the number of lane lines of the road, and the tunnel attribute is information indicating whether a tunnel exists in the road.
  • the map information is preferably high-precision map information, and a person skilled in the art may know that the map information may show a road position, a road length, a distance from the vehicle to a target, and the like.
  • the high-precision map divides the road into a collection of map points, and the map output will divide the road from the location where the road changes, and will give the relevant attributes of the current road and the road at the same time.
  • Step S120 Compare the current road attribute and the lower road attribute to determine the road type of the lower road.
  • Step S130 Combine the road type of the lower road with the map information corresponding to the lower road, extract road feature points representing the road scene on the lower road, and output the names of the extracted road feature points and the road Information on the relative distance between the feature point and the vehicle.
  • the road feature point extraction method may further include:
  • Step S140 Obtain navigation information for the current position of the vehicle.
  • step S120 may trigger the execution of the comparison of the current road attribute and the lower road attribute through the forward road conditions prompted by the navigation information.
  • the navigation information can be used as a trigger condition for whether to start road feature point extraction.
  • the map information is based on a high-precision map, and the following 10 road types can be determined and the corresponding 10 road feature points can be extracted. :
  • step S120 when the attribute of the swap area of the current road is None and the attribute of the swap area of the lower road is a lane output entrance, it is determined that the lower road includes an acceleration lane. Among them, if the attribute of the swap area is None, it means that no change in the number of lanes has occurred, while the attribute of the swap area is the lane input / output, which indicates that a change in the number of lanes has occurred.
  • the acceleration lane feature points can be extracted without trigger conditions (that is, not prompted by navigation information), but the acceleration road feature points can be obtained by comprehensively judging the current road attributes and the lower road attributes.
  • step S130 when it is determined that the lower road includes an acceleration lane, the acceleration lane characteristic points are extracted, and the acceleration lane starting point, the acceleration lane end point, the acceleration lane starting point, and the acceleration lane belonging to the acceleration lane characteristic points are output.
  • FIG. 2 is a schematic diagram of extracting characteristic points of an acceleration lane according to an embodiment of the present invention. It can be known that the acceleration lane starting point, the acceleration lane end point, and the position information of these two points can be finally output to accurately represent the current road scene, so as to extract the acceleration lane. The solution of automatic driving control at other points extracts more accurate feature point position information, which can achieve precise control of the vehicle.
  • the relative position of the road feature point from the vehicle involved in the embodiment of the present invention may be relative position information determined based on a driving coordinate system, where the driving coordinate system is based on a road boundary line on one side of the road where the vehicle is Line, taking the direction of the road guide line as the X F axis, and the direction following the road guide line following the left-hand rule as the Y F axis, which can better reflect the lane line trend, and the relative position information based on the driving coordinate system is The vehicle coordinate system also better reflects the distance the actual vehicle needs to travel along the lane line, rather than the Euclidean distance between two points.
  • step S120 when the attribute of the swap area of the current road is None and the attribute of the swap area of the lower road is a lower ramp, it is determined that the lower road includes a deceleration lane.
  • step S130 when it is determined that the lower road includes a decelerating lane, the characteristic points of the decelerating lane are extracted, and the starting point of the decelerating lane belonging to the characteristic point of the decelerating lane, the end of the decelerating lane, the starting point of the decelerating lane, and the The relative position of the end of the deceleration lane from the vehicle.
  • the navigation information can be used to prompt the lower ramp (at this time about 2km away from the ramp exit) as the trigger condition for extracting the characteristic points of the deceleration lane, and then extract the characteristic points of the deceleration lane through steps S120 and S130.
  • the navigation information is used as a factor for the trigger conditions of road feature points, so that it can be matched with the map information to trigger the timely extraction of road feature points and ensure the importance of the extracted feature points.
  • FIG. 3 is a schematic diagram of extracting characteristic points of a deceleration lane in an embodiment of the present invention. It can be known that the deceleration lane start point, deceleration lane end point, and position information of these two points can be finally output to accurately represent the current road scene and achieve accurate control of the vehicle .
  • outputting the names of the extracted road feature points may include: determining and outputting the names of the extracted road feature points in combination with the navigation information.
  • the navigation information prompts "Enter the deceleration lane ahead”
  • the embodiment of the present invention can extract the keyword "deceleration lane” in the navigation information, and name the extracted road feature points as the starting point of the deceleration lane and the end point of the deceleration lane. .
  • step S120 when the attributes of the number of lanes of the current road are less than the attributes of the number of lanes of the lower road, and the attribute of the swap zone of the lower road increases as the main lane, it is determined that the lower road includes the main lane widening lane.
  • step S130 when it is determined that the lower road includes the main lane widening lane, the main lane widening feature point is extracted, and the main lane widening starting point and main lane change belonging to the main lane widening feature point are output.
  • the navigation information may be used to indicate that the road is widening (at this time, the distance from the ramp exit is about 2km) as a trigger condition for extracting the feature points of the main road widening, and then extract the feature points of the main road widening through steps S120 and S130. .
  • FIG. 4 is a schematic diagram of extracting feature points of the main track widening in the embodiment of the present invention. It can be known that the starting point of the main track widening, the main track widening end point, and the position information of these two points can be output to accurately represent the current road scene. Achieve precise control of the vehicle.
  • step S120 when the number of lane attributes of the current road is greater than the number of lane attributes of the lower road, and the attribute of the swap zone of the lower road is reduced as the main lane, it is determined that the lower road includes the narrow lane of the main road.
  • step S130 when it is determined that the lower road includes a main lane narrowing lane, the main lane narrowing feature points are extracted, and the main lane narrowing starting point and main lane narrowing belonging to the main lane narrowing feature points are output.
  • the navigation information can be used to indicate that the road is narrowing (at this time, the distance from the ramp exit is about 2km) as a trigger condition for extracting the narrowing feature points of the main road, and then extract the narrowing feature points of the main road through steps S120 and S130 .
  • FIG. 5 is a schematic diagram of narrowing feature points of the main track in the embodiment of the present invention. It can be known that the starting point of the main track narrowing, the main track narrowing end point, and the position information of these two points can be output to accurately represent the current road scene. Achieve precise control of the vehicle.
  • step S120 when the attribute of the swap area of the current road is None, and the attribute of the swap area of the lower road is the ingress / egress condition of the main lane, it is determined that the lower road includes the main lane fork lane.
  • step S130 when it is determined that the lower road includes a main lane fork lane, a main lane fork feature point is extracted, and a main lane fork start point and a main lane branch belonging to the main lane fork feature point are output.
  • the navigation information may be used to prompt the main road bifurcation (about 2 km from the ramp exit at this time) as a trigger condition for extracting the main road bifurcation feature point, and then the main road bifurcation feature is extracted through steps S120 and S130. point.
  • FIG. 6 is a schematic diagram of extracting a characteristic point of a main road branch in an embodiment of the present invention. It can be known that the main road branch starting point, the main road branch ending point, and the position information of these two points can be finally output to accurately represent the current road scene. Achieve precise control of the vehicle.
  • step S120 when the attribute of the swap area of the current road is None, and the attribute of the swap area of the lower road is on-ramp lane in / out, it is determined that the lower road includes the on-ramp fork lane.
  • step S130 when it is determined that the lower road includes a ramp-fork lane, a ramp-fork feature point is extracted, and a ramp-fork start point, a ramp-fork end point, and the ramp-fork that belong to the ramp-fork feature point are output.
  • the navigation information may prompt the on-ramp bifurcation (about 2 km from the on-ramp exit at this time) as a trigger condition for extracting the on-ramp bifurcation feature points, and then extract the on-ramp bifurcation feature points through steps S120 and S130.
  • FIG. 7 is a schematic diagram of extracting a characteristic point of a ramp branch in an embodiment of the present invention. It can be known that the starting point of the ramp branch, the end point of the ramp branch, and the position information of these two points can be output to accurately represent the current road scene and realize the vehicle. Precise control.
  • step S120 when the lane number attribute of the current road is less than the lane number attribute of the lower road, and the swap zone attribute of the lower road is an increase of the ramp lane, it is determined that the lower road includes a ramp widening lane.
  • step S130 when it is determined that the lower road includes a ramp widening lane, a ramp widening feature point is extracted, and the ramp widening starting point, the ramp widening end point, and the ramp widening end point belonging to the ramp widening feature point are output.
  • the on-ramp widening feature points may be extracted without trigger conditions, and the road type may be comprehensively determined directly through step S120, and the on-ramp widening feature points may be extracted through step S130.
  • FIG. 8 is a schematic diagram of extracting a ramp widening feature point according to an embodiment of the present invention. It can be known that the ramp widening starting point, the ramp widening end point, and the position information of these two points can be output finally to accurately represent the current road scene and realize vehicle alignment. Precise control.
  • step S120 when the lane number attribute of the current road is more than the lane number attribute of the lower road, and the swap zone attribute of the lower road is the decrease of the ramp lane, it is determined that the lower road includes the narrow lane.
  • step S130 when it is determined that the lower road includes a ramp narrowing lane, a ramp narrowing feature point is extracted, and a ramp narrowing start point, a ramp narrowing end point, and the narrowing end point belonging to the ramp narrowing feature point are output, and the The relative position of the starting point of the ramp narrowing and the ending point of the narrowing of the ramp from the vehicle.
  • the on-ramp narrowing feature point may be extracted without a trigger condition, and the road type is comprehensively judged directly through step S120, and then the on-ramp narrowing feature point is extracted through step S130.
  • FIG. 9 is a schematic diagram of extracting the narrowing feature points of the ramp in the embodiment of the present invention. It can be known that the starting point of the narrowing of the ramp, the ending point of the narrowing of the ramp, and the position information of these two points can be output to accurately represent the current road scene and realize the vehicle Precise control.
  • step S120 when the attribute of the current road exchange area is None and the attribute of the lower road exchange area is the lane sinking exit, it is determined that the lower road includes a ramp merge lane or a ramp interchange lane.
  • step S130 when it is determined that the lower road includes ramp integration, the ramp integration feature points are extracted, and the ramp integration start point, ramp integration end point, and ramp integration start point and The relative position of the on-ramp merge end point to the vehicle, or when it is judged that the lower road includes the on-ramp intersection, the on-ramp intersection feature points are extracted and the on-ramp start point and on-ramp intersection belonging to the on-ramp intersection feature points are output The end point and the relative position of the starting point of the ramp intersection and the ending point of the ramp intersection to the vehicle.
  • the on-ramp merged feature point and the on-ramp intersection feature point may have no trigger condition, but directly comprehensively judge the road type through step S120, and then extract the on-ramp merged feature point and on-ramp intersection feature point through step S130.
  • FIG. 10 is a schematic diagram of extracting a ramp merge feature point according to an embodiment of the present invention. It can be known that the ramp merge starting point, the ramp merge end point, and the position information of these two points can be output to accurately represent the current road scene and achieve precise control of the vehicle. .
  • FIG. 11 is a schematic diagram of extracting a ramp intersection feature point in an embodiment of the present invention. It can be known that the ramp intersection start point, the ramp intersection end point, and the position information of these two points can be output to accurately represent the current road scene and achieve precise control of the vehicle. .
  • step S120 when the tunnel attribute of the current road is None and the tunnel attribute of the lower road is Yes, it is determined that the lower road includes a road tunnel.
  • step S130 when it is determined that the lower road includes a road tunnel, a tunnel feature point is extracted, and a tunnel start point, a tunnel end point, and the distance between the tunnel start point and the tunnel end point belonging to the vehicle are output. Relative position.
  • the navigation information may be used to prompt the forward tunnel (about 2 km from the ramp exit at this time) as a trigger condition for extracting the feature points of the tunnel, and then the feature points of the tunnel are extracted through steps S120 and S130.
  • FIG. 12 is a schematic diagram of extracting a characteristic point of a tunnel in an embodiment of the present invention. It can be known that the tunnel start point, the tunnel end point, and the position information of these two points can be output to accurately represent the current road scene and achieve precise control of the vehicle.
  • the implementation details of each other may be referred to each other, so that the details of the understandable implementation schemes of the above-mentioned ten feature point extraction schemes are not described in detail above.
  • the navigation information can be used to name the road feature points, and the driving coordinate system can be used to represent the position.
  • the road feature point extraction method of the embodiment of the present invention does not need to separately collect the overall road information near the current position of the vehicle, but uses the map information to determine the road feature points that can accurately characterize the road scene, and extracts
  • the name and location information of important road feature points to the vehicle control reduces the amount of data analysis for vehicle control and is more targeted. It can accurately extract the information that is really needed for vehicle control, so that the vehicle can be accurately controlled to achieve acceleration. , Deceleration, lane change, etc.
  • outputting the names of important road feature points is conducive to simplifying the data format for transmission, and the application of navigation information forms redundancy and coordination with map information, which can better ensure the accuracy of road feature points extraction.
  • FIG. 13 is a schematic structural diagram of a road feature point extraction system according to another embodiment of the present invention, which is based on the same inventive idea as the embodiment of the road feature point extraction method described above.
  • the road feature point extraction system includes a map system 1 installed on a vehicle and used to obtain map information for the current position of the vehicle, and the map information includes current road attributes and lower road attributes; And a feature point extraction unit 2 electrically connected to the map system 1 for comparing the current road attribute and the lower road attribute to determine the road type of the lower road, and combining the road type of the lower road and the road
  • the map information corresponding to the lower road is extracted, and the road feature points representing the road scene on the lower road are extracted, and the name of the extracted road feature points and the relative distance information between the road feature points and the own vehicle are output.
  • the road feature point extraction system further includes a navigation system 3 installed on the vehicle and used to obtain navigation information for the current position of the vehicle.
  • the feature point extraction unit 2 is also electrically connected to the navigation system, and is configured to trigger the comparison of the current road attribute and the lower road attribute through the forward road conditions indicated by the navigation information.
  • the feature point extraction unit 2 is further configured to determine a name of the extracted road feature point in combination with the navigation information.
  • the current road attribute and the lower road attribute include respective corresponding swap area attributes, lane line attributes, and / or tunnel attributes, where the swap area attributes are information indicating whether a change in the number of lanes occurs on the road, and
  • the lane line attribute is information indicating the number of lane lines of the road, and the tunnel attribute is information indicating whether a tunnel exists on the road;
  • the feature point extraction unit 2 is configured to compare the current road attribute and the lower road attribute to determine the road type of the lower road including any one of the following: the attribute of the current road exchange area is None, and the lower road
  • the attribute of the swap area is a lane output entrance
  • the lower road is judged Including decelerating lanes
  • the attributes of the number of lanes of the current road are less than the attributes of the number of lanes of the lower road, and the attribute of the swap zone of the lower road is increased as the main lane, determine that the lower road includes the wider lane of the main road; If the number of lane attributes of a road is greater than the number of lane attributes of a lower segment road, and the swap zone attribute of the lower segment road is increased as the main lane, it is determined that the lower segment road includes a narrow
  • the feature point extraction unit 2 is configured to extract road feature points on the lower road, and output the names of the extracted road feature points and the relative distance information between the road feature points and the vehicle, including: It is determined that the lower section of the road includes an acceleration lane, a deceleration lane, a main lane widening lane, a main lane narrowing lane, a main lane fork lane, a ramp branch lane, a ramp wide lane, a ramp narrow lane, a ramp merge lane, When any one of the ramp intersection lane and the tunnel is selected, the corresponding lane feature point is extracted, and the lane start point, lane end point, and the relative position of the lane start point and the lane end point to the vehicle are output corresponding to the lane feature point.
  • the program is stored in a storage medium and includes several instructions to make a single chip, chip or processor (processor) executes all or part of the steps of the method described in each embodiment of the present application.
  • the foregoing storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes .

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Abstract

一种道路特征点提取方法及系统，道路特征点提取方法包括：获取针对本车当前位置的地图信息（S110），且地图信息包括当前道路属性及下段道路属性；比较当前道路属性和下段道路属性以判断下段道路的道路类型（S120）；以及结合下段道路的道路类型与下段道路对应的地图信息，提取下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及道路特征点与本车之间的相对距离信息（S130）。不需要单独地采集车辆当前位置附近的总体的道路信息，而是确定能精确表征道路场景的道路特征点，并提取出涉及到车辆控制的重要道路特征点的名称及位置信息，从而能够精准地控制车辆。

Description

道路特征点提取方法及系统 技术领域
本发明涉及智能交通领域，特别涉及一种道路特征点提取方法及系统。
背景技术
目前，具有自动驾驶系统(Autonomous Driving System，简称ADS)的车辆已开始逐步推向市场，极大地促进了智能交通的发展。ADS是利用安装于车辆上的多种感知设备，实时采集车辆周围的道路数据及目标(例如前方的其他车辆)数据，进行目标静态特性、动态特性的辨识，确定目标在道路上的位置，从而让自动驾驶计算机在最短时间判断出潜在的危险，并对车辆进行横纵向控制以预防该危险发生。
其中，车辆在高速公路上进行横纵向控制的时候，需要知道前方道路变化和本车的位置来进行横纵向控制，以调整本车的加速、减速或者方向控制。所以，在车辆行进过程中，需要不断提取地图信息给自动驾驶计算机以使其掌握前方道路信息。现有技术中，自动驾驶车辆都是从地图信息中得到车辆当前位置附近的总体的道路信息，但基于地图信息提取出的信息繁多，且针对性不强，很可能提取出无用的信息或提取不出真正需要的信息(例如提取不到加速车道起点、终点而反而提取出了加速车道中间的某一点的信息)，从而不能够精准地控制车辆实现加速、减速、换道等动作。
因此，为了实现车辆的精确的控制，必须为车辆提供在特定的位置进行特定动作的信息，例如当车辆从匝道上高速主道的过程中会通过加速车道，此时必须快速精准地提供给车辆加速车道的起点和终点以精准表述车辆进入加速车道的道路场景。
发明内容
有鉴于此，本发明旨在提出一种道路特征点提取方法，以至少部分地解决上述技术问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种道路特征点提取方法，包括：获取针对本车当前位置的地图信息，且所述地图信息包括当前道路属性及下段道路属性；比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型；以及结合所述下段道路的道路类型与所述下段道路对应的地图信息，提取 所述下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息。
进一步的，所述道路特征点提取方法还包括：获取针对本车当前位置的导航信息；以及在所述比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型之前，通过所述导航信息提示的前方路况来触发执行所述比较所述当前道路属性和所述下段道路属性。
进一步的，所述输出所提取的道路特征点的名称包括：结合所述导航信息确定并输出所提取的道路特征点的名称。
进一步的，所述当前道路属性和所述下段道路属性包括有各自对应的交换区属性、车道线属性和/或隧道属性，其中所述交换区属性是指示道路是否发生车道数量变化的信息，所述车道线属性是指示道路的车道线数量的信息，所述隧道属性是指示道路中是否存在隧道的信息。并且，所述比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型包括以下任意一者：在当前道路的交换区属性为无，且下段道路的交换区属性为车道输出入口的情况下，判断所述下段道路包含加速车道；在当前道路的交换区属性为无，且下段道路的交换区属性为下匝道的情况下，判断所述下段道路包含减速车道；在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变宽车道；在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变窄车道；在当前道路的交换区属性为无，且下段道路的交换区属性为主道车道汇入汇出路况的情况下，判断所述下段道路包含主道分叉车道；在当前道路的交换区属性为无，且下段道路的交换区属性为匝道车道汇入汇出路况的情况下，判断所述下段道路包含匝道分叉车道；在当前道路的车道数属性比下段道路的车道数属性少的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变宽车道；在当前道路的车道数属性比下段道路的车道数属性多的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变窄车道；在当前道路的交换区属性为无，且下段道路交换区属性为车道汇入汇出口的情况下，判断所述下段道路包含匝道合并车道或匝道交汇车道；以及在当前道路的隧道属性为无，且下段道路的隧道属性为有的情况下，判断所述下段道路包含道路隧道。
进一步的，所述提取所述下段道路上的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息包括：在判断出所述下段道路包含加速车道、减速车道、主道变宽车道、主道变窄车道、主道分叉车道、匝道分叉车道、匝道变宽车 道、匝道变窄车道、匝道合并车道、匝道交汇车道、隧道中的任意一者时，提取对应的车道特征点，并输出该车道特征点所对应的车道起点、车道终点及所述车道起点和所述车道终点距离本车的相对位置。
相对于现有技术，本发明所述的道路特征点提取方法具有以下优势：
(1)本发明的道路特征点提取方法不需要单独地采集车辆当前位置附近的总体的道路信息，而是通过地图信息确定能精确表征道路场景的道路特征点，并提取出涉及到车辆控制的重要道路特征点的名称及位置信息，减少了进行车辆控制的数据分析量，且针对性更强，能准确提取出进行车辆控制真正需要的信息，从而能够精准地控制车辆实现加速、减速、换道等动作。
(2)导航信息的应用与地图信息形成冗余及配合，更能保证提取道路特征点的精度。
本发明的另一目的在于提出一种道路特征点提取系统，以至少部分地解决上述技术问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种道路特征点提取系统，包括：地图系统，安装在车辆上，用于获取针对本车当前位置的地图信息，且所述地图信息包括当前道路属性及下段道路属性；以及特征点提取单元，与所述地图系统电性连接，用于比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型，并结合所述下段道路的道路类型与所述下段道路对应的地图信息，提取所述下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息。
进一步的，所述道路特征点提取系统还包括：导航系统，安装在车辆上，用于获取针对本车当前位置的导航信息；其中，所述特征点提取单元还与所述导航系统电性连接，用于通过所述导航信息提示的前方路况来触发执行所述比较所述当前道路属性和所述下段道路属性。
进一步的，所述特征点提取单元还用于结合所述导航信息确定所提取的道路特征点的名称。
进一步的，所述当前道路属性和所述下段道路属性包括有各自对应的交换区属性、车道线属性和/或隧道属性，其中所述交换区属性是指示道路是否发生车道数量变化的信息，所述车道线属性是指示道路的车道线数量的信息，所述隧道属性是指示道路中是否存在隧道的信息。其中，所述特征点提取单元用于比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型包括以下任意一者：在当前道路的交换区属性为无，且下段道路的交换区属性为车道输出入口的 情况下，判断所述下段道路包含加速车道；在当前道路的交换区属性为无，且下段道路的交换区属性为下匝道的情况下，判断所述下段道路包含减速车道；在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变宽车道；在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变窄车道；在当前道路的交换区属性为无，且下段道路的交换区属性为主道车道汇入汇出路况的情况下，判断所述下段道路包含主道分叉车道；在当前道路的交换区属性为无，且下段道路的交换区属性为匝道车道汇入汇出路况的情况下，判断所述下段道路包含匝道分叉车道；在当前道路的车道数属性比下段道路的车道数属性少的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变宽车道；在当前道路的车道数属性比下段道路的车道数属性多的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变窄车道；在当前道路的交换区属性为无，且下段道路交换区属性为车道汇入汇出口的情况下，判断所述下段道路包含匝道合并车道或匝道交汇车道；以及在当前道路的隧道属性为无，且下段道路的隧道属性为有的情况下，判断所述下段道路包含道路隧道。
进一步的，所述特征点提取单元用于提取所述下段道路上的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息包括：在判断出所述下段道路包含加速车道、减速车道、主道变宽车道、主道变窄车道、主道分叉车道、匝道分叉车道、匝道变宽车道、匝道变窄车道、匝道合并车道、匝道交汇车道、隧道中的任意一者时，提取对应的车道特征点，并输出该车道特征点所对应的车道起点、车道终点及所述车道起点和所述车道终点距离本车的相对位置。
所述道路特征点提取系统与上述道路特征点提取方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的另一目的还在于提出一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得控制器上述的道路特征点提取方法。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的 不当限定。在附图中：
图1是本发明实施例的一种道路特征点提取方法的流程示意图；
图2是本发明实施例中提取加速车道特征点的示意图；
图3是本发明实施例中提取减速车道特征点的示意图；
图4是本发明实施例中提取主道变宽特征点的示意图；
图5是本发明实施例中提取主道变窄特征点的示意图；
图6是本发明实施例中提取主道分叉特征点的示意图；
图7是本发明实施例中提取匝道分叉特征点的示意图；
图8是本发明实施例中提取匝道变宽特征点的示意图；
图9是本发明实施例中提取匝道变窄特征点的示意图；
图10是本发明实施例中提取匝道合并特征点的示意图；
图11是本发明实施例中提取匝道交汇特征点的示意图；
图12是本发明实施例中提取隧道特征点的示意图；以及
图13是本发明另一实施例的一种道路特征点提取系统的结构示意图。
附图标记说明：
1、地图系统；2、特征点提取单元；3、导航系统。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施方式及实施方式中的特征可以相互组合。
本发明实施例中，“电性连接”用于表述两个部件之间的信号连接，例如控制信号和反馈信号，以及两个部件之间的电功率连接。另外，本实用新型实施例中涉及的“连接”可以是有线连接，也可以是无线连接，且涉及的“电性连接”可以是两个部件之间的直接电性连接，也可以是通过其他部件的间接电性连接。
下面将参考附图并结合实施方式来详细说明本发明。
图1是本发明实施例的一种道路特征点提取方法的流程示意图，其中所述道路特征点是可表征道路场景的道路特定位置的点，例如加速车道的起点和终点，其可表征车辆进入加速车道的场景。
如图1所示，所述道路特征点提取方法可以包括以下步骤：
步骤S110，获取针对本车当前位置的地图信息，且所述地图信息包括当前道路属性及下段道路属性。
其中，所述当前道路属性和所述下段道路属性包括有各自对应的交换区属性、车道线属性和/或隧道属性，其中所述交换区属性是指示道路是否发生车道数量变化的信息，所述车道线属性是指示道路的车道线数量的信息，所述隧道属性是指示道路中是否存在隧道的信息。 下文将介绍这些属性的应用，在此则不再赘述。
另外，所述地图信息优选为高精度地图信息，本领域技术人员可知的是地图信息可示出道路位置、道路长度以及本车至目标的距离等。其中，高精度地图将道路划分成一段一段的地图点的集合，地图输出会从道路发生变化的位置将道路分割开，同时会给出当前道路及下段道路的相关属性。
步骤S120，比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型。
步骤S130，结合所述下段道路的道路类型与所述下段道路对应的地图信息，提取所述下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息。
在优选的实施例中，所述道路特征点提取方法还可以包括：
步骤S140，获取针对本车当前位置的导航信息。
在存在步骤S140的情况下，步骤S120中可通过所述导航信息提示的前方路况来触发执行所述比较所述当前道路属性和所述下段道路属性。再结合步骤S130，即，导航信息可作为是否开始进行道路特征点提取的触发条件。
下面将通过示例对步骤S110-步骤S140进行综合描述，在该示例中，地图信息都是以高精度地图为例，且可判断出如下的10种道路类型及提取出对应的10种道路特征点：
一、加速车道特征点
通过步骤S120，在当前道路的交换区属性为无，且下段道路的交换区属性为车道输出入口的情况下，判断所述下段道路包含加速车道。其中，交换区属性为无即是指没有发生车道数量的变化，而交换区属性为车道输出入口表明发生了车道数量的变化。
该场景下，对于加速车道特征点的提取可以没有触发条件(即不通过导航信息提示)，而是通过当前道路属性和下段道路属性综合判断得到加速道路特征点。
再通过步骤S130，在判断出所述下段道路包含加速车道时，提取出加速车道特征点，并输出属于所述加速车道特征点的加速车道起点、加速车道终点及所述加速车道起点和所述加速车道终点距离本车的相对位置。具体地，从地图信息中可以提取出下段道路的起点位置及长度，从而可进一步确定终点位置，并计算出本车与下段道路起点和终点的距离。
图2是本发明实施例中提取加速车道特征点的示意图，可知最终能输出加速车道起点、加速车道终点以及这两个点的位置信息，以准确表征出当前道路场景，从而相对于提取加速车道上其他点进行自动 驾驶控制的方案，提取出了更为精确的特征点位置信息，可以实现车辆的精确控制。
另外，本发明实施例中涉及的道路特征点距离本车的相对位置可以是基于行车坐标系所确定的相对位置信息，其中所述行车坐标系以本车所在道路的一侧道路边界线为基准线，以道路引导线方向为X F轴，以与所述道路引导线方向遵循左手定则的方向为Y F轴，其更能体现车道线走势，而基于行车坐标系的相对位置信息相对于车辆坐标系，也更能体现沿车道线实际车辆需要行驶的距离，而不是两点间的欧氏距离。
二、减速车道特征点
通过步骤S120，在当前道路的交换区属性为无，且下段道路的交换区属性为下匝道的情况下，判断所述下段道路包含减速车道。
再通过步骤S130，在判断出所述下段道路包含减速车道时，提取出减速车道特征点，并输出属于所述减速车道特征点的减速车道起点、减速车道终点及所述减速车道起点和所述减速车道终点距离本车的相对位置。
该场景下，可以将导航信息提示下匝道(此时距离匝道出口大约在2km左右)作为提取减速车道特征点的触发条件，然后再通过步骤S120及步骤S130提取出减速车道特征点。在此，将导航信息作为道路特征点触发条件的一个因素，使其与地图信息相配合，更能触发对道路特征点的及时提取，并保证提取的特征点的重要性。
图3是本发明实施例中提取减速车道特征点的示意图，可知最终能输出减速车道起点、减速车道终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
其中，在本发明实施例中，输出所提取的道路特征点的名称可以包括：结合所述导航信息确定并输出所提取的道路特征点的名称。在此，例如导航信息会提示“前方进入减速车道”，则本发明实施例可以提取导航信息中的关键字“减速车道”，并将提取出的道路特征点命名为减速车道起点及减速车道终点。
三、主道变宽特征点
通过步骤S120，在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变宽车道。
再通过步骤S130，在判断出所述下段道路包含主道变宽车道时，提取出主道变宽特征点，并输出属于所述主道变宽特征点的主道变宽起点、主道变宽终点及所述主道变宽起点和所述主道变宽终点距离本车的相对位置。
进一步地，可以将导航信息提示道路变宽(此时距离匝道出口大 约在2km左右)作为提取主道变宽特征点的触发条件，然后再通过步骤S120及步骤S130提取出主道变宽特征点。
图4是本发明实施例中提取主道变宽特征点的示意图，可知最终能输出主道变宽起点、主道变宽终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
四、主道变窄特征点
通过步骤S120，在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为主道车道减少的情况下，判断所述下段道路包含主道变窄车道。
再通过步骤S130，在判断出所述下段道路包含主道变窄车道时，提取出主道变窄特征点，并输出属于所述主道变窄特征点的主道变窄起点、主道变窄终点及所述主道变窄起点和所述主道变窄终点距离本车的相对位置。
进一步地，可以将导航信息提示道路变窄(此时距离匝道出口大约在2km左右)作为提取主道变窄特征点的触发条件，然后再通过步骤S120及步骤S130提取出主道变窄特征点。
图5是本发明实施例中提取主道变窄特征点的示意图，可知最终能输出主道变窄起点、主道变窄终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
五、主道分叉特征点(分离式路基)
通过步骤S120，在当前道路的交换区属性为无，且下段道路的交换区属性为主道车道汇入汇出路况的情况下，判断所述下段道路包含主道分叉车道。
再通过步骤S130，在判断出所述下段道路包含主道分叉车道时，提取出主道分叉特征点，并输出属于所述主道分叉特征点的主道分叉起点、主道分叉终点及所述主道分叉起点和所述主道分叉终点距离本车的相对位置。
进一步地，可以将导航信息提示主道分叉(此时距离匝道出口大约在2km左右)作为提取主道分叉特征点的触发条件，然后再通过步骤S120及步骤S130提取出主道分叉特征点。
图6是本发明实施例中提取主道分叉特征点的示意图，可知最终能输出主道分叉起点、主道分叉终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
六、匝道分叉特征点
通过步骤S120，在当前道路的交换区属性为无，且下段道路的交换区属性为匝道车道汇入汇出路况的情况下，判断所述下段道路包含匝道分叉车道。
再通过步骤S130，在判断出所述下段道路包含匝道分叉车道时， 提取出匝道分叉特征点，并输出属于所述匝道分叉特征点的匝道分叉起点、匝道分叉终点及所述匝道分叉起点和匝道主道分叉终点距离本车的相对位置。
进一步地，可以将导航信息提示匝道分叉(此时距离匝道出口大约在2km左右)作为提取匝道分叉特征点的触发条件，然后再通过步骤S120及步骤S130提取出匝道分叉特征点。
图7是本发明实施例中提取匝道分叉特征点的示意图，可知最终能输出匝道分叉起点、匝道分叉终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
七、匝道变宽特征点
通过步骤S120，在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变宽车道。
再通过步骤S130，在判断出所述下段道路包含匝道变宽车道时，提取出匝道变宽特征点，并输出属于所述匝道变宽特征点的匝道变宽起点、匝道变宽终点及所述匝道变宽起点和所述匝道变宽终点距离本车的相对位置。
进一步地，提取匝道变宽特征点可以没有触发条件，而是直接再通过步骤S120综合判断道路类型，再通过步骤S130来提取出匝道变宽特征点。
图8是本发明实施例中提取匝道变宽特征点的示意图，可知最终能输出匝道变宽起点、匝道变宽终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
八、匝道变窄特征点
通过步骤S120，在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为匝道车道减少的情况下，判断所述下段道路包含匝道变窄车道。
再通过步骤S130，在判断出所述下段道路包含匝道变窄车道时，提取出匝道变窄特征点，并输出属于所述匝道变窄特征点的匝道变窄起点、匝道变窄终点及所述匝道变窄起点和所述匝道变窄终点距离本车的相对位置。
进一步地，提取匝道变窄特征点可以没有触发条件，而是直接再通过步骤S120综合判断道路类型，再通过步骤S130来提取出匝道变窄特征点。
图9是本发明实施例中提取匝道变窄特征点的示意图，可知最终能输出匝道变窄起点、匝道变窄终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
九、匝道合并特征点和匝道交汇特征点
通过步骤S120，在当前道路的交换区属性为无，且下段道路交换区属性为车道汇入汇出口的情况下，判断所述下段道路包含匝道合并车道或匝道交汇车道。
再通过步骤S130，在判断出所述下段道路包含匝道合并的情况时，提取出匝道合并特征点，并输出属于所述匝道合并特征点的匝道合并起点、匝道合并终点及所述匝道合并起点和所述匝道合并终点距离本车的相对位置，或者在判断出所述下段道路包含匝道交汇的情况时，提取出匝道交汇特征点，并输出属于所述匝道交汇特征点的匝道交汇起点、匝道交汇终点及所述匝道交汇起点和所述匝道交汇终点距离本车的相对位置。
进一步地，提取匝道合并特征点和匝道交汇特征点可以没有触发条件，而是直接再通过步骤S120综合判断道路类型，再通过步骤S130来提取出匝道合并特征点和匝道交汇特征点。
图10是本发明实施例中提取匝道合并特征点的示意图，可知最终能输出匝道合并起点、匝道合并终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
图11是本发明实施例中提取匝道交汇特征点的示意图，可知最终能输出匝道交汇起点、匝道交汇终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
十、隧道特征点
通过步骤S120，在当前道路的隧道属性为无，且下段道路的隧道属性为有的情况下，判断所述下段道路包含道路隧道。
再通过步骤S130，在判断出所述下段道路包含道路隧道时，提取出隧道特征点，并输出属于所述隧道特征点的隧道起点、隧道终点及所述隧道起点和所述隧道终点距离本车的相对位置。
进一步地，可以将导航信息提示前方隧道(此时距离匝道出口大约在2km左右)作为提取隧道特征点的触发条件，然后再通过步骤S120及步骤S130提取出隧道特征点。
图12是本发明实施例中提取隧道特征点的示意图，可知最终能输出隧道起点、隧道终点以及这两个点的位置信息，以准确表征出当前道路场景，实现对车辆的精确控制。
需说明的是，对于上述的提取十个特征点的示例，可互相参考对方的实施细节，从而在上文中未对可理解的上述十个特征点提取方案可共同的实施的方案细节进行赘述，例如在上述十个特征点的提取中，都可以利用导航信息来进行道路特征点的命名以及都可以采用行车坐标系进行位置表示等。
综上所述，本发明实施例的道路特征点提取方法不需要单独地采集车辆当前位置附近的总体的道路信息，而是通过地图信息确定能精 确表征道路场景的道路特征点，并提取出涉及到车辆控制的重要道路特征点的名称及位置信息，减少了进行车辆控制的数据分析量，且针对性更强，能准确提取出进行车辆控制真正需要的信息，从而能够精准地控制车辆实现加速、减速、换道等动作。此外，输出重要道路特征点的名称有利于简化传输的数据格式，而导航信息的应用与地图信息形成冗余及配合，更能保证提取道路特征点的精度。
图13是本发明另一实施例的一种道路特征点提取系统的结构示意图，其与上述道路特征点提取方法的实施例基于同样的发明思路。如图13所示，所述道路特征点提取系统包括：地图系统1，安装在车辆上，用于获取针对本车当前位置的地图信息，且所述地图信息包括当前道路属性及下段道路属性；以及特征点提取单元2，与所述地图系统1电性连接，用于比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型，并结合所述下段道路的道路类型与所述下段道路对应的地图信息，提取所述下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息。
在优选的实施例，所述道路特征点提取系统还包括：导航系统3，安装在车辆上，用于获取针对本车当前位置的导航信息。其中，所述特征点提取单元2还与所述导航系统电性连接，用于通过所述导航信息提示的前方路况来触发执行所述比较所述当前道路属性和所述下段道路属性。
在更为优选的实施例中，所述特征点提取单元2还用于结合所述导航信息确定所提取的道路特征点的名称。
其中，所述当前道路属性和所述下段道路属性包括有各自对应的交换区属性、车道线属性和/或隧道属性，其中所述交换区属性是指示道路是否发生车道数量变化的信息，所述车道线属性是指示道路的车道线数量的信息，所述隧道属性是指示道路中是否存在隧道的信息；
据此，所述特征点提取单元2用于比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型包括以下任意一者：在当前道路的交换区属性为无，且下段道路的交换区属性为车道输出入口的情况下，判断所述下段道路包含加速车道；在当前道路的交换区属性为无，且下段道路的交换区属性为下匝道的情况下，判断所述下段道路包含减速车道；在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变宽车道；在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变窄车道；在当前道路的交换区属性为无，且下段道路的交换区属性为主道车道汇入汇出路况的情况下，判断所 述下段道路包含主道分叉车道；在当前道路的交换区属性为无，且下段道路的交换区属性为匝道车道汇入汇出路况的情况下，判断所述下段道路包含匝道分叉车道；在当前道路的车道数属性比下段道路的车道数属性少的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变宽车道；在当前道路的车道数属性比下段道路的车道数属性多的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变窄车道；在当前道路的交换区属性为无，且下段道路交换区属性为车道汇入汇出口的情况下，判断所述下段道路包含匝道合并车道或匝道交汇车道；以及在当前道路的隧道属性为无，且下段道路的隧道属性为有的情况下，判断所述下段道路包含道路隧道。
其中，所述特征点提取单元2用于提取所述下段道路上的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息包括：在判断出所述下段道路包含加速车道、减速车道、主道变宽车道、主道变窄车道、主道分叉车道、匝道分叉车道、匝道变宽车道、匝道变窄车道、匝道合并车道、匝道交汇车道、隧道中的任意一者时，提取对应的车道特征点，并输出该车道特征点所对应的车道起点、车道终点及所述车道起点和所述车道终点距离本车的相对位置。
需说明的是，本发明实施例的道路特征点提取系统的其他实施细节及效果可参考上述的关于道路特征点提取方法的实施例，在此不再进行赘述。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，例如适应性改变步骤的执行顺序以及调节功能模块间的连接关系，均应包含在本发明的保护范围之内。
本领域技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
此外，本发明实施例的各种不同的实施例之间也可以进行任意组合，只要其不违背本发明实施例的思想，其同样应当视为本发明实施例所公开的内容。

Claims (13)

  1. 一种道路特征点提取方法，其特征在于，所述道路特征点提取方法包括：
    获取针对本车当前位置的地图信息，且所述地图信息包括当前道路属性及下段道路属性；
    比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型；以及
    结合所述下段道路的道路类型与所述下段道路对应的地图信息，提取所述下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息。
  2. 根据权利要求1所述的道路特征点提取方法，其特征在于，所述道路特征点提取方法还包括：
    获取针对本车当前位置的导航信息；以及
    在所述比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型之前，通过所述导航信息提示的前方路况来触发执行所述比较所述当前道路属性和所述下段道路属性。
  3. 根据权利要求1所述的道路特征点提取方法，其特征在于，所述输出所提取的道路特征点的名称包括：结合所述导航信息确定并输出所提取的道路特征点的名称。
  4. 根据权利要求1至3中任意一项所述的道路特征点提取方法，其特征在于，所述当前道路属性和所述下段道路属性包括有各自对应的交换区属性、车道线属性和/或隧道属性，其中所述交换区属性是指示道路是否发生车道数量变化的信息，所述车道线属性是指示道路的车道线数量的信息，所述隧道属性是指示道路中是否存在隧道的信息。
  5. 根据权利要求4所述的道路特征点提取方法，其特征在于， 所述比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型包括以下任意一者：
    在当前道路的交换区属性为无，且下段道路的交换区属性为车道输出入口的情况下，判断所述下段道路包含加速车道；
    在当前道路的交换区属性为无，且下段道路的交换区属性为下匝道的情况下，判断所述下段道路包含减速车道；
    在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变宽车道；
    在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变窄车道；
    在当前道路的交换区属性为无，且下段道路的交换区属性为主道车道汇入汇出路况的情况下，判断所述下段道路包含主道分叉车道；
    在当前道路的交换区属性为无，且下段道路的交换区属性为匝道车道汇入汇出路况的情况下，判断所述下段道路包含匝道分叉车道；
    在当前道路的车道数属性比下段道路的车道数属性少的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变宽车道；
    在当前道路的车道数属性比下段道路的车道数属性多的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变窄车道；
    在当前道路的交换区属性为无，且下段道路交换区属性为车道汇入汇出口的情况下，判断所述下段道路包含匝道合并车道或匝道交汇车道；以及
    在当前道路的隧道属性为无，且下段道路的隧道属性为有的情况下，判断所述下段道路包含道路隧道。
  6. 根据权利要求5所述的道路特征点提取方法，其特征在于，所述提取所述下段道路上的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息包括：
    在判断出所述下段道路包含加速车道、减速车道、主道变宽车道、主道变窄车道、主道分叉车道、匝道分叉车道、匝道变宽车道、匝道变窄车道、匝道合并车道、匝道交汇车道、隧道中的任意一者时，提取对应的车道特征点，并输出该车道特征点所对应的车道起点、车道终点及所述车道起点和所述车道终点距离本车的相对位置。
  7. 一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得控制器执行权利要求1至6中任意一项所述的道路特征点提取方法。
  8. 一种道路特征点提取系统，其特征在于，所述道路特征点提取系统包括：
    地图系统，安装在车辆上，用于获取针对本车当前位置的地图信息，且所述地图信息包括当前道路属性及下段道路属性；以及
    特征点提取单元，与所述地图系统电性连接，用于比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型，并结合所述下段道路的道路类型与所述下段道路对应的地图信息，提取所述下段道路上的表征道路场景的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息。
  9. 根据权利要求8所述的道路特征点提取系统，其特征在于，所述道路特征点提取系统还包括：
    导航系统，安装在车辆上，用于获取针对本车当前位置的导航信息；
    其中，所述特征点提取单元还与所述导航系统电性连接，用于通过所述导航信息提示的前方路况来触发执行所述比较所述当前道路属性和所述下段道路属性。
  10. 根据权利要求8所述的道路特征点提取系统，其特征在于，所述特征点提取单元还用于结合所述导航信息确定所提取的道路特征点的名称。
  11. 根据权利要求8至10中任意一项所述的道路特征点提取系统，其特征在于，所述当前道路属性和所述下段道路属性包括有各自对应的交换区属性、车道线属性和/或隧道属性，其中所述交换区属性是指示道路是否发生车道数量变化的信息，所述车道线属性是指示道路的车道线数量的信息，所述隧道属性是指示道路中是否存在隧道的信息。
  12. 根据权利要求11所述的道路特征点提取系统，其特征在于，所述特征点提取单元用于比较所述当前道路属性和所述下段道路属性以判断下段道路的道路类型包括以下任意一者：
    在当前道路的交换区属性为无，且下段道路的交换区属性为车道输出入口的情况下，判断所述下段道路包含加速车道；
    在当前道路的交换区属性为无，且下段道路的交换区属性为下匝道的情况下，判断所述下段道路包含减速车道；
    在当前道路的车道数属性比下段道路的车道数属性少，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变宽车道；
    在当前道路的车道数属性比下段道路的车道数属性多，且下段道路的交换区属性为主道车道增加的情况下，判断所述下段道路包含主道变窄车道；
    在当前道路的交换区属性为无，且下段道路的交换区属性为主道车道汇入汇出路况的情况下，判断所述下段道路包含主道分叉车道；
    在当前道路的交换区属性为无，且下段道路的交换区属性为匝道车道汇入汇出路况的情况下，判断所述下段道路包含匝道分叉车道；
    在当前道路的车道数属性比下段道路的车道数属性少的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变宽车道；
    在当前道路的车道数属性比下段道路的车道数属性多的情况下，且下段道路的交换区属性为匝道车道增加的情况下，判断所述下段道路包含匝道变窄车道；
    在当前道路的交换区属性为无，且下段道路交换区属性为车道汇 入汇出口的情况下，判断所述下段道路包含匝道合并车道或匝道交汇车道；以及
    在当前道路的隧道属性为无，且下段道路的隧道属性为有的情况下，判断所述下段道路包含道路隧道。
  13. 根据权利要求12所述的道路特征点提取系统，其特征在于，所述特征点提取单元用于提取所述下段道路上的道路特征点，并输出所提取的道路特征点的名称以及所述道路特征点与本车之间的相对距离信息包括：
    在判断出所述下段道路包含加速车道、减速车道、主道变宽车道、主道变窄车道、主道分叉车道、匝道分叉车道、匝道变宽车道、匝道变窄车道、匝道合并车道、匝道交汇车道、隧道中的任意一者时，提取对应的车道特征点，并输出该车道特征点所对应的车道起点、车道终点及所述车道起点和所述车道终点距离本车的相对位置。
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