CN109000678B - Driving assistance device and method based on high-precision map - Google Patents
Driving assistance device and method based on high-precision map Download PDFInfo
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The invention discloses a driving assistance device and method based on a high-precision map, and the method comprises the steps of loading basic geographic information and establishing the high-precision map; matching the current position of the vehicle on the high-precision map through a positioning module; acquiring lane information between a current position and a proposed target position on a high-precision map; at least extracting lane sidelines of a lane where the vehicle is located and an adjacent lane according to the lane information, wherein the lane sidelines comprise a virtual line segment and/or a real line segment; dividing lanes into at least one driving grid region comprising different lane change rules according to the virtual line end and/or the solid line segment; and planning a driving path of the vehicle between the current position and the target position according to one driving grid area or the combination of at least two driving grid areas. The method can extract the lane information of the lane sideline from the high-precision map, and perform grid division on the areas of different lane change rules related to the lane according to the lane information, thereby providing effective reference for the driving path of the vehicle.
Description
Technical Field
The invention relates to the field of active safety and automatic driving, in particular to a driving assistance device and method based on a high-precision map.
Background
Autonomous driving systems use a lane-level topology network to provide a reference for driving strategies. Under complex road conditions that a lane is long, and dotted lines and solid lines alternate exist on the side line of the lane, effective decision making of a vehicle is difficult to perform simply according to a lane-level topological network.
Disclosure of Invention
The embodiment of the invention at least provides a driving assistance method based on a high-precision map, which can solve the problem that in the prior art, a vehicle is difficult to make an effective decision according to a lane-level topological network under a complex road condition.
The specific implementation of the above embodiment is as follows. The method comprises the following steps: loading basic geographic information and establishing a high-precision map; matching the current position of the vehicle on the high-precision map through a positioning module; acquiring lane information between the current position and a proposed target position on the high-precision map; at least extracting lane sidelines of a lane where the vehicle is located and an adjacent lane according to the lane information, wherein the lane sidelines comprise a virtual line segment and/or a real line segment; dividing lanes into at least one driving grid area comprising different lane changing rules according to the virtual line segments and/or the solid line segments; taking the driving grid area where the vehicle is located as a central area, acquiring all driving grid areas around the central area as peripheral areas, and constructing a driving area in real time according to the combination of the central area and the peripheral areas; collecting traffic elements within the driving area by a camera; and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
In some embodiments of the present disclosure, the traffic grid area is configured as a left lane change allowable area, a right lane change allowable area, two lane change allowable areas, or two lane change prohibited areas.
In some embodiments of the disclosure, the dividing lanes into at least one traffic grid region including different lane change rules according to the virtual line segments and/or the solid line segments includes: extracting a lane change endpoint of any lane sideline at the connection position of the solid line segment and the dotted line segment;
the lane change endpoint is vertically connected with other lane sidelines adjacent to the lane sideline where the lane change endpoint is located through an extension connecting line;
and in any lane, the driving grid area is formed by two adjacent extension connecting lines and parts of two lane sidelines, and the lane changing rule is determined according to the two lane sidelines in the driving grid area.
In some embodiments of the disclosure, the determining of the lane change rule according to two lane edges included in the traffic grid region is configured to: after recognizing that the lane sideline on the left side of the driving grid area is a virtual line segment and the lane sideline on the right side is a real line segment, determining that the lane change rule of the driving grid area is a left-side allowable lane change rule; or after recognizing that the lane sideline on the left side of the traffic grid area is a real line segment and the lane sideline on the right side is a real line segment, determining that the lane change rule of the traffic grid area is that lane change is prohibited on two sides; or after recognizing that the lane sideline on the left side of the traffic grid area is a real line segment and the lane sideline on the right side is a dotted line segment, determining that the lane change rule of the traffic grid area is a right-side allowable lane change rule; or after recognizing that the lane sideline on the left side of the traffic grid area is a virtual line segment and the lane sideline on the right side is a virtual line segment, determining that the lane change rule of the traffic grid area is that lane change is allowed on two sides.
In some embodiments of the disclosure, the planning a driving path of a vehicle between a current position and a target position according to one driving grid area or a combination of at least two driving grid areas includes: configuring a vector center line in the traffic grid area according to the driving direction; connecting vector center lines of any two adjacent traffic grid areas through vector lane changing lines according to a lane changing rule; the combination of the vector central line and the vector track line which are connected in sequence forms a driving route; and selecting the driving route which is optimally matched as the driving route according to the current position and the target position.
The embodiment of the invention also discloses a driving assistance device based on the high-precision map, which comprises: the server side loads basic geographic information and establishes a high-precision map; the vehicle-mounted end comprises a positioning module, a grid module and a decision module; the positioning module is used for determining the real position of the vehicle and matching the current position of the vehicle on the high-precision map according to the real position; the grid module is used for acquiring lane information between a current position and a planned target position, at least extracting lane edges of a lane where a vehicle is located and an adjacent lane according to the lane information, wherein the lane edges comprise a virtual line segment and/or a real line segment, and dividing the lane into at least one driving grid area comprising different lane change rules according to the virtual line segment and/or the real line segment; the decision module is used for taking the driving grid area where the vehicle is located as a central area, acquiring all driving grid areas around the central area as peripheral areas, and constructing a driving area in real time according to the combination of the central area and the peripheral areas; collecting traffic elements within the driving area by a camera; and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
The embodiment of the invention also discloses a driving assistance method based on the high-precision map, which comprises the following steps: loading basic geographic information and establishing a high-precision map; extracting lane information of a road from the high-precision map; extracting at least any lane and lane borderlines of adjacent lanes according to the lane information, wherein the lane borderlines comprise a virtual line segment and/or a real line segment; dividing lanes into at least one driving grid area comprising different lane changing rules according to the virtual line segments and/or the solid line segments; taking the driving grid area where the vehicle is located as a central area, acquiring all driving grid areas around the central area as peripheral areas, and constructing a driving area in real time according to the combination of the central area and the peripheral areas; collecting traffic elements within the driving area by a camera; and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
The embodiment of the invention also discloses a driving assistance device based on the high-precision map, which comprises: a server side and a vehicle-mounted side; the server comprises a map module and a grid module; the map module is used for loading basic geographic information and establishing a high-precision map; the grid module is used for extracting lane information of a road from the high-precision map; extracting at least any lane and lane borderlines of adjacent lanes according to the lane information, wherein the lane borderlines comprise a virtual line segment and/or a real line segment; dividing lanes into at least one driving grid area comprising different lane changing rules according to the virtual line segments and/or the solid line segments; the vehicle-mounted end takes the driving grid area where the vehicle is located as a central area, acquires all driving grid areas around the central area as peripheral areas, and constructs a driving area in real time according to the combination of the central area and the peripheral areas; collecting traffic elements within the driving area by a camera; and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
In some embodiments disclosed in the present invention, the vehicle-mounted terminal includes a display module, and the display module marks and displays the color of the traffic grid area according to the lane change rule.
In view of the above, other features and advantages of the disclosed exemplary embodiments will become apparent from the following detailed description of the disclosed exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a first embodiment;
FIG. 2 is a flow chart of the second embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment discloses a driving assistance method based on a high-precision map, which can extract lane information of lane sidelines from the high-precision map and perform grid division on areas of different lane change rules related to lanes according to the lane information, so as to provide effective reference for a driving path of a vehicle.
In order to achieve the above-described effect, the method of the present embodiment includes:
step100, loading basic geographic information in a map module of a geographic information system, and establishing a high-precision map comprising lane information.
And Step200, determining the real position of the vehicle through the absolute positioning information of the vehicle-mounted GPS, and matching the current position of the vehicle in a high-precision map according to the real position.
And Step300, drawing all shape and point information between the current position and the target position of the vehicle in a high-precision map after the target position to be reached by the vehicle is drawn.
Step400, generating lane boundaries of the lane and the adjacent lanes by linear fitting shape point information, wherein the lane boundaries generally comprise a virtual line segment and a real line segment.
Step500, dividing the lane into driving grid areas with different lane change rules according to the virtual line segment and the real line segment of the lane boundary line, wherein the lane change rules can be left lane change allowable areas, right lane change allowable areas, two lane change allowable areas or two lane change prohibited areas.
Step510, extracting lane change endpoints of lane edges at the connection positions of the solid line segment and the dotted line segment;
step520, the lane change endpoint is vertically connected with the adjacent other lane sidelines at two sides respectively through an extension connecting line;
step530, forming a rectangular or trapezoid (generally on a curve) traffic grid area in a lane by two adjacent extension connecting lines and parts of two lane boundary lines; then, the lane change rule is determined according to the two side edges of the rectangle or the trapezoid, namely two lane borderlines, which is specifically as follows:
after recognizing that the lane sideline on the left side of the driving grid area is a virtual line segment and the lane sideline on the right side is a real line segment, determining that the lane change rule of the driving grid area is a left-side allowable lane change rule; or,
after recognizing that the lane sideline on the left side of the driving grid area is a real line segment and the lane sideline on the right side is a real line segment, determining that the lane change rule of the driving grid area is that lane change is prohibited on two sides; or,
after recognizing that the lane sideline on the left side of the driving grid area is a real line segment and the lane sideline on the right side is a dotted line segment, determining that the lane change rule of the driving grid area is a right-side allowable lane change rule; or,
after the lane boundary line on the left side of the driving grid area is identified as a dotted line segment and the lane boundary line on the right side is identified as a dotted line segment, determining that the lane change rule of the driving grid area is that lane change is allowed on two sides.
And Step600, planning a driving path of the vehicle between the current position and the target position according to the combination of the plurality of driving grid areas.
Step610, establishing a vector center line according to the driving direction in the driving grid area, wherein the orientation of the vector center line is consistent with the driving direction allowed by the lane.
Step620, connecting vector central lines of any two adjacent traffic grid areas through vector lane change lines according to lane change rules; that is, between the left lane change-allowable traffic grid region and the right lane change-allowable traffic grid region, the end of the arrow of the vector center line of the left lane change-allowable traffic grid region is connected to the end of the vector lane line, and the end of the vector center line of the right lane change-allowable traffic grid region is connected to the end of the arrow of the vector lane county.
Step630, a combination of a plurality of vector center lines and vector lane lines connected in sequence constitute a driving route. The driving routes here are all possible routes for travel.
Step640, selecting the optimally matched driving route as a driving route according to the current position and the target position; the optimal matching may be that the distance between the current position and the target position is the shortest, or that lane change is the least.
In addition, the Step600 of planning the driving path may adopt the following method:
step610, taking a driving grid area where a vehicle is located as a central area, acquiring all eight (front, back, left, right, front left, back left, front right and back right) driving grid areas around the central area as peripheral areas, and constructing a driving area comprising a Sudoku in real time according to the combination of the central area and the peripheral areas;
step620, collecting traffic elements in a driving area through a camera;
step630, the driving path is updated in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
The present embodiment further discloses a driving assistance device based on a high-precision map, including:
the server is positioned at the cloud end, preloads basic geographic information and establishes a high-precision map;
the vehicle-mounted end comprises a positioning module, a grid module and a decision module;
the positioning module is used for determining the real position of the vehicle and matching the current position of the vehicle on the high-precision map according to the real position;
the grid module is used for acquiring lane information between the current position and the planned target position, at least extracting lane edges of a lane where the vehicle is located and an adjacent lane according to the lane information, wherein the lane edges comprise a virtual line segment and/or a real line segment, and dividing the lane into at least one driving grid area comprising different lane change rules according to the virtual line segment and/or the solid line segment;
and the decision module plans a driving path of the vehicle between the current position and the target position according to the lane change rule of the driving grid area.
Example two
The embodiment discloses a driving assistance method based on a high-precision map, which comprises the following steps:
step100, preloading basic geographic information and establishing a high-precision map;
step200, extracting all lane information of the road from the high-precision map;
step300, extracting lane boundary lines of all lanes according to the lane information, wherein the lane boundary lines comprise a virtual line segment, a real line segment, a combination of the virtual line segment and the real line segment;
step400, dividing lanes into driving grid areas comprising different lane changing rules according to the virtual line segments and the solid line segments;
and Step500, matching the current position of the vehicle on the high-precision map through a positioning module, and planning the driving path of the vehicle according to the current position, the target position and the driving grid area.
Through the scheme, the difference of the embodiment compared with the first embodiment is that all the traffic grid areas included in the road are directly pre-established at the server side according to all the lane information. The vehicle-mounted end of the vehicle only needs to call the driving grid area of the server end, and then the driving path can be planned by combining the current position and the target position of the vehicle.
In order to implement the above method, the present embodiment further discloses a driving assistance device based on a high-precision map, the device including:
a server side and a vehicle-mounted side;
the server comprises a map module and a grid module;
the map module is used for loading basic geographic information and establishing a high-precision map;
the grid module is used for extracting lane information of a road from the high-precision map; extracting at least any lane and lane borderlines of adjacent lanes according to the lane information, wherein the lane borderlines comprise a virtual line segment and/or a real line segment; dividing the lane into at least one driving grid area comprising different lane changing rules according to the virtual line segment and/or the solid line segment;
and the vehicle-mounted end plans the driving path of the vehicle according to one driving grid area or the combination of at least two driving grid areas. And the color of the traffic grid area is marked and displayed through the display module according to the lane change rule.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A driving assistance method based on a high-precision map, characterized by comprising: loading basic geographic information and establishing a high-precision map;
matching the current position of the vehicle on the high-precision map through a positioning module;
acquiring lane information between the current position and a proposed target position on the high-precision map;
at least extracting lane sidelines of a lane where the vehicle is located and an adjacent lane according to the lane information, wherein the lane sidelines comprise a virtual line segment and/or a real line segment;
dividing lanes into at least one driving grid area comprising different lane changing rules according to the virtual line segments and/or the solid line segments;
taking the driving grid area where the vehicle is located as a central area, acquiring all driving grid areas around the central area as peripheral areas, and constructing a driving area in real time according to the combination of the central area and the peripheral areas;
collecting traffic elements within the driving area by a camera;
and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
2. The high-precision map-based driving assistance method according to claim 1, wherein the traffic grid region is configured as a left lane change allowable region or a right lane change allowable region or a both-side lane change prohibited region.
3. The driving assistance method based on the high-precision map according to claim 1, wherein the dividing of the lane into at least one traffic grid region including different lane change rules according to the virtual line segment and/or the solid line segment comprises: extracting a lane change endpoint of any lane sideline at the connection position of the solid line segment and the dotted line segment;
the lane change endpoint is vertically connected with other lane sidelines adjacent to the lane sideline where the lane change endpoint is located through an extension connecting line;
and in any lane, the driving grid area is formed by two adjacent extension connecting lines and parts of two lane sidelines, and the lane changing rule is determined according to the two lane sidelines in the driving grid area.
4. The high-precision map-based driving assistance method according to claim 3, wherein the lane change rule is determined based on two lane borderlines included in the traffic grid region, and is configured to: after recognizing that the lane sideline on the left side of the driving grid area is a virtual line segment and the lane sideline on the right side is a real line segment, determining that the lane change rule of the driving grid area is a left-side allowable lane change rule; or after recognizing that the lane sideline on the left side of the traffic grid area is a real line segment and the lane sideline on the right side is a real line segment, determining that the lane change rule of the traffic grid area is that lane change is prohibited on two sides; or after recognizing that the lane sideline on the left side of the traffic grid area is a real line segment and the lane sideline on the right side is a dotted line segment, determining that the lane change rule of the traffic grid area is a right-side allowable lane change rule; or after recognizing that the lane sideline on the left side of the traffic grid area is a virtual line segment and the lane sideline on the right side is a virtual line segment, determining that the lane change rule of the traffic grid area is that lane change is allowed on two sides.
5. The driving assistance method based on high-precision map as claimed in claim 1, wherein said planning the driving path of the vehicle between the current position and the target position according to one driving grid area or a combination of at least two driving grid areas comprises: configuring a vector center line in the traffic grid area according to the driving direction;
connecting vector center lines of any two adjacent traffic grid areas through vector lane changing lines according to a lane changing rule;
the combination of the vector central line and the vector track line which are connected in sequence forms a driving route;
and selecting the driving route which is optimally matched as the driving route according to the current position and the target position.
6. A driving assistance apparatus based on a high-precision map, characterized by comprising: the server side loads basic geographic information and establishes a high-precision map;
the vehicle-mounted end comprises a positioning module, a grid module and a decision module;
the positioning module is used for determining the real position of the vehicle and matching the current position of the vehicle on the high-precision map according to the real position;
the grid module is used for acquiring lane information between a current position and a planned target position, at least extracting lane edges of a lane where a vehicle is located and an adjacent lane according to the lane information, wherein the lane edges comprise a virtual line segment and/or a real line segment, and dividing the lane into at least one driving grid area comprising different lane change rules according to the virtual line segment and/or the real line segment;
the decision module is used for taking the driving grid area where the vehicle is located as a central area, acquiring all driving grid areas around the central area as peripheral areas, and constructing a driving area in real time according to the combination of the central area and the peripheral areas;
collecting traffic elements within the driving area by a camera;
and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
7. A driving assistance method based on a high-precision map, characterized by comprising: loading basic geographic information and establishing a high-precision map;
extracting lane information of a road from the high-precision map;
extracting at least any lane and lane borderlines of adjacent lanes according to the lane information, wherein the lane borderlines comprise a virtual line segment and/or a real line segment;
dividing lanes into at least one driving grid area comprising different lane changing rules according to the virtual line segments and/or the solid line segments;
taking the driving grid area where the vehicle is located as a central area, acquiring all driving grid areas around the central area as peripheral areas, and constructing a driving area in real time according to the combination of the central area and the peripheral areas;
collecting traffic elements within the driving area by a camera;
and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
8. A driving assistance apparatus based on a high-precision map, characterized by comprising: a server side and a vehicle-mounted side;
the server comprises a map module and a grid module;
the map module is used for loading basic geographic information and establishing a high-precision map;
the grid module is used for extracting lane information of a road from the high-precision map; extracting at least any lane and lane borderlines of adjacent lanes according to the lane information, wherein the lane borderlines comprise a virtual line segment and/or a real line segment; dividing lanes into at least one driving grid area comprising different lane changing rules according to the virtual line segments and/or the solid line segments;
the vehicle-mounted end takes the driving grid area where the vehicle is located as a central area, acquires all driving grid areas around the central area as peripheral areas, and constructs a driving area in real time according to the combination of the central area and the peripheral areas;
collecting traffic elements within the driving area by a camera;
and updating the driving path with the least lane change in real time according to the driving domain and the traffic elements when the vehicle is between the current position and the target position.
9. The high-precision map-based driving assistance apparatus according to claim 8, wherein the vehicle-mounted terminal includes a display module that marks and displays colors of the traffic grid region according to lane change rules.
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| CN106918342B (en) * | 2017-03-10 | 2020-01-03 | 广州汽车集团股份有限公司 | Method and system for positioning driving path of unmanned vehicle |
| CN108151751B (en) * | 2017-11-21 | 2020-04-21 | 武汉中海庭数据技术有限公司 | Path planning method and device based on combination of high-precision map and traditional map |
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