WO2021135846A1 - Procédé et système de marquage de surface de roulement - Google Patents

Procédé et système de marquage de surface de roulement Download PDF

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Publication number
WO2021135846A1
WO2021135846A1 PCT/CN2020/134394 CN2020134394W WO2021135846A1 WO 2021135846 A1 WO2021135846 A1 WO 2021135846A1 CN 2020134394 W CN2020134394 W CN 2020134394W WO 2021135846 A1 WO2021135846 A1 WO 2021135846A1
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WIPO (PCT)
Prior art keywords
information
road surface
node
road
marking
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PCT/CN2020/134394
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English (en)
Chinese (zh)
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于毅欣
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于毅欣
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Publication of WO2021135846A1 publication Critical patent/WO2021135846A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present invention relates to the field of computer technology, in particular to a method and system for marking road surfaces.
  • the present invention provides a method and system for marking road and road surface information, which can provide a better or more effective description of the drivable route, the drivable direction, and the passability information.
  • One feature of the present invention is that it can describe the passability information in the stored information, and can also identify the connection information of the drivable road section, that is, it can mark the one-way line and the two-way line, and can carry out the road surface information for larger scenes. mark.
  • another feature of the present invention is that it is possible to store distributed data for distributed deployment servers.
  • a method for marking a road surface which is characterized in that it comprises:
  • a pavement information marking node (may be referred to as pavement information) can be deployed at a specified distance, or pavement information marking nodes can be deployed at the middle and both ends of a section of road, or road information markers can be deployed in a section of road. Deploy a road information marking node at the node.
  • the marking types of the road surface information mainly include road surface information that can be driven in one direction and road surface information that can be driven in two directions.
  • the road surface is divided into a plurality of marking types for marking, and one of the types may be road information that can be driven in two directions.
  • the road surface information capable of driving in two directions includes a function of bidirectionally connecting front and rear nodes to express that traffic in two directions is possible.
  • the road surface information that can be driven in both directions includes coordinate information.
  • the coordinate information may be information obtained by global positioning technology (for example, GPS information), or relative coordinate information obtained by measurement technology (for example, relative to a certain coordinate point). Relative coordinate information).
  • the two-way road surface information that can be driven by two-way vehicles includes passability description information, and is a rectangular or irregular figure in a 3D world with a direction of gravity perpendicular to the passing direction of the road surface.
  • the maximum and minimum speed limits for passing this node may be included in the road surface information on which two-way vehicles can be driven.
  • connection direction of the nodes refer to Figure 2.
  • the road surface is divided into multiple marking types for marking, and one of the types may be road information that can drive in one direction.
  • the one-way road surface information includes the function of one-way connection of the front and rear nodes, that is, only connects the nodes that can be driven or passed in one direction later to express the traffic in a single direction.
  • the one-way road surface information that can be driven includes coordinate information.
  • the coordinate information may be information obtained by global positioning technology (for example, GPS information), or relative coordinate information obtained by measurement technology (for example, relative to a certain coordinate).
  • the relative coordinate information of the point may be information obtained by global positioning technology (for example, GPS information), or relative coordinate information obtained by measurement technology (for example, relative to a certain coordinate). The relative coordinate information of the point).
  • the one-way road surface information that can be driven in one direction contains the description information of the passability, which is a rectangular or irregular figure with the gravity direction perpendicular to the road passing direction in the 3D world, and is a vector line segment information (identifying the width of the vector line segment to pass) And angle) plus a height.
  • the maximum and minimum speed limits for passing this node may be included in the road surface information that can be driven in one direction.
  • connection direction of the nodes refer to Figure 1.
  • the road surface is divided into multiple marking types for marking, and one of the types may be road information that cannot be driven.
  • Each linked list node stores a rectangle or a containment box to represent or constrain the size of a part of the current area.
  • the containment box or rectangle can be limited by the maximum height. Limit high.
  • the road surface is divided into multiple marking types for marking, and one of the types may be a type of road surface information that does not give priority to driving.
  • the information structure stored in this type (road surface information that is not preferentially selected for driving) may be similar to the road surface information that can be driven in two directions.
  • the information structure stored in this type may also be similar to the road surface information for one-way driving.
  • a kind of road surface information (non-driving nodes) that cannot be driven can be added.
  • the non-drivable nodes are usually road information that cannot be driven due to rule restrictions, such as bicycle lanes or sidewalks on steps, etc.
  • the characteristic of this type of road is that the vehicle can actually be driven to it.
  • the non-driving node may be a quadruple node (that is, adjacent non-driving nodes in four directions in the connection plane, if there is no connected node, then it is a null value) .
  • the node that is not preferentially selected for driving may be a dirt road, a small road, or the like, and is an organization form of a doubly linked list or a singly linked list.
  • a maximum height can be set for the containment box or the rectangle describing the passability or the rectangle describing the area according to actual needs (for example, the sky is the limit in some places, so the height of the rectangle can be limited to 1000 meters at this time).
  • the road passability often refers to the width vector line segment and height that the road can pass through. It is a vector line segment information (identifying the width and angle of passage) plus a height, and a rectangle can be used according to the vector line segment and height. It means that the width and height are the width and height in the plane perpendicular to the direction of travel of the road surface, and the width is the width of the vector perpendicular to the direction of gravity and perpendicular to the direction of travel of the road surface (that is, the length of the vector).
  • the passable width vector line segment information mentioned here refers to a vector line segment with a direction.
  • the length of the line segment is the passable width of the node information
  • the direction of the vector is the projection of the plane perpendicular to the direction of travel on the horizontal plane. The angle (direction).
  • each measured or ⁇ and the fabricated node is established according to the type of the node (one-way driving type or two-way driving type) to establish a one-way connection or a two-way connection, a one-way connection
  • a node is a one-way node (a node on the principle of a singly linked list), and a node connected in both directions is a two-way node (a node on the principle of a doubly linked list).
  • node there may be a node (road marking information) connecting two or more directions of nodes (road marking information) at an intersection or fork.
  • a node at the intersection of a crossroad or a fork, a node (relatively) with the same information such as passability information and coordinates can be created (or copied) for each intersection facing the road.
  • the connection information after these nodes is the information of the next node (road marking information) on the road in each direction (that is, the Next of each node points to the node It is the road marking information of the next different road sections). This method is used to ensure that the number of the next node in a certain direction is a constant number of each node (whether it is a node that can drive in one direction or a node that can drive in two directions) of.
  • all the data can be stored in the container of the corresponding target area.
  • the method of dividing the target area (the area marked with road information by the method of the present invention) into a grid can be a square grid (seeing from the top view), and the square grid can be It is spread out equally in size, such as a square grid with a radius of 100 kilometers or 10 kilometers.
  • the corresponding grid can be found for storage according to the coordinate area of the road marking information or the global positioning information area.
  • the previous node that is not pointed (that is, the node before moving to the current node) is empty, and the backward node that is not pointed (that is, the node after the current node has moved past) is also set to empty.
  • next node may be multiple nodes to mark the road surface of the fork.
  • the containment box information or rectangle information may not necessarily be closely fitting information (that is, there may be a gap between two consecutive rectangles, because it is mainly used to identify the relevance of the direction, and The details of the specific small parts can be ignored), and there can be gaps in the joint or near the joint.
  • a unique ID can be added to each node to identify each node, so as to have a clearer indication of the direction of the nodes connected before and after the node.
  • it can be stored according to the connection order of the linked list when storing, and then re-establish the connection relationship between nodes by storing pointers or references when loading, so as to save every time.
  • the unique ID of each node identifies and distinguishes each node.
  • all road surface information data can be stored in a file or in a folder.
  • the target area may be divided into different files for storage.
  • each grid in a target area can be divided into different files for storage.
  • each road marking information can also be stored as a file separately.
  • the road surface information data can be distributed and stored in different servers according to regions or grids.
  • a data request relay server can be used to check the data according to the regions and grids. The request to retrieve road information is distributed.
  • multiple servers can store the same information for certain key areas or grids.
  • a load balancing server can be used to share the amount of requests for retrieving road surface information.
  • the load balancing server may dynamically allocate the current retrieval task according to the retrieval amount shared by the sub-servers.
  • an error between the data and the actual situation there may be an error between the data and the actual situation, or an allowable error (for example, 0.1 meter).
  • Fig. 1 schematically shows the relationship between the connection sequence of a one-way node and the driving direction, a top view.
  • Fig. 2 schematically shows the relationship between the connection sequence of a two-way node and the driving direction, a top view.
  • Fig. 3 schematically shows a schematic diagram of using square grids to tile a target area, where the grids in the figure represent square grids, a top view.
  • Fig. 4 schematically shows a data request and response process of a data request distributed by a "data request relay server" to a server in a designated area.
  • FIG. 5 schematically shows a process diagram of data request and response of each server example of a load balancing strategy.
  • Step 1 Choose a location for measurement. This location can be selected based on a fixed separation distance (for example, 10 meters, 50 meters, 100 meters), or based on the three positions on the two sides and the middle of a road section. After the location of a road information collection point, measure the passing width vector line segment information of this node (as shown in Figure 1), which is the maximum width of the road that can pass through in a plane perpendicular to the road driving direction and the angle of this vertical road driving direction. If the passing height is very high (the sky is the limit), the passing height can be set to 1000 meters.
  • Step 2 Set whether the node is a one-way node or a two-way node based on the road surface information (that is, one-way driving or two-way driving, or one-way linked list organization or two-way linked list organization), if it is a one-way node, Then check if any node is the previous node of this node (that is, the node encountered before moving to this node), if there is a previous node, set the next node of the previous node to point to the current node, if the current node has a next node ( The next moving node) points the next node of the current node to the next moving node.
  • the road surface information that is, one-way driving or two-way driving, or one-way linked list organization or two-way linked list organization
  • the node is a two-way node, connect the forward node of a node (the node that passes before when passing in the forward direction) and the forward node (the node that passes after when passing in the forward direction) of a node in the manner of a doubly linked list. Node), the reverse front node (the node that passes before when passing in the reverse direction), the reverse back node (the node that passes after the reverse direction passes).
  • Step 3 Set the coordinates of the road marking information. You can measure the GPS information of this node as the coordinate information of this node, or if you use relative coordinates, measure the coordinates of this node relative to the origin of the coordinate system.
  • Step 4 Determine the grid to which this node belongs according to the coordinates of the road marking information.
  • the four vertices of the grid are the GPS information or the relative coordinate information used to constrain, and the node information is stored in the node container to which this grid belongs.
  • This container is a logical container.
  • Step 5 For non-driving nodes, you can create a non-driving road node information according to the part that can measure the rectangular containment box (parallel and horizontal plane) or the cube containment box. This information is a two-way linked list or a four-way linked list. If it is a single node information that is not connected to other nodes, the pointers of the nodes before and after the connection or the pointers of the adjacent nodes in the four directions are empty.
  • the four-way linked list is a four-way connection structure that can connect adjacent nodes in the east-west, north-south direction of the horizontal plane, and is set to be empty when there is no connectable node.
  • An area can be a rectangle (on the horizontal plane) selected with GPS information or ⁇ and coordinate information.
  • the GPS information or coordinates of the node in this rectangle belong to (or stored in) the corresponding area
  • each area can be divided into several grids with a fixed length and width, and the GPS information or ⁇ and coordinate information of each grid is also used to divide the node information of the road surface to store the node information in the corresponding representative grid
  • Step 7 When storing the measurement results, there can be a separate file or folder in the logical container corresponding to each area, or the information in the logical container corresponding to each grid can be stored in a separate file or folder.

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Abstract

L'invention concerne un procédé de marquage d'une surface de roulement. Le procédé consiste à marquer une surface de roulement par agencement d'un type d'informations de surface de roulement de marque ; relier différentes informations de marque de la surface de roulement selon les types ; et mémoriser des informations de marque de surface de roulement reliées selon un mode de mémorisation. Des informations de capacité de passage sont décrites dans des informations de mémorisation, des informations de liaison d'un tronçon de route pouvant être utilisé par les véhicules peuvent en outre être marquées, c'est-à-dire qu'une ligne pour une seule voie et une ligne pour deux voies peuvent être marquées, et des informations de surface de roulement peuvent être marquées pour un grand scénario. La possibilité pour un serveur de déploiement distribué de mémoriser des données distribuées est fournie.
PCT/CN2020/134394 2019-12-31 2020-12-08 Procédé et système de marquage de surface de roulement WO2021135846A1 (fr)

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CN201911414384.0A CN113327413A (zh) 2019-12-31 2019-12-31 一种标记路面的方法和系统
CN201911414384.0 2019-12-31

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103292816A (zh) * 2012-02-23 2013-09-11 北京四维图新科技股份有限公司 电子地图生成方法、装置及路径规划方法、装置
JP2018005629A (ja) * 2016-07-04 2018-01-11 株式会社日立製作所 道路情報生成装置
CN108389502A (zh) * 2018-02-28 2018-08-10 武汉智博创享科技股份有限公司 一种绘制交通路网的方法及装置
CN108917783A (zh) * 2018-03-30 2018-11-30 斑马网络技术有限公司 节点导航系统及其导航方法
CN110196056A (zh) * 2018-03-29 2019-09-03 文远知行有限公司 用于生成用于自动驾驶车辆导航和决策的道路地图的方法和导航装置
CN110375756A (zh) * 2018-11-07 2019-10-25 北京京东尚科信息技术有限公司 一种导航方法、装置和计算机可读存储介质

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103292816A (zh) * 2012-02-23 2013-09-11 北京四维图新科技股份有限公司 电子地图生成方法、装置及路径规划方法、装置
JP2018005629A (ja) * 2016-07-04 2018-01-11 株式会社日立製作所 道路情報生成装置
CN108389502A (zh) * 2018-02-28 2018-08-10 武汉智博创享科技股份有限公司 一种绘制交通路网的方法及装置
CN110196056A (zh) * 2018-03-29 2019-09-03 文远知行有限公司 用于生成用于自动驾驶车辆导航和决策的道路地图的方法和导航装置
CN108917783A (zh) * 2018-03-30 2018-11-30 斑马网络技术有限公司 节点导航系统及其导航方法
CN110375756A (zh) * 2018-11-07 2019-10-25 北京京东尚科信息技术有限公司 一种导航方法、装置和计算机可读存储介质

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