CN110940346A - High-precision map processing method and device for automatic driving lane changing - Google Patents
High-precision map processing method and device for automatic driving lane changing Download PDFInfo
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- 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
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- G05D1/02—Control of position or course in two dimensions
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- 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
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Abstract
The invention relates to a high-precision map processing method and device for automatic driving lane changing. In one embodiment, a high-precision map processing apparatus for automatic lane change includes: a determination unit configured to determine a road change position according to the navigation route and the current vehicle position; the planning unit is configured to plan a plurality of lane change units required for reaching the road change position, each lane change unit corresponds to at least one lane change, and each lane change unit has a corresponding lane change range; and a transmitting unit configured to transmit high-precision map information of a target lane of a certain lane change unit to the lane change handling system if the lane change unit is not the last one of the plurality of lane change units before traveling to a start position of a variable lane range of the lane change unit.
Description
Technical Field
The present invention relates generally to an automatic driving technique, and more particularly, to a high-precision map processing method and apparatus for an automatic driving lane change.
Background
The automatic driving technology can reduce the burden of driving vehicles, improve traffic safety and improve traffic efficiency, and thus is a hot spot in recent years. Generally, depending on the degree of automation, the automatic driving technique can be divided into the levels L0-L4, where the level L0 represents no automation, i.e. no automatic driving function, and all functions of the vehicle are controlled completely by the driver, and the level L1 represents driving assistance, i.e. basic technical assistance is provided to the driver, such as an adaptive cruise control system, etc.; level L2 represents partial automation, which enables automatic control of a variety of functions, such as automatic cruise control, lane keeping functions, etc., level L3 represents conditional automation, i.e., under certain conditions the system may be fully responsible for control of the entire vehicle, and level L4 represents full automation, i.e., the vehicle may be driven from a departure point to a destination without intervention or assistance from a driver.
High-precision map technology is an important component of automatic driving technology. High-precision maps have information of higher precision (e.g., on the order of 10-30 centimeters or more) than conventional maps typically used with navigation systems, such as lane shape, grade, curvature, grade, ground markings, traffic signs, etc., which are often the basis of data required to implement autonomous driving. Compared with the scheme of collecting data by vehicle vision, radar sensors and the like, the high-precision map can provide a larger road information range and is not influenced by external factors such as weather and light. Therefore, the high-precision map can be used as redundancy and supplement of vehicle vision, radar sensors and other schemes, so that an automatic driving system can perform data fusion, and automatic control of the vehicle is realized.
A lane change (i.e., lane change) of a vehicle while driving is a frequent occurrence in driving, which generally relates to a situation of lanes such as an initial lane and a target lane. For lane change in automatic driving, high-precision map information of all lanes is generally sent to a lane change control system at the same time in the prior art, so that the lane change control system can receive information of an initial lane and a target lane, and therefore lane change operation is carried out according to the received information. However, the high-precision map contains much additional information compared to the conventional map, and thus the data amount thereof is also very large. Therefore, sending high-precision map information of all lanes simultaneously requires a large system bandwidth, and the requirements on the receiving, storing and processing capabilities of a lane change control system are high, which restricts the effective implementation of automatic driving.
Disclosure of Invention
In order to solve the problems in the prior art, one of the purposes of the invention is to reduce the bandwidth and/or system resources occupied by the transmission or transmission of a high-precision map in the lane change process of automatic driving.
One aspect of the present invention provides a high-precision map processing method for automatic driving lane change, which includes: determining a road change position according to the navigation route and the current vehicle position; a plurality of lane change units required for reaching a road change position are planned, wherein each lane change unit corresponds to at least one lane change and is provided with a corresponding lane change range; and transmitting high-precision map information of a target lane of a certain lane-changing unit to a lane-change handling system if the certain lane-changing unit is not the last of the plurality of lane-changing units before traveling to a start position of a variable lane range of the certain lane-changing unit, wherein the transmitted high-precision map information includes high-precision map information of the target lane corresponding to the variable lane range of the certain lane-changing unit and high-precision map information of the target lane corresponding to a variable lane range of a next lane-changing unit of the certain lane-changing unit.
Another aspect of the present invention provides a high-precision map processing apparatus for automatic lane change driving, comprising: a determination unit configured to determine a road change position from the navigation route and the current vehicle position; a planning unit configured to plan a plurality of lane change units required to reach a road change position, wherein each lane change unit corresponds to at least one lane change and each lane change unit has a corresponding lane change range; and a transmitting unit configured to transmit high-precision map information of a target lane of a certain lane-changing unit to a lane-change handling system if the certain lane-changing unit is not the last of the plurality of lane-changing units before traveling to a start position of a variable lane range of the certain lane-changing unit, wherein the transmitted high-precision map information includes high-precision map information of the target lane corresponding to the variable lane range of the certain lane-changing unit and high-precision map information of the target lane corresponding to a variable lane range of a next lane-changing unit of the certain lane-changing unit.
Yet another aspect of the present invention provides a computer storage medium having a computer program stored therein, wherein the computer program is executable by a processor to implement the above-mentioned high-precision map processing method for automatic lane change driving.
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The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like elements or parts. In the drawings:
FIGS. 1a-1c illustrate examples of typical lane-change scenarios to which an embodiment of the present invention is applicable.
Fig. 2 illustrates an example of a high-precision map processing method for automatic driving lane change according to an embodiment of the present invention.
Fig. 3 is an exemplary flowchart of a method for high-precision map processing for automatic driving lane change according to an embodiment of the present invention.
Fig. 4 shows an example of a high-precision map processing method for a single cluster of lane changes for an autonomous driving lane change according to an embodiment of the present invention.
Fig. 5 shows an example block diagram of a high-precision map processing apparatus for automatic driving lane change according to an embodiment of the present invention.
Detailed Description
The following is a detailed description of exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. It is to be noted that the following description is intended to be illustrative and not restrictive. Electrical, mechanical, logical, and structural changes may be made to these embodiments by those skilled in the art without departing from the principles of the present invention, as may be required by the practice of the embodiments. Furthermore, those skilled in the art will recognize that one or more features of the different embodiments described below can be combined for any specific application scenario or actual need.
It should be noted that, in this document, the word "plurality" means two or more. Further, in this document, the directional terms "up and down", "left and right", etc., are defined with respect to the orientation in the drawings, i.e.: the upper side in the drawing is defined as "upper" side, and the left side in the drawing is defined as "left side". Also, the direction in which the vehicle advances shown in the drawings is defined as "forward".
The technical scheme disclosed by the invention can be suitable for lane change in automatic driving of a level above L1, in particular to lane change in automatic driving of a level L3, such as lane change in closed road (such as an expressway, an urban elevated road, an urban loop and the like) running. Examples of typical lane-change scenarios to which an embodiment of the present invention is applicable are shown in FIGS. 1a-1 c. Typical scenarios are: while the vehicle is traveling, navigation plans a route from one road to another. Specifically, fig. 1a shows a scenario in which a vehicle is driven off a road into a ramp R, and thus a lane change is required. Fig. 1b shows a scenario in which a vehicle exits ramp R (consisting of lanes R1 and R0) and merges into another road, thus requiring a lane change. Fig. 1c shows a scenario in which the vehicle has left the road and enters a ramp R, and thus needs to change lanes, and the traffic sign lines (e.g. the illustrated dashed lane lines) in the road have a restriction on the lane change range, i.e. only a lane change from lane L2 to lane L1 is possible in the range of Y2, and the range of Y2 corresponds to the lane change range allowed by the corresponding lane line from lane L2 to L1.
It should be noted that the term "lane" herein refers to a path identified by a lane line that generally allows only vehicles to travel one by one (e.g., does not allow multiple vehicles to travel in parallel) thereon, while the term "road" may include one or more lanes. For example, the road represented by the straight line in fig. 1a contains two lanes L0 and L1.
Fig. 2 illustrates an example of a high-precision map processing method for automatic driving lane change according to an embodiment of the present invention. The current lane change control system mainly depends on vision and radar sensors to obtain real-time information, and can complete automatic lane change within a certain range. According to this feature, the required lane-change units and/or the corresponding cluster of lane-changes may be calculated and determined from the navigation route, wherein each lane-change unit corresponds to at least one lane-change and an appropriate lane-change range is reserved for each lane-change unit. And when the vehicle enters the lane changing range, informing the lane changing control system of the lane changing operation, and sequentially sending the high-precision map information of the target lane in stages and in batches according to the sequence of the lane changing units.
The lane-change control system suitable for use with embodiments of the present invention may be any suitable device or system for controlling an automatic lane change of a vehicle, such as Advanced Driver assistance systems ("ADAS").
As shown in fig. 2, the navigation plans a route from a road a to a road B, wherein the road a comprises lanes LA2, LA1 and LA0, the road B comprises lanes LB1 and LB0, and the road a and the road B are communicated by a ramp R. Thus, each lane change cluster and each lane change unit required for the current road change of the vehicle can be calculated and planned. Specifically, as shown in the drawing, the lane change cluster 1 is a lane change cluster that exits the road a and enters the ramp R, and includes two lane change units, i.e., a lane change unit a1 corresponding to a lane change from LA2 (initial lane) to LA1 (target lane), and a lane change unit a2 corresponding to a lane change from LA1 (initial lane) to LA0 (target lane). The lane change cluster 2 is a lane change cluster that is driven into the road B by the ramp R, and includes one lane change unit, i.e., a lane change unit B1 corresponding to a lane change from the ramp R (initial lane) to LB0 (target lane). High-precision map information of a target lane of each lane-change unit may be transmitted before the vehicle enters the lane-change unit. Compared with the mode of simultaneously transmitting the high-precision map information of all lanes, the method can reduce the data volume of the transmitted high-precision map information, thereby reducing the bandwidth occupancy rate and the system resource occupancy rate.
FIG. 3 illustrates an example flow diagram of a method for high precision map processing for automated driving lane changes in accordance with one embodiment of this disclosure. In fig. 3, flow begins at block 301. At block 302, determining whether a road change ahead of the vehicle requires a lane change based on the navigation route (e.g., a road-level navigation route) and the current vehicle position, and if so, entering block 303; otherwise, block 312 is entered and the process ends.
In one embodiment, whether the road change requires lane change may be determined according to the lane index. The specific judgment principle may be: and after the vehicle enters the target road, judging whether the vehicle can enter a lane with the same lane index as the lane in the initial road, if so, needing no lane change, and if not, needing lane change. Wherein, the lane index is increased from 0 from the right to the left according to the driving direction. For example, if the lane in which the vehicle travels on the initial road is the right two lane, i.e., the lane index is 1, the lane with the lane index of 1 that can still be arranged in the target road after the road change travels, the lane change is not required, otherwise the lane change is required.
At block 303, a road-change location is determined from the navigation route and the current vehicle location, and a plurality of lane-change units required to reach the road-change location are planned, wherein each of the lane-change units corresponds to at least one lane change (e.g., typically a lane change), and each of the lane-change units has a corresponding lane-change range. In one embodiment, the value of the variable lane range of each lane change unit may be set according to the following condition: the lane changing range of each lane changing unit does not exceed the allowable lane changing range of the corresponding lane line; and the sum of the variable lane ranges of the plurality of lane change units does not exceed the distance L from the current vehicle position to the road change position. In a further embodiment, a default value for the lane change unit's changeable lane range, for example 500 meters, may be set depending on the processing power of the lane change handling system.
At block 304, the vehicle is traveling near the start position of the first lane-change unit, e.g., as shown in FIG. 2, the vehicle is traveling near the start position of lane-change unit A1. At block 305, it is determined whether the lane-change unit ahead of the upcoming vehicle is the last of the planned plurality of lane-change units. If not, block 306 is entered, otherwise, block 313 is entered.
At block 306, high-accuracy map information for the target lane of the lane-change unit ahead of the immediate vehicle entry (e.g., high-accuracy map information for the target lane LA1 of lane-change unit A1 as shown in FIG. 2) is sent to the lane-change handling system, the transmitted high-precision map information includes high-precision map information of the target lane corresponding to the variable lane range of the lane change unit (e.g., high-precision map information of the target lane LA1 corresponding to the variable lane range of the lane change unit a1 as shown in fig. 2) and high-precision map information of the target lane corresponding to the variable lane range of the next lane change unit of the lane change unit (e.g., lane change unit a2 is the "next lane change unit" of the lane change unit a1 as shown in fig. 2, and thus the range referred to herein is high-precision map information of the target lane LA1 corresponding to the variable lane range of the lane change unit a 2). By the processing mode, the high-precision map information can be transmitted in stages and in batches, the part of the vehicle to be executed in each lane change operation is transmitted each time, and the extra high-precision map information basically not needed in each lane change operation is reduced, so that the data volume of the transmitted high-precision map information is reduced, and the bandwidth occupancy rate and the system resource occupancy rate are reduced. In addition, compared with the method of designating a certain lane change position for lane change, each lane change unit in the embodiment of the invention has a certain lane change range, so that the possibility of missing lane change due to road conditions is lower, the system adaptability is stronger, and the interactive logic is simpler.
In one embodiment, the transmitted high-precision map information may further include high-precision map information of the target lane corresponding to a first buffer section, wherein the first buffer section is a section continued from a lane-changeable range of a next lane-change unit of the lane-change units. As illustrated in fig. 2, when transmitting the high-accuracy map information of the target lane LA1 of the lane change element a1, the high-accuracy map information of not only the target lane LA1 corresponding to the lane change element a1 and the variable range of the lane change element a2 as described above but also a section of the target lane LA1 (i.e., the first buffer section described above) formed continuously from the variable range of the lane change element a2 is transmitted. In yet another embodiment, a default value for the first buffer zone may be set, for example 300 meters, depending on the processing power of the lane change handling system. The provision of the first buffer section enables the automatic driving to be continued with sufficient high-precision map information in the event that the vehicle fails to complete lane change within the lane change range for various reasons, thereby further enhancing the adaptability of the system.
In order to ensure that the lane change control system has enough high-precision map information when performing lane change operation, the timing for transmitting the high-definition map each time can be advanced by a certain amount. Therefore, it is possible to transmit the high-precision map information of the target lane of a certain lane change means in advance for a certain time period before the vehicle travels to the start position of the variable lane range of the lane change means. It is to be understood that "before traveling to the start position of the variable lane range of a certain lane change unit" includes at the time of traveling to the start position of the variable lane range of a certain lane change unit.
The optional functions of blocks 307-309 are: high-precision map information of the initial lane of the immediately preceding lane-change unit (i.e., the lane in which the vehicle is currently traveling) that has been transmitted sufficiently is ensured. At block 307, it is determined whether sufficient high-precision map information of the initial lane has been transmitted, for example, as shown in fig. 2, it is determined whether high-precision map information of the initial lane LA2 of the oncoming lane-changing cell a1 has been sufficient; if the determination is "yes," the transmission of the high-precision map information of the initial lane is stopped at block 309, otherwise, the transmission of the part that has been lacked is supplemented at block 308, and the process proceeds to block 309. The high-precision map information of the initial lane is confirmed, and the high-precision map information of the required initial lane is ensured to be transmitted, so that the adaptability and the reliability of the system are further enhanced. On the other hand, when enough high-precision map information of the initial lane exists, the sending of additional high-precision map information of the initial lane is stopped, so that the system resources can be further saved, and the bandwidth occupancy rate and the system resource occupancy rate are further reduced. In order to ensure that the lane change control system has sufficient high-accuracy map information when performing the lane change operation, the timing for determining and supplementing the high-accuracy map information of the initial lane may be advanced by a certain amount. Therefore, it is possible to determine and supplement the high-precision map information of the initial lane before traveling to the start position of the variable lane range of a certain lane change means.
In one embodiment, the decision criteria of block 307 may be: whether the high-accuracy map information of the initial lane of the lane change unit corresponding to the lane change range of the lane change unit has been transmitted to the lane change control system, for example, as shown in fig. 2, it is determined whether the high-accuracy map information of the initial lane LA2 of the immediately preceding lane change unit a1 corresponding to the lane change range thereof has been transmitted. In this case, if the high-accuracy map information of the initial lane of the lane change unit corresponding to the variable lane range of the lane change unit has been transmitted to the lane change control system, the transmission of the high-accuracy map information of the initial lane to the lane change control system is stopped at block 309; otherwise, at block 308, the part of the high-precision map information of the initial lane corresponding to the lane-changing range of the lane-changing unit that has not been transmitted is transmitted to the lane-change control system, and the transmission of the high-precision map information of the initial lane to the lane-change control system is stopped at block 309.
In another embodiment, the decision criteria of block 307 may be: whether high-precision map information of an initial lane of the lane change unit corresponding to a lane change range of the lane change unit and a second buffer section, which is a section continued from the lane change range of the lane change unit, has been transmitted to a lane change control system. The specific operation in this case is similar to the corresponding part in the above step, and is not described again. In yet another embodiment, a default value for the second buffer zone may be set, for example 300 meters, depending on the processing capacity of the lane change handling system. The addition of the second buffer section of the initial lane can ensure that the vehicle can still have sufficient high-precision map information to continue automatic driving under the condition that the lane change is not completed in the lane change range for various reasons, thereby further enhancing the adaptability of the system.
At block 310, the vehicle is traveling near the start position of the next lane-change unit (e.g., lane-change unit a2, as shown in fig. 2). Flow then returns to block 305. This completes the processing of the high-precision map information of one lane change unit and proceeds to the next lane change unit.
At block 305, if it is determined that the lane-change unit ahead of the upcoming vehicle is the last of the planned plurality of lane-change units, block 313 is entered. At block 313, the range of the high-precision map information transmitted is consistent with that in the conventional non-lane-change scenario due to the last lane-change unit, and the present invention does not particularly limit the specific range of transmission. The transmitted range may be, for example, high-precision map information of a target lane or road.
The function of optional block 314-316 is similar to that of block 307-309, and will not be described again.
At block 311, the vehicle drives through the road change location, completing all planned lane change units. At block 312, the flow ends.
Fig. 4 shows an example of a high-precision map processing method for a single cluster of lane changes for an autonomous driving lane change according to an embodiment of the present invention. It should be understood that the specific steps described hereinafter with reference to fig. 4 correspond to relevant portions of the flow shown in fig. 3, and may be taken as a specific example of the corresponding portions of the flow shown in fig. 3.
In fig. 4, the road includes three lanes L2, L1, and L0 from left to right, and the right side of the lane L0 is a ramp R for leaving the road. Initially, the vehicle is at a starting position P0 (i.e., the current vehicle position) in lane L2, and the vehicle needs to leave the road and enter the ramp R (i.e., a cluster of lane changes is planned) based on the route planned for navigation. Thus, the road change target position of the current lane change cluster is determined to be the position P4 on the ramp, and the current lane change cluster is determined to comprise three lane change units: lane change units 1 from L2 (initial lane) to L1 (target lane), lane change units 2 from L1 (initial lane) to L0 (target lane), and lane change units 3 from L0 (initial lane) to ramp R (target lane), all of which change directions are from left to right. The 3 rd lane change unit is the last lane change unit of the cluster of lane changes. Wherein, the three lane change units all have corresponding lane change ranges, which are respectively denoted by Y1, Y2 and Y3 in the figure.
Alternatively, the values of Y1, Y2, Y3 may be set according to the following conditions: y1, Y2 and Y3 do not exceed the allowed lane change range of the corresponding lane line respectively; and, Y1+ Y2+ Y3 does not exceed the distance L from P0 to P4.
An example method of high-precision map processing according to that shown in fig. 4 is described in detail below.
Step one, before the vehicle reaches the starting position P1 of the 1 st lane change unit, high-precision map information of the target lane L1 of the 1 st lane change unit is sent to the lane change control system. Since the 1 st lane change unit is not the last lane change unit, the high-precision map information range of the transmitted lane L1 is: the variable lane range Y1 of the 1 st lane change unit and the variable lane range Y2 of the next lane change unit (i.e., the 2 nd lane change unit) together correspond to high-precision map information of the lane L1, i.e., high-precision map information of the Y1+ Y2 range on the lane L1.
Optionally, the transmitted high-precision map information of the lane L1 further includes high-precision map information of the buffer section B continued from the variable lane range Y2 of the next lane change unit (i.e., the 2 nd lane change unit) corresponding to the 1 st lane change unit on the lane L1. That is, transmitted is high-precision map information of the Y1+ Y2+ B range on the lane L1.
Alternatively, it is confirmed whether the high-precision map information of the variable lane range Y1 corresponding to the 1 st lane change unit on the initial lane L2 of the 1 st lane change unit has been transmitted. If it has been transmitted, the transmission of the high-precision map information of the lane L2 is stopped, otherwise, a portion of the high-precision map information of the Y1 range on the lane L2 that has not been transmitted is transmitted to the lane change steering system, and the transmission of the high-precision map information of the lane L2 is stopped. Or, alternatively, it is confirmed whether high-precision map information of the range of Y1 on the initial lane L2 of the 1 st lane change unit and the buffer section B (i.e., Y1+ B) continuing from Y1 has been transmitted. If it has been transmitted, the transmission of the high-precision map information of the lane L2 is stopped, otherwise, a portion of the high-precision map information of the Y1+ B range on the lane L2, which has not been transmitted, is transmitted to the lane change steering system, and the transmission of the high-precision map information of the lane L2 is stopped.
And step two, before the vehicle reaches the starting position P2 of the 2 nd lane change unit, sending high-precision map information of the target lane L0 of the 2 nd lane change unit to the lane change control system. Since the 2 nd lane change unit is not the last lane change unit, the high-precision map information range of L0 that is transmitted is: the lane-change range Y2 of the 2 nd lane-change unit and the lane-change range Y3 of the next lane-change unit (i.e., the 3 rd lane-change unit) together correspond to high-precision map information of the lane L0, i.e., high-precision map information of the Y2+ Y3 range on the lane L0.
Optionally, the transmitted high-precision map information of the lane L0 further includes high-precision map information of the buffer section B continued from the variable lane range Y3 of the next lane change unit (i.e., the 3 rd lane change unit) corresponding to the 2 nd lane change unit on the lane L0. That is, transmitted is high-precision map information of the Y2+ Y3+ B range on the lane L0.
Alternatively, it is confirmed whether the high-precision map information of the Y2 range on the initial lane L1 of the 2 nd lane change unit has been transmitted. If it has been transmitted, the transmission of the high-precision map information of the lane L1 is stopped, otherwise, a portion of the high-precision map information of the Y2 range on the lane L1 that has not been transmitted is transmitted to the lane change steering system, and the transmission of the high-precision map information of the lane L1 is stopped. Or, alternatively, it is confirmed whether high-precision map information of the range of Y2 on the initial lane L1 of the 2 nd lane change unit and the buffer section B (i.e., Y2+ B) continuing from Y2 has been transmitted. If it has been transmitted, the transmission of the high-precision map information of the lane L1 is stopped, otherwise, a portion of the high-precision map information of the Y2+ B range on the lane L1, which has not been transmitted, is transmitted to the lane change steering system, and the transmission of the high-precision map information of the lane L1 is stopped.
And step three, before the vehicle reaches the starting position P3 of the 3 rd lane change unit, sending high-precision map information of the target lane R of the 3 rd lane change unit to the lane change control system. Since the 3 rd lane change unit is the last lane change unit, the range of the high-precision map information of the target lane R transmitted coincides with a conventional lane-invariant scene, and may be, for example, high-precision map information of a lane or road corresponding to the target lane R.
Alternatively, it is confirmed whether the high-precision map information of the Y3 range on the initial lane L0 of the 3 rd lane change unit has been transmitted. If it has been transmitted, the transmission of the high-precision map information of the lane L0 is stopped, otherwise, a portion of the high-precision map information of the Y3 range on the lane L0 that has not been transmitted is transmitted to the lane change steering system, and the transmission of the high-precision map information of the lane L0 is stopped. Or, alternatively, it is confirmed whether high-precision map information of the range of Y3 on the initial lane L0 of the 3 rd lane change unit and the buffer section B (i.e., Y3+ B) continuing from Y3 has been transmitted. If it has been transmitted, the transmission of the high-precision map information of the lane L0 is stopped, otherwise, a portion of the high-precision map information of the Y3+ B range on the lane L0, which has not been transmitted, is transmitted to the lane change steering system, and the transmission of the high-precision map information of the lane L0 is stopped.
And step four, the vehicle drives through the road to change the position, namely the position of P4 on the ramp R, and the process is ended.
It should be noted that although each lane change unit in fig. 4 corresponds to only one lane change (i.e., only includes one initial lane and one target lane), in other embodiments, each lane change unit may correspond to multiple lane changes (i.e., includes one initial lane and multiple target lanes). For example, in one embodiment, two lane changes of "L2 to L1" and "L1 to L0" in fig. 4 may be planned as the 1 st lane change unit. In this case, the 1 st lane change unit includes one initial lane L2 and two target lanes L1 and L0, and its variable lane range is Y1+ Y2. Accordingly, the 2 nd lane change unit corresponds to one lane change of the lane L0 to the ramp R, the lane change range of which is Y3. As such, high-precision map information in lane changes may be processed with reference to the methods described above. For example, step one: before the vehicle reaches the starting position P1 of the 1 st lane change unit, high-precision map information of the target lanes L1 and L0 of the current lane change unit is transmitted to the lane change handling system, and the transmitted range may be: y1+ Y2+ Y3 on lane L1, and Y1+ Y2+ Y3 on lane L0. The rest steps are similar to the corresponding parts above and are not described again.
Fig. 5 shows an example block diagram of a high-precision map processing apparatus for automatic driving lane change according to an embodiment of the present invention. It should be understood that the apparatus shown in fig. 5 may be used to perform or implement the methods or processes shown in fig. 2, 3, and 4.
As shown in fig. 5, a high-precision map processing apparatus 501 for automatic driving lane change according to an embodiment of the present invention may include a determination unit 502 configured to determine a road change position according to a navigation route and a current vehicle position; a planning unit 503 configured to plan a plurality of lane change units required to reach the road change location, wherein each lane change unit corresponds to at least one lane change and each lane change unit has a corresponding lane change range; and a transmitting unit 504 configured to transmit high-precision map information of a target lane of a certain lane-changing unit to the lane-change handling system 505 if the certain lane-changing unit is not the last of the plurality of lane-changing units before traveling to a start position of a variable lane range of the certain lane-changing unit, wherein the transmitted high-precision map information includes high-precision map information of the target lane corresponding to the variable lane range of the certain lane-changing unit and high-precision map information of the target lane corresponding to a variable lane range of a next lane-changing unit of the certain lane-changing unit.
Optionally, the planning unit 503 may be further configured to set the value of the variable lane range of each lane change unit according to the following condition: the lane changing range of each lane changing unit does not exceed the allowable lane changing range of the corresponding lane line; and the sum of the variable lane ranges of the plurality of lane change units does not exceed the distance from the current vehicle position to the road change position.
Optionally, the transmitting unit 504 may be further configured to transmit the high-precision map information further including high-precision map information of the target lane corresponding to a first buffer section, wherein the first buffer section is a section continued from a lane-changeable range of a next lane-change unit next to the certain lane-change unit.
Alternatively, the transmission unit 504 may be further configured to stop transmitting the high-precision map information of the initial lane of the certain lane-changing unit corresponding to the variable lane range of the certain lane-changing unit to the lane-change handling system 505 if the high-precision map information of the initial lane of the certain lane-changing unit has been transmitted to the lane-change handling system 505 before traveling to the start position of the variable lane range of the certain lane-changing unit; otherwise, the part of the high-precision map information of the initial lane corresponding to the lane-changing range of the certain lane changing unit, which is not yet transmitted, is transmitted to the lane-changing control system 505, and the transmission of the high-precision map information of the initial lane to the lane-changing control system 505 is stopped.
Alternatively, the transmission unit 504 may be further configured to stop transmitting the high-precision map information of the initial lane of the certain lane-changing unit corresponding to the variable lane range of the certain lane-changing unit and the second buffer section to the lane-change handling system 505, if the high-precision map information of the initial lane of the certain lane-changing unit has been transmitted to the lane-change handling system 505 before traveling to the start position of the variable lane range of the certain lane-changing unit; otherwise, sending the part which is not sent in the high-precision map information of the initial lane corresponding to the variable lane range of the certain lane change unit and the second buffer section to the lane change control system 505, and stopping sending the high-precision map information of the initial lane to the lane change control system 505; wherein the second buffer section is a section formed continuously from the variable lane range of the certain lane changing unit.
Alternatively, the transmitting unit 504 may be further configured to transmit high-precision map information of a lane or road corresponding to the target lane of the certain lane-changing unit to the lane-change handling system 505 if the certain lane-changing unit is the last one of the plurality of lane-changing units before traveling to the start position of the variable lane range of the certain lane-changing unit.
Optionally, the lane-change handling system 505 is an Advanced Driver Assistance System (ADAS).
It should be noted that the apparatus shown in fig. 5 and its units may be implemented in an in-vehicle system, or implemented on the network side, or combined. The present invention is not limited to this, and those skilled in the art can configure the present invention according to actual needs.
It should be noted that the flow/apparatus block diagrams shown herein are functional entities and may, but need not, correspond to physically or logically separate entities. Those skilled in the art may implement these functional entities in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices. For example, the functions may be implemented by software programming and loading the computer program instructions onto a computer or other programmable data processor to cause a series of operations to be performed on the computer or other programmable processor to form a computer implemented process such that the instructions which execute on the computer or other programmable data processor provide steps for implementing the functions specified in the flowchart and/or block diagram block or blocks.
Accordingly, an aspect of the present invention provides a computer storage medium in which a computer program is stored, the computer program being executable by a processor (which may be various suitable general-purpose or special-purpose processors, computing devices, information processing apparatuses, etc.) to implement the methods or flows as shown in fig. 2, 3, 4.
It should also be noted that, in some alternative implementations, the functions/acts noted in the blocks of the flowchart block diagrams may occur out of the order noted in the flowchart block diagrams, unless explicitly stated to the contrary. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the actual circumstances and the functionality/acts involved.
The above examples mainly illustrate the main embodiments of the present invention. Although only a few embodiments of the present invention have been described, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present invention is intended to cover various modifications and alternative arrangements without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (15)
1. A high-precision map processing method for automatic driving lane change is characterized by comprising the following steps:
determining a road change position according to the navigation route and the current vehicle position;
planning a plurality of lane change units required for reaching the road change position, wherein each lane change unit corresponds to at least one lane change and has a corresponding lane change range; and
transmitting high-precision map information of a target lane of a certain lane-changing unit to a lane-change handling system if the certain lane-changing unit is not the last of the plurality of lane-changing units before traveling to a start position of a variable lane range of the certain lane-changing unit, wherein the transmitted high-precision map information includes high-precision map information of the target lane corresponding to the variable lane range of the certain lane-changing unit and high-precision map information of the target lane corresponding to a variable lane range of a next lane-changing unit of the certain lane-changing unit.
2. The method of claim 1, further comprising:
setting a value of a variable lane range of each of the lane change units according to the following condition:
the lane changing range of each lane changing unit does not exceed the allowable lane changing range of the corresponding lane line; and
the sum of the variable lane ranges of the plurality of lane change units does not exceed the distance of the current vehicle position to the road change position.
3. The method of claim 1, wherein the transmitted high-precision map information further includes high-precision map information of the target lane corresponding to a first buffered section, wherein the first buffered section is a section continued from a lane-changeable range of the next lane-change unit.
4. The method of claim 1, further comprising:
stopping transmitting high-precision map information of an initial lane of a certain lane-changing unit corresponding to a variable lane range of the certain lane-changing unit to the lane-change handling system if the high-precision map information of the initial lane of the certain lane-changing unit has been transmitted to the lane-change handling system before traveling to a start position of the variable lane range of the certain lane-changing unit; otherwise, sending the part which is not sent in the high-precision map information of the initial lane corresponding to the lane changing range of the certain lane changing unit to the lane changing control system, and stopping sending the high-precision map information of the initial lane to the lane changing control system.
5. The method of claim 1, further comprising:
stopping transmitting high-precision map information of an initial lane of a certain lane change unit corresponding to a variable lane range of the certain lane change unit and a second buffer section to the lane change control system if the high-precision map information of the initial lane of the certain lane change unit has been transmitted to the lane change control system before traveling to a start position of the variable lane range of the certain lane change unit; otherwise, sending the part which is not sent in the variable lane range corresponding to the certain lane change unit and the high-precision map information of the initial lane of the second buffer section to the lane change control system, and stopping sending the high-precision map information of the initial lane to the lane change control system; wherein the second buffer section is a section formed continuously from a variable lane range of the certain lane changing unit.
6. The method of claim 1, further comprising:
transmitting high-precision map information of a lane or road corresponding to the target lane of the certain lane-changing unit to the lane-change handling system if the certain lane-changing unit is the last one of the plurality of lane-changing units before traveling to the start position of the variable lane range of the certain lane-changing unit.
7. The method of claim 1, wherein the lane-change handling system is an Advanced Driver Assistance System (ADAS).
8. A high-precision map processing apparatus for automatic lane change for driving, comprising:
a determination unit configured to determine a road change position from the navigation route and the current vehicle position;
a planning unit configured to plan a plurality of lane change units required to reach the road change location, wherein each lane change unit corresponds to at least one lane change and each lane change unit has a corresponding lane change range; and
a transmitting unit configured to transmit high-precision map information of a target lane of a certain lane-changing unit to a lane-change handling system if the certain lane-changing unit is not the last of the plurality of lane-changing units before traveling to a start position of a variable lane range of the certain lane-changing unit, wherein the transmitted high-precision map information includes high-precision map information of the target lane corresponding to the variable lane range of the certain lane-changing unit and high-precision map information of the target lane corresponding to a variable lane range of a next lane-changing unit of the certain lane-changing unit.
9. The apparatus of claim 8, wherein the planning unit is further configured to:
setting a value of a variable lane range of each of the lane change units according to the following condition:
the lane changing range of each lane changing unit does not exceed the allowable lane changing range of the corresponding lane line; and
the sum of the variable lane ranges of the plurality of lane change units does not exceed the distance of the current vehicle position to the road change position.
10. The apparatus of claim 8, wherein the transmitting unit is further configured to:
the transmitted high-precision map information further includes high-precision map information of the target lane corresponding to a first buffer section, wherein the first buffer section is a section continued from a variable lane range of the next lane change unit.
11. The apparatus of claim 8, wherein the transmitting unit is further configured to:
stopping transmitting high-precision map information of an initial lane of a certain lane-changing unit corresponding to a variable lane range of the certain lane-changing unit to the lane-change handling system if the high-precision map information of the initial lane of the certain lane-changing unit has been transmitted to the lane-change handling system before traveling to a start position of the variable lane range of the certain lane-changing unit; otherwise, sending the part which is not sent in the high-precision map information of the initial lane corresponding to the lane changing range of the certain lane changing unit to the lane changing control system, and stopping sending the high-precision map information of the initial lane to the lane changing control system.
12. The apparatus of claim 8, wherein the transmitting unit is further configured to:
stopping transmitting high-precision map information of an initial lane of a certain lane change unit corresponding to a variable lane range of the certain lane change unit and a second buffer section to the lane change control system if the high-precision map information of the initial lane of the certain lane change unit has been transmitted to the lane change control system before traveling to a start position of the variable lane range of the certain lane change unit; otherwise, sending the part which is not sent in the variable lane range corresponding to the certain lane change unit and the high-precision map information of the initial lane of the second buffer section to the lane change control system, and stopping sending the high-precision map information of the initial lane to the lane change control system; wherein the second buffer section is a section formed continuously from a variable lane range of the certain lane changing unit.
13. The apparatus of claim 8, wherein the transmitting unit is further configured to:
transmitting high-precision map information of a lane or road corresponding to the target lane of the certain lane-changing unit to the lane-change handling system if the certain lane-changing unit is the last one of the plurality of lane-changing units before traveling to the start position of the variable lane range of the certain lane-changing unit.
14. The apparatus of claim 8, wherein the lane-change handling system is an Advanced Driver Assistance System (ADAS).
15. A computer storage medium in which a computer program is stored, the computer program being executable by a processor to implement a method according to any one of claims 1-7.
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