CN116861650A - Vehicle speed limit information processing method for high-precision map reconstruction - Google Patents
Vehicle speed limit information processing method for high-precision map reconstruction Download PDFInfo
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Abstract
The invention discloses a vehicle speed limit information processing method for high-precision map reconstruction, which comprises the following steps: a map reconstruction process; judging; a vehicle speed limit value 1 process; a vehicle speed limit value 2 process; a vehicle speed limit value 3 and a vehicle speed limit value 4; road section curvature vehicle speed limiting process; a road section speed limit sign vehicle speed limit process; taking a small process; acceleration optimization limit process. The vehicle speed limit information processing method for high-precision map reconstruction can obtain front road information (tunnel, branch road, curvature and speed limit sign), correspondingly calculate different vehicle speed limit values respectively, rationally optimize limit values by utilizing acceleration upper and lower limit thresholds after multi-parameter fusion, and finally obtain a final vehicle speed limit value.
Description
Technical Field
The invention relates to the field of automobile design and manufacture, in particular to a vehicle speed limit information processing method for high-precision map reconstruction.
Background
In the normal running process of the vehicle, the driver freely controls the speed of the vehicle only according to personal driving experience and is limited by road speed limit signs.
The existing technical scheme designs a vehicle speed threshold from the angles of road surface quality, driving-induced vibration or safety and the like respectively by detecting the current driving environment and road segment indication lamp information in front and combining the current cellular network position (used for judging whether the accident is in multiple places or not);
the prior technical proposal has the following defects:
1. the design consideration angle is single, for example, only the influence of road surface quality is considered, or only the influence caused by accidents is considered, and the universality of the vehicle speed limit value is required to be improved;
2. the utilization of the road information in front is relatively incomplete, such as using only the road segment indicator light information in front, the gradient information in front, etc., and much available space remains to be mined.
Aiming at the defects, whether the high-precision map message information can be reconstructed by analyzing an Adasis V2 protocol message, and the limitation processing and the optimization of the vehicle speed information are comprehensively fused according to the information such as the reconstructed tunnel, gradient, turnout, curvature, speed limit sign and the like.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a vehicle speed limit information processing method for reconstructing a high-precision map, which can obtain front road information (tunnel, fork, curvature and speed limit sign) to correspondingly calculate different vehicle speed limit values respectively, rationally optimize limit values by utilizing acceleration upper and lower limit thresholds after multi-parameter fusion, and finally obtain a final vehicle speed limit value.
In order to achieve the above object, the present invention provides a vehicle speed limit information processing method for high-precision map reconstruction, comprising: a map reconstruction process; judging; a vehicle speed limit value 1 process; a vehicle speed limit value 2 process; a vehicle speed limit value 3 and a vehicle speed limit value 4; road section curvature vehicle speed limiting process; a road section speed limit sign vehicle speed limit process; taking a small process; acceleration optimization limit process.
In a preferred embodiment, the map reconstruction process comprises: and acquiring a Position, stub, segment, profileShort, profileLong and meta message sent by the map terminal T-BOX according to an Adasis V2 protocol, analyzing and acquiring current vehicle Position offset information, acquiring gradient values and Position offset thereof, curvature values and Position offset thereof within a certain distance in front of a vehicle, traffic sign vehicle speed limit and Position offset thereof, sub-fork Position offset information, tunnel information and Position offset thereof, calling and using the information and the tunnel information and the Position offset thereof according to requirements in an array, comparing the array offset according to vehicle Position comparison, and deleting outdated array data positioned behind a certain distance behind the vehicle to release a storage space.
In a preferred embodiment, the determining process includes: when the road section approaches the tunnel, and whether the road section is in a turnout, an ascending slope or a descending slope exists in the front, triggering and calculating a corresponding limit value.
In a preferred embodiment, the vehicle speed limit 1 process: acquiring front tunnel information by comparing the vehicle position offset with the array offset, and setting the vehicle speed limit value as 1 when a tunnel appears within a front first distance; returning to the original limit value when the tunnel is opened at the second distance in front;
the vehicle speed limit 2 process includes: the method comprises the steps of dividing the speed limiting value into four speed limiting points, inserting a speed limiting value 2 at a position of a fork and a third distance behind the position, adding linear interpolation at a fourth distance before and after the two positions, and removing other speed limiting points in the area;
the vehicle speed limit 3 and the vehicle speed limit 4 processes include: after the map is reconstructed, firstly, gradient segmentation is carried out according to the condition that the gradient is below-0.2 percent, the condition that the gradient is between-0.2 percent and 0.2 percent is a flat road and the condition that the gradient is above 2 percent is an ascending slope, average gradient of each segment is obtained, a calibration curve pulse spectrum is respectively constructed for the descending slope and the ascending slope, the horizontal coordinate of the pulse spectrum is the average gradient, the vertical coordinate is the corresponding vehicle speed limit value, the vehicle speed of the fifth distance on the upper side or the lower side of the slope and the corresponding vehicle speed after the ascending/descending slope are counted according to the gradient-vehicle speed relation graph counted by the big data platform, and a reasonable vehicle speed limit value pulse spectrum is set.
In a preferred embodiment, the road curvature vehicle speed limiting process includes: considering the limit condition of the vehicle when turning, under the assumption of the condition of a dry road surface all the time, the vehicle speed limit value can be obtained by deducing a stress formula, and the deduction process is as follows:
tanα＝pq
when the road slope angle is small, the following steps are obtained:
wherein: v-vehicle speed, km/h, g-gravity scaling factor, about 9.8N/kg, R-tire radius, m, μh-tire lateral adhesion coefficient, pq-road slope tangent.
In a preferred embodiment, the road segment speed limit sign vehicle speed limit process includes: and acquiring the effective vehicle speed limit information acquired in the map reconstruction process.
In a preferred embodiment, the vehicle speed limit value 1 process, the vehicle speed limit value 2 process, the vehicle speed limit value 3 and the vehicle speed limit value 4 process, the road curvature vehicle speed limit process and the road speed limit sign vehicle speed limit process are calculated and the enabled vehicle speed limit value is processed to be minimum.
In a preferred embodiment, the acceleration optimization limit process includes: when the speed limit value is suddenly changed, the acceleration is used for smoothing, and the maximum acceleration and the minimum acceleration which are most likely to be reached by the current speed are used for calculating a new target offset amax 、offset amin If offset amin The original target offset is not less than or equal to the offset amax The vehicle speed limit is kept unchanged, otherwise, the vehicle speed limit calculated by the maximum acceleration and the minimum acceleration is adjusted.
In a preferred embodiment, the distance in front of the vehicle is taken as a configurable distance.
In a preferred embodiment, the first distance, the second distance, the third distance, and the fourth distance are configurable distances.
Compared with the prior art, the vehicle speed limit information processing method for high-precision map reconstruction has the following beneficial effects: the method can fully mine and utilize the content information of the Adasis V2 protocol message based on high-precision map reconstruction, comprehensively consider five conditions of a tunnel, a gradient, a turnout, a curvature and a speed limit sign, and obtain a final speed limit value; the speed limit value is subjected to acceleration optimization, so that adverse experiences such as shrugging, pushing back and the like caused by abrupt change can not occur, and the requirements of human driving comfort are met; the vehicle speed limit value provides guidance for the planning of the predictive cruising vehicle speed, and gives consideration to timeliness, for example, when the vehicle is ready to reach a downhill, the vehicle speed is not allowed to exceed the limit value, and overspeed and the like after the vehicle descends can be prevented; the method has great significance for the subsequent predictive thermal management application, and after the vehicle speed limit value is calculated at the position points on the map, the power can be calculated, so that the predictive control of the fan, the thermostat and the like is performed.
Drawings
Fig. 1 is a flowchart of a vehicle speed limit information processing method according to an embodiment of the present invention;
FIG. 2 is a graphical representation of vehicle speed versus average grade coordinates in accordance with an embodiment of the present invention;
FIG. 3 is a force analysis chart that accounts for vehicle cornering extremes, according to one embodiment of the present invention;
fig. 4 is a schematic diagram of vehicle speed correction at the time of normal running of the vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of vehicle speed correction when the vehicle reaches a road speed limit starting point in accordance with one embodiment of the present invention;
FIG. 6 is a schematic diagram of vehicle speed correction after speed limit correction by fusion of speed limit markers in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of vehicle speed correction when a fusion vehicle encounters an intersection in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of vehicle speed correction when a fusion vehicle encounters an uphill grade according to an embodiment of the invention;
FIG. 9 is a schematic diagram of vehicle speed correction when a fusion vehicle encounters a tunnel, according to one embodiment of the present invention;
FIG. 10 is a schematic diagram of vehicle speed correction when a fusion vehicle encounters a downhill grade, according to an embodiment of the present invention;
fig. 11 is a schematic diagram of vehicle speed correction after fusion vehicle acceleration optimization according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 1, a vehicle speed limit information processing method for high-precision map reconstruction according to a preferred embodiment of the present invention includes: a map reconstruction process; judging; a vehicle speed limit value 1 process; a vehicle speed limit value 2 process; a vehicle speed limit value 3 and a vehicle speed limit value 4; road section curvature vehicle speed limiting process; a road section speed limit sign vehicle speed limit process; taking a small process; acceleration optimization limit process.
In some implementations, the map reconstruction process includes: and acquiring a Position, stub, segment, profileShort, profileLong and meta message sent by the map terminal T-BOX according to an Adasis V2 protocol, analyzing and acquiring current vehicle Position offset information, acquiring gradient values and Position offset thereof, curvature values and Position offset thereof within a certain distance in front of a vehicle, traffic sign vehicle speed limit and Position offset thereof, sub-fork Position offset information, tunnel information and Position offset thereof, calling and using the information and the tunnel information and the Position offset thereof according to requirements in an array, comparing the array offset according to vehicle Position comparison, and deleting outdated array data positioned behind a certain distance behind the vehicle to release a storage space.
Referring to fig. 1, in some embodiments, the determining process includes: when the road section approaches the tunnel, and whether the road section is in a turnout, an ascending slope or a descending slope exists in the front, triggering and calculating a corresponding limit value.
As shown in fig. 2 and 4-10, in some embodiments, the vehicle speed limit 1 process: acquiring front tunnel information by comparing the vehicle position offset with the array offset, and setting the vehicle speed limit value as 1 when a tunnel appears within a front first distance; returning to the original limit value when the tunnel is opened at the second distance in front;
the vehicle speed limit 2 process includes: the method comprises the steps of dividing the speed limiting value into four speed limiting points, inserting a speed limiting value 2 at a position of a fork and a third distance behind the position, adding linear interpolation at a fourth distance before and after the two positions, and removing other speed limiting points in the area;
the vehicle speed limit 3 and the vehicle speed limit 4 processes include: after the map is reconstructed, firstly, gradient segmentation is carried out according to the condition that the gradient is below-0.2 percent, the condition that the gradient is between-0.2 percent and 0.2 percent is a flat road and the condition that the gradient is above 2 percent is an ascending slope, average gradient of each segment is obtained, a calibration curve pulse spectrum is respectively constructed for the descending slope and the ascending slope, the horizontal coordinate of the pulse spectrum is the average gradient, the vertical coordinate is the corresponding vehicle speed limit value, the vehicle speed of the fifth distance on the upper side or the lower side of the slope and the corresponding vehicle speed after the ascending/descending slope are counted according to the gradient-vehicle speed relation graph counted by the big data platform, and a reasonable vehicle speed limit value pulse spectrum is set.
As shown in fig. 3, in some embodiments, the road segment curvature vehicle speed limit process includes: considering the limit condition of the vehicle when turning, under the assumption of the condition of a dry road surface all the time, the vehicle speed limit value can be obtained by deducing a stress formula, and the deduction process is as follows:
tanα＝pq
when the road slope angle is small, the following steps are obtained:
wherein: v-vehicle speed, km/h, g-gravity scaling factor, about 9.8N/kg, R-tire radius, m, μh-tire lateral adhesion coefficient, pq-road slope tangent.
In some embodiments, the road segment speed limit sign vehicle speed limit process includes: and acquiring the effective vehicle speed limit information acquired in the map reconstruction process.
In some embodiments, the vehicle speed limit 1 process, the vehicle speed limit 2 process, the vehicle speed limit 3 and vehicle speed limit 4 process, the road curvature vehicle speed limit process, and the road speed limit flag vehicle speed limit process are calculated and the enabled vehicle speed limit is minimized.
As shown in fig. 11, in some embodiments, the acceleration optimization limit process includes: when the speed limit value is suddenly changed, the acceleration is used for smoothing, and the maximum acceleration and the minimum acceleration which are most likely to be reached by the current speed are used for calculating a new target offset amax 、offset amin If offset amin The original target offset is not less than or equal to the offset amax The vehicle speed limit is kept unchanged, otherwise, the vehicle speed limit calculated by the maximum acceleration and the minimum acceleration is adjusted.
In some embodiments, the distance ahead of the vehicle is taken to be a configurable distance, such as but not limited to between 1 and 3 kilometers, a first distance is a configurable distance, such as but not limited to between 8 and 12m, a second distance is a configurable distance, such as but not limited to between 18 and 22m, a third distance is a configurable distance, such as but not limited to between 8 and 12m, and a fourth distance is a configurable distance, such as but not limited to between 8 and 12 m. In theory, the distance may be arbitrarily matched and may be set to any value, but in practice, the distance is also within a reasonable range, so the foregoing distances of the respective configurations are only exemplary, and the present invention is not limited thereto.
In summary, the vehicle speed limit information processing method related to high-precision map reconstruction of the present invention has the following advantages: the method can fully mine and utilize the content information of the Adasis V2 protocol message based on high-precision map reconstruction, comprehensively consider five conditions of a tunnel, a gradient, a turnout, a curvature and a speed limit sign, and obtain a final speed limit value; the speed limit value is subjected to acceleration optimization, so that adverse experiences such as shrugging, pushing back and the like caused by abrupt change can not occur, and the requirements of human driving comfort are met; the vehicle speed limit value provides guidance for the planning of the predictive cruising vehicle speed, and gives consideration to timeliness, for example, when the vehicle is ready to reach a downhill, the vehicle speed is not allowed to exceed the limit value, and overspeed and the like after the vehicle descends can be prevented; the method has great significance for the subsequent predictive thermal management application, and after the vehicle speed limit value is calculated at the position points on the map, the power can be calculated, so that the predictive control of the fan, the thermostat and the like is performed.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. A vehicle speed limit information processing method concerning high-precision map reconstruction, characterized by comprising:
a map reconstruction process;
judging;
a vehicle speed limit value 1 process;
a vehicle speed limit value 2 process;
a vehicle speed limit value 3 and a vehicle speed limit value 4;
road section curvature vehicle speed limiting process;
a road section speed limit sign vehicle speed limit process;
taking a small process; and
acceleration optimization limit process.
2. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 1, wherein the map reconstruction process includes: and acquiring a Position, stub, segment, profileShort, profileLong and meta message sent by the map terminal T-BOX according to an Adasis V2 protocol, analyzing and acquiring current vehicle Position offset information, acquiring gradient values and Position offset thereof, curvature values and Position offset thereof within a certain distance in front of a vehicle, traffic sign vehicle speed limit and Position offset thereof, sub-fork Position offset information, tunnel information and Position offset thereof, calling and using the information and the tunnel information and the Position offset thereof according to requirements in an array, comparing the array offset according to vehicle Position comparison, and deleting outdated array data positioned behind a certain distance behind the vehicle to release a storage space.
3. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 2, wherein the judging process includes: when the road section approaches the tunnel, and whether the road section is in a turnout, an ascending slope or a descending slope exists in the front, triggering and calculating a corresponding limit value.
4. The vehicle speed limit information processing method concerning high-precision map reconstruction as claimed in claim 2, characterized in that,
the vehicle speed limit value 1 process is as follows: acquiring front tunnel information by comparing the vehicle position offset with the array offset, and setting the vehicle speed limit value as 1 when a tunnel appears within a front first distance; returning to the original limit value when the tunnel is opened at the second distance in front;
the vehicle speed limit 2 process includes: the method comprises the steps of dividing the speed limiting value into four speed limiting points, inserting a speed limiting value 2 at a position of a fork and a third distance behind the position, adding linear interpolation at a fourth distance before and after the two positions, and removing other speed limiting points in the area;
the vehicle speed limit 3 and the vehicle speed limit 4 process comprise: after the map is reconstructed, firstly, gradient segmentation is carried out according to the condition that the gradient is below-0.2 percent, the condition that the gradient is between-0.2 percent and 0.2 percent is a flat road and the condition that the gradient is above 2 percent is an ascending slope, average gradient of each segment is obtained, a calibration curve pulse spectrum is respectively constructed for the descending slope and the ascending slope, the horizontal coordinate of the pulse spectrum is the average gradient, the vertical coordinate is the corresponding vehicle speed limit value, the vehicle speed of the fifth distance on the upper side or the lower side of the slope and the corresponding vehicle speed after the ascending/descending slope are counted according to the gradient-vehicle speed relation graph counted by the big data platform, and a reasonable vehicle speed limit value pulse spectrum is set.
5. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 2, wherein the road section curvature vehicle speed limit process includes: considering the limit condition of the vehicle when turning, under the assumption of the condition of a dry road surface all the time, the vehicle speed limit value can be obtained by deducing a stress formula, and the deduction process is as follows:
tanα＝pq
when the road slope angle is small, the following steps are obtained:
wherein: v-vehicle speed, km/h, g-gravity scaling factor, about 9.8N/kg, R-tire radius, m, μh-tire lateral adhesion coefficient, pq-road slope tangent.
6. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 2, wherein the road segment speed limit flag vehicle speed limit process includes: and acquiring the effective vehicle speed limit information acquired in the map reconstruction process.
7. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 2, wherein the vehicle speed limit value 1 process, the vehicle speed limit value 2 process, the vehicle speed limit value 3 and vehicle speed limit value 4 process, the road section curvature vehicle speed limit process, and the road section speed limit flag vehicle speed limit process are calculated and the enabled vehicle speed limit value is processed to be minimum.
8. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 2, wherein the acceleration optimization limit process includes: when the speed limit value is suddenly changed, the acceleration is used for smoothing, and the maximum acceleration and the minimum acceleration which are most likely to be reached by the current speed are used for calculating a new target offset amax 、offset amin If offset amin Original target is not more than The vehicle speed limit is kept unchanged, otherwise the vehicle speed limit calculated by the maximum and minimum accelerations is adjusted.
9. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 2, wherein the acquisition vehicle is ahead by a distance that is a configurable distance.
10. The vehicle speed limit information processing method regarding high-precision map reconstruction according to claim 4, wherein the first distance, the second distance, the third distance, and the fourth distance are configurable distances.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117549916A (en) * | 2024-01-12 | 2024-02-13 | 中印云端(深圳)科技有限公司 | New energy automobile intelligent control system based on thing networking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117549916A (en) * | 2024-01-12 | 2024-02-13 | 中印云端(深圳)科技有限公司 | New energy automobile intelligent control system based on thing networking |
| CN117549916B (en) * | 2024-01-12 | 2024-03-19 | 中印云端(深圳)科技有限公司 | New energy automobile intelligent control system based on thing networking |
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