Technical Field
The invention relates to an automatic driving technical field, in particular to a kind of automatic drive high precision map lane pick-up algorithm.
Background Art
With the continuous development of automatic drive technology, and the needs of commercial floor scene continuously clear, high-precision map and its application also are playing an increasingly important role, and services the perception, positioning, planning control, decision-making and human-computer interaction and the like of the automatic driving system of each module. From a technical standpoint, relative to the traditional map, to provide network topological relation of at the same time, the high-precision map has more abundant lane level road information, not only for the automatic drive system provides important support of a priori data, also for the protection of the driving safety and provides a powerful system redundancy. The ground from a commercial perspective, the automatic drive system relied on various sensor, the overall performance of the different, high cost, high maintenance difficulty, and vulnerable to the effects of various different working conditions, while the high-precision map provides the system cost can be controlled, easy to work and renewal of stable data sources.
Therefore, in the automatic drive technology gradually by the laboratory research over to the commercial floor today, high-precision map has become automatic drive system an essential part of, and the subject of increasing concern. However the high-precision map database is abundant and the immense information, also for its data retrieval brings great challenges. How to efficiently and accurately the effective retrieval of information, real time and safety are all extremely high requirements for an automatic driving system is of great significance, as well as the high-precision map in the practical application of one of the important technical bottleneck. In particular, how according to the space position information, fast and efficient in high-precision map database positioning to the current vehicle traveling lane corresponding to the relevant information, to realize high precision map lane pick-up, high-precision map is rich data information can be fully utilized an important basis of one of the technology. With respect to the accurate to the street level of the traditional navigation map, the automatic drive high-precision map can be accurate to the lane level, there are more abundant information, but also increases the difficulty of data retrieval.
Content of the invention
One of the purposes of the present invention is to solve the at least the above-mentioned problems, and to provide at least the rear and the advantages of the note.
The invention has another purpose is to provide an automatic driving high precision map lane pick-up algorithm, can be quickly and efficiently obtained from high-precision map database to search out the current vehicle lane at the relevant information; and the positioning module abnormal working state can continue to provide lane level information, until the positioning module resumes the normal state.
In order to achieve these purposes according to the present invention and other advantages, provides an automatic driving high precision map lane pick-up algorithm, including:
Step 1, by judging the vehicle for positioning of the positioning accuracy of the height of the module, determining the state of the lane pick-up, if the locating module of positioning accuracy is lowered, then the states the traffic lane pick-up into the emergency retrieval state; if the positioning module is a high-precision positioning, then enter the step 2.
Step 2, judges whether to enter the local search, if it is a local search, enter step 6; and if the non-local search, then enter the step 3.
Step 3, into the tile search, according to the ID [...] characteristics of said positioning module and positioning space coordinate, to obtain the position of the range of the vehicle and the position of the ID within the streets after entering step 4.
Step 4, enter the range search, to the current position of a vehicle as the center, of a combination of the street ID search of the vehicle may be at the position of the street after the set in the step 5.
Step 5, into the rough search, to the position of the vehicle are the coordinates of the positioning module located within the range of the street is set according to, find the vehicle present may be at street set; and if not found the may be in street set, then enter the step 4 to expand the scope of search to continue to search; if the search to the may be in street set, then enter the step 6.
Step 6, the fine search, according to the stated may be in street set, to obtain the current vehicle may be in the lane of the set, a combination of the positioning module positioning coordinate to the lane of the distance between the center lines, and the coordinate is in the lane, to obtain the vehicle may be in the lane of the set, the lane in the set of the first element is the most may be in said lane.
Preferably, the step 1 in the emergency search the status of the specific algorithm is:
The lane detection result according to the real-time calculated vehicle distance on both sides of the lane of the distance, combined with the lane detecting inertial navigation data information calculated at a last time the vehicle deviates from the position information, the vehicle whether the analysis in the event of a lane change, and the direction of the lane change, in order to obtain said vehicle that said current the lane.
Preferably, step 2 in the local search the status under the specific algorithm is:
According to the stated vehicle at a last time is obtained at the street, a combination of the street front and rear connection relationship, find the present the vehicle may be in street set, and then to obtain the vehicles may be at the position of the lane set, and proceed to step 6.
Preferably, the step 1 in a certain time window if within the scope of the decline in the positioning accuracy of the positioning module to restore the high-precision positioning, is exiting the emergency search the status enter step 2; if more than the time window, still fails to be received effectively the high precision positioning information, notify the control system positioning said positioning module is abnormal, and further prompt the driver to take over.
Preferably, step 6 in the results also includes [...] may be in the lane of the evaluation, the evaluation results are credible, uncertain or untrusted.
Preferably, the step 1 if states positioning module for the high-precision positioning, then enter the full board retrieval, in the determination of the normal running of the vehicle in the high precision of the map area, can be switched to the local search module.
Preferably, step 3 in the positioning of the locating module space coordinate and step 5, step 6 in the positioning module positioning coordinate, are the coordinates of the current vehicle.
The invention comprises at least the following advantages:
The invention according to the characteristics of high-precision map data structure, combination automatic driving system actual application scene, and to the safety of the system requirements, through a set of combined overall from top hierarchical search, some a priori information fast retrieval and positioning accuracy is lowered under the operating condition of the emergency retrieval of a comprehensive solution to the strategy, ensure that during running of the vehicle, a certain period of time in the range of of positioning accuracy is lowered when the abnormal condition, by entering into a emergency search the status, can still make the system work normally in a certain period of time, in order to reduce or avoid the trouble caused by lowering of a position precision; said algorithm is based on the map data structure of the overall search algorithm, wherein in response to the automatic drive optimized partial fast retrieval, security system redundant emergency retrieval, and to protect the safety of the system abnormal withdrawal mechanism, fully taking into account the automatic driving system for the retrieval speed, system load requirements and safety redundancy, is a comprehensive and complete set of designed specifically for automatic drive customized high-precision map lane level data search strategies. To take fully into account other module possible application requirements, only a simple relative to the return in the case of the only result, by returning a current vehicle may be set at the lane, sized and arranged in accordance with the possibility and to provide the corresponding evaluation is more accurate. The algorithm according to the vehicle lane level positioning information with high precision, high speed and high efficiency obtained from the high-precision map database to search out the current vehicle lane at the relevant information.
Other advantages of the present invention, objectives and features will reflect through the lower part of the note, segment will also be through to the study and practice of this invention is in the field of the technical understood.
Description of drawings
Figure 1 is the flow chart of the present invention the automatic driving high precision map lane pick-up algorithm.
Mode of execution
The Figure below to the further detailed description of this invention, in order to make the technical personnel in the field specification can be on the basis of the implementation of the reference characters.
It should be understood, used herein such as "has", "comprising" and "including" terminology does not exclude one or a plurality of other components or a combination thereof the presence or added.
As shown in Figure 1, the invention provides an automatic driving high precision map lane pick-up algorithm, including:
Step 1, by judging the vehicle for positioning of the positioning accuracy of the height of the module, determining the state of the lane pick-up, if the locating module of positioning accuracy is lowered, then the states the traffic lane pick-up into the emergency retrieval state; if the positioning module is a high-precision positioning, then enter the step 2.
Step 2, judges whether to enter the local search, if it is a local search, enter step 6; and if the non-local search, then enter the step 3.
Step 3, into the tile search, according to the ID [...] characteristics of said positioning module and positioning space coordinate, to obtain the position of the range of the vehicle and the position of the ID within the streets after entering step 4.
Step 4, enter the range search, to the current position of a vehicle as the center, of a combination of the street ID search of the vehicle may be at the position of the street after the set in the step 5.
Step 5, into the rough search, to the position of the vehicle are the coordinates of the positioning module located within the range of the street is set according to, find the vehicle present may be at street set; and if not found the may be in street set, then enter the step 4 to expand the scope of search to continue to search; if the search to the may be in street set, then enter the step 6.
Step 6, the fine search, according to the stated may be in street set, to obtain the current vehicle may be in the lane of the set, a combination of the positioning module positioning coordinate to the lane of the distance between the center lines, and the coordinate is in the lane, to obtain the vehicle may be in the lane of the set, the lane in the set of the first element is the most may be in said lane.
In the above-mentioned scheme, according to the characteristics of high-precision map data structure, combination automatic driving system actual application scene, and to the safety of the system requirements, through a set of combined overall from top hierarchical search, some a priori information fast retrieval and positioning accuracy is lowered under the operating condition of the emergency retrieval of a comprehensive solution to the strategy, ensure that during running of the vehicle, a certain period of time in the range of of positioning accuracy is lowered when the abnormal condition, by entering into a emergency search the status, can still make the system work normally in a certain period of time, in order to reduce or avoid the trouble caused by lowering of a position precision; said algorithm is based on the map data structure of the overall search algorithm, wherein in response to the automatic drive optimized partial fast retrieval, security system redundant emergency retrieval, and to protect the safety of the system abnormal withdrawal mechanism, fully taking into account the automatic driving system for the retrieval speed, system load requirements and safety redundancy, is a comprehensive and complete set of designed specifically for automatic drive customized high-precision map lane level data search strategies. To take fully into account other module possible application requirements, only a simple relative to the return in the case of the only result, by returning a current vehicle may be set at the lane, sized and arranged in accordance with the possibility and to provide the corresponding evaluation is more accurate. The algorithm according to the vehicle lane level positioning information with high precision, high speed and high efficiency obtained from the high-precision map database to search out the current vehicle lane at the relevant information.
Compared with the single strategy search or to other application scene map search strategies, fully taking into account the automatic driving system for the retrieval speed, system load requirements and safety redundancy, is a comprehensive and complete set of designed specifically for automatic drive customized high-precision map lane level data retrieval algorithm, wherein high-precision map data generally in accordance with the geographical space range hierarchical segmentation memory, in accordance with the spatial range from large to small relation of inclusion, is successively Tile (tile), Link (street), Lane (lane), and Lane Mark (lane). Each group of data have a globally unique ID, according to the ID in the database can be retrieved in the corresponding information. Specifically, the high-precision map data of a by a plurality of tiles, each tile comprising a plurality of streets and its corresponding attribute ID, each containing the same and they are advised to attribute ID corresponding to a plurality of lanes, each lane containing the same and corresponding to the attribute ID of the corresponding lane, each lane line includes its corresponding attribute.
In one preferred embodiment, step 1 in the emergency search the status of the specific algorithm is:
The lane detection result according to the real-time calculated vehicle distance on both sides of the lane of the distance, combined with the lane detecting inertial navigation data information calculated at a last time the vehicle deviates from the position information, the vehicle whether the analysis in the event of a lane change, and the direction of the lane change, in order to obtain said vehicle that said current the lane.
In the above-mentioned scheme, inertial navigation of the basic operating principle is based on the law of Newton's mechanics, by measuring the carrier in the inertial frame of reference acceleration, it to the time integral, and converts these to the navigation coordinate system, can be obtained in the speed of the navigation coordinate system, information such as the yaw angle and the position of the; vehicle distance through the real-time calculation of the distance between the two sides of the lane, combined inertial navigation system provided on the vehicle of a time compared with the current position information of the, can obtain the vehicle there from at a last time the running lane, and change the direction of the lane, a combination with the positioning module of the vehicle and the positioning coordinate on the present lane, the vehicle inertial navigation data and real-time algorithm combined, ensure the positioning accuracy of the positioning module of the decline in the accuracy of location.
In one preferred embodiment, step 2 in the local search the status under the specific algorithm is:
According to the stated vehicle at a last time is obtained at the street, a combination of the street front and rear connection relationship, find the present the vehicle may be in street set, and then to obtain the vehicles may be at the position of the lane set, and proceed to step 6.
In the above-mentioned scheme, by combining the last time vehicle positioning data information, in conjunction with known connection relationship of the front and rear of the street, can quickly find the current vehicle may be in of a street set, thereby narrowing the scope of the street set, block positioning may be more convenient to the lane at the set.
In one preferred embodiment, step 1 in a certain time window if within the scope of the decline in the positioning accuracy of the positioning module to restore the high-precision positioning, is exiting the emergency search the status enter step 2; if more than the time window, still fails to be received effectively the high precision positioning information, notify the control system positioning said positioning module is abnormal, and further prompt the driver to take over.
In the above-mentioned scheme, emergency search the status suitable for positioning module within a certain time of the decline of the positioning accuracy, did not always is in emergent search state, exceeds the setting time node, the positioning accuracy of the positioning module to restore it still, control system cannot receive the accurate and effective positioning information, control system determine the positioning module appear abnormal function, withdrawn from the positioning mechanism, by the driver through the other recognize the own lane or once again restart the positioning mechanism, avoiding the positioning deviation of the trouble is not necessary.
In one preferred embodiment, step 6 in the results also includes [...] may be in the lane of the evaluation, the evaluation results are credible, uncertain or untrusted.
In the above-mentioned scheme, most likely through lane of given at the same time, and the lane of the most likely possibility of given to the evaluation, in order to for the driver reference, whether positioning the final outcome of the trusted, uncertain or not credible, the driver seat to the most final judgment, or whether the secondary search positioning.
In one preferred embodiment, step 1 if states positioning module for the high-precision positioning, then enter the full board retrieval, in the determination of the normal running of the vehicle in the high precision of the map area, can be switched to the local search module.
In the above-mentioned scheme in, step 1 in accordance with the high-precision positioning information, the whole board retrieval can be accurately retrieved at the present vehicle lane, but the computational complexity to be relatively large, the overall situation in the completion of the search, and the determination of the normal running of the vehicle at the time of high-precision map region, can switch to the local search mode, in order to reduce the operation load of the system, to ensure that the retrieval speed.
In one preferred embodiment, step 3 in the positioning of the locating module space coordinate and step 5, step 6 in the positioning module positioning coordinate, are the coordinates of the current vehicle
In the above-mentioned scheme in, step 3 in the positioning of the locating module space coordinate tile under the search for the state of the vehicle at the space coordinate; step 5 in the locating module positioning coordinate is rough search for the state of the vehicle under the coordinates of the of location; step 6 in the positioning of the locating module coordinates the fine search for the state of the vehicle under the coordinates of location; each of the search condition to the current of the vehicle are coordinate is the reference, in order to guarantee the relative accuracy of the final search result.
Although the embodiments of the invention have been disclosed above, but not limited to the specification and embodiments set out in the application, it is fully can be suitable for various suitable for the field of this invention, familiar in the case of the field personnel, can be easily achieved in addition changes, therefore without departing from the claims and the equivalent of the scope of the general concept of defined, the invention is not limited to the specific details shown and described here of the legend.
Lane pickup algorithm for autopilot high-precision map
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