CN117141494A - Lane-level navigation map generation method, system and medium - Google Patents

Lane-level navigation map generation method, system and medium Download PDF

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Publication number
CN117141494A
CN117141494A CN202311099763.1A CN202311099763A CN117141494A CN 117141494 A CN117141494 A CN 117141494A CN 202311099763 A CN202311099763 A CN 202311099763A CN 117141494 A CN117141494 A CN 117141494A
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China
Prior art keywords
lane
vehicle
map
road
information
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CN202311099763.1A
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Chinese (zh)
Inventor
蒲果
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202311099763.1A priority Critical patent/CN117141494A/en
Publication of CN117141494A publication Critical patent/CN117141494A/en
Pending legal-status Critical Current

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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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W40/06—Road conditions
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a method, a system and a medium for generating a lane-level navigation map, wherein the method is applied to the system for generating the lane-level navigation map deployed on a vehicle, and comprises the following steps: adopting a computing unit, and under the condition that the vehicle drives into a complex road section, creating a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section acquired from the acquisition unit; creating, with a computing unit, a first road map having a lane travel direction of a first lane and a second road map having a lane travel direction of a second lane based on the current road map; the first lane is a lane in which the vehicle runs; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels; and a calculation unit is adopted to fuse the first road map and the second road map, so as to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section. The application can improve the efficiency and the accuracy of constructing the lane-level navigation map.

Description

Lane-level navigation map generation method, system and medium
Technical Field
The embodiment of the application relates to the technical field of automobile auxiliary driving, in particular to a method, a system and a medium for generating a lane-level navigation map.
Background
The current pilot aided driving system mainly determines the driving path and the corresponding driving lane of the vehicle according to a high-precision navigation map. In the related art, the driving direction identification of each lane in the road sign is usually identified based on image acquisition, or the lanes needing to be mapped are all driven once to acquire corresponding road information so as to construct a high-precision navigation map corresponding to complex road sections such as intersections, branches and the like; therefore, the problems that if a large-area lane line is blank or road sign is wrong and the like exist in a complex road section, the accuracy of map construction is low, or the problem that the learning period is long and the data storage amount is large and the like exist, so that the time and the cost are consumed for map construction.
Disclosure of Invention
The embodiment of the application aims to provide a method, a system and a medium for generating a lane-level navigation map, which are used for solving the problems that in the prior art, the accuracy of constructing a high-precision navigation map on a complex road section is low, the construction time is long and the construction cost is high in the construction process, and the lane-level navigation map which corresponds to the complex road section and has a multi-lane running direction can be constructed through a single journey of a vehicle, namely, when the vehicle runs on the complex road section, based on a first road map with the lane running direction of the lane on which the vehicle runs and a second road map with the lane running direction of the lane on which the vehicle runs, so that the efficiency and the accuracy of constructing the lane-level navigation map, namely, the high-precision navigation map can be improved.
In order to achieve the above object, an embodiment of the present application provides a method for generating a lane-level navigation map, which is applied to a system for generating a lane-level navigation map deployed on a vehicle, the system for generating a lane-level navigation map including: the generation method comprises the following steps of:
adopting the computing unit, and under the condition that the vehicle drives into a complex road section, creating a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section acquired from the acquisition unit;
creating, with the computing unit, a first road map having a lane travel direction of a first lane and a second road map having a lane travel direction of a second lane based on the current road map; wherein the first lane is a lane in which the vehicle travels; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels;
and fusing the first road map and the second road map by adopting the computing unit to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section.
In some embodiments of the present application, the system for generating a lane-level navigation map further includes: the navigation map unit adopts the calculation unit, and under the condition that the vehicle drives into a complex road section, the method further comprises the following steps before the positioning information of the vehicle and the road information of the complex road section are acquired from the acquisition unit and the current road map corresponding to the vehicle is created: acquiring navigation map road information corresponding to the vehicle in the driving process acquired by the navigation map unit by adopting the computing unit; and adopting the calculating unit, and determining that the vehicle is driven into the complex road section based on the road information of the navigation map, wherein the road attribute is represented as complex road conditions.
Therefore, whether the vehicle enters a complex road section is further confirmed based on the navigation map road information acquired by the navigation map unit, the judgment capability of the computing unit can be improved, and a basis is provided for subsequent execution of related computation.
In some embodiments of the present application, the calculating unit, when the vehicle is driven into a complex road section, creates a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section acquired from the acquiring unit, including: and under the condition that the vehicle drives into a complex road section, the calculation unit is adopted, the positioning information of the vehicle collected by the collection unit is taken as a reference point, and the current road map is created based on the road information of the navigation map collected by the navigation map unit and the road information collected by the collection unit.
In this way, the calculation unit is adopted to fuse the road information of the complex road section and the road information of the navigation map with the real-time running information (positioning information) of the vehicle so as to generate the current road map which has higher accuracy and is more matched with the current running condition of the vehicle.
In some embodiments of the present application, the system for generating a lane-level navigation map further includes: the turn signal acquisition unit is configured to, before the calculating unit is configured to create, based on the current road map, a first road map having a lane driving direction of a first lane and a second road map having a lane driving direction of a second lane, the method further includes: the calculating unit is used for acquiring the steering lamp state of the vehicle acquired by the steering lamp acquisition unit and the front vehicle information of the front vehicle acquired by the acquisition unit; the creating, with the computing unit, a first road map having a lane travel direction of a first lane and a second road map having a lane travel direction of a second lane based on the current road map, includes: adopting the computing unit to create the first road map based on the turn light state and the current road map; and adopting the computing unit to create the second road map based on the front vehicle information and the current road map.
In this way, the first road map corresponding to the vehicle, namely the vehicle, is created based on the state of the turn light and the current road map, and the second road map corresponding to the front vehicle is created based on the front vehicle information and the current road map, so that the accuracy of corresponding road map generation can be improved, and a parameter basis is provided for subsequently creating a lane-level navigation map with a multi-lane driving direction corresponding to a complex road section.
In some embodiments of the present application, the creating, with the computing unit, the first road map based on the turn signal status and the current road map includes: acquiring the turn-light starting information carried in the turn-light state by adopting the computing unit; and adopting the computing unit to establish the first road map by fusing with the positioning information of the vehicle based on the starting information and the current road map.
In this way, the first road map having the driving direction of the lane in which the vehicle is driving is constructed based on the turn-on information of the turn signal lamp of the vehicle, the positioning information of the vehicle and the current road map are fused, so that the accuracy of the constructed first road map is higher on the basis of the driving information (the turn-on information and the positioning information of the turn signal lamp) of the reference vehicle.
In some embodiments of the present application, the creating, with the computing unit, the second road map based on the preceding vehicle information and the current road map includes: acquiring positioning information of the front vehicle in the front vehicle information by adopting the computing unit; and adopting the computing unit to create the second road map based on the current road map, the positioning information of the preceding vehicle and the positioning information of the vehicle.
In this way, the second road map having the driving direction of the lane in which the preceding vehicle is driving is constructed based on the positioning information of the preceding vehicle, the positioning information of the vehicle, and the current road map, and thus, the accuracy of the constructed second road map is made higher on the basis of the driving information of the preceding vehicle and the driving information of the vehicle.
In some embodiments of the present application, the generating method further includes: and transmitting the lane-level navigation map to a control unit of the vehicle through a communication bus on the vehicle by adopting the computing unit, so that the control unit controls the vehicle to run in the complex road section based on the lane-level navigation map.
Therefore, information interaction is carried out with a control unit on the vehicle through a communication bus on the vehicle, and the vehicle is controlled to run on a complex road section based on the calculated lane-level navigation map, so that the running efficiency of the vehicle on the complex road section is improved.
In some embodiments of the present application, the system for generating a lane-level navigation map further includes: the high-precision map unit, the generating method further comprises: the calculation unit is adopted to send the lane-level navigation map to the high-precision map unit, so that the high-precision map unit updates an initial high-precision navigation map based on the lane-level navigation map to obtain an updated high-precision navigation map; the initial high-precision navigation map is a high-precision navigation map corresponding to the complex road section.
In this way, the calculated lane-level navigation map may be updated or adjusted by the calculation unit, so that the accuracy of the finally obtained lane-level navigation map (high-accuracy navigation map) is higher.
The embodiment of the application also provides a system for generating the lane-level navigation map, which is deployed on a vehicle and comprises the following components:
the acquisition unit is configured to acquire positioning information of the vehicle and road information of the complex road section;
the calculating unit is configured to create a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section under the condition that the vehicle is driven into the complex road section;
The computing unit is further configured to create a first road map with a lane travel direction of a first lane and a second road map with a lane travel direction of a second lane based on the current road map; wherein the first lane is a lane in which the vehicle travels; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels;
the computing unit is further configured to fuse the first road map and the second road map to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section.
Correspondingly, the embodiment of the application also provides a computer storage medium, wherein the computer storage medium is stored with computer executable instructions, and the method for generating the lane-level navigation map can be realized after the computer executable instructions are executed.
The embodiment of the application has the beneficial effects that:
the method can solve the problems of low accuracy, long manufacturing time and high manufacturing cost in the process of constructing the high-precision navigation map on the complex road section in the prior art, and can construct the lane-level navigation map with the multi-lane driving direction corresponding to the complex road section by a single journey of a vehicle, namely, when the vehicle is driven on the complex road section, based on a first road map with the lane driving direction of the lane driven by the vehicle and a second road map with the lane driving direction of the lane driven by the front vehicle, thereby improving the efficiency and the accuracy of constructing the lane-level navigation map, namely, the high-precision navigation map.
Drawings
For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
fig. 1 is a flow chart of a method for generating a lane-level navigation map according to an embodiment of the present application;
fig. 2 is a flowchart of another method for generating a lane-level navigation map according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for generating a lane-level navigation map according to an embodiment of the present application;
fig. 4 is a system frame diagram of a system corresponding to a method for generating a lane-level navigation map according to an embodiment of the present application;
FIG. 5 is a frame diagram of related information generated by an execution flow corresponding to the method for generating a lane-level navigation map according to an embodiment of the present application;
fig. 6 is a schematic diagram of a composition structure of a system for generating a lane-level navigation map according to an embodiment of the present application.
Detailed Description
Further advantages and effects of the present application will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
In the following description, the terms "first", "second", "third" and the like are merely used to distinguish similar objects and do not represent a specific ordering of the objects, it being understood that the "first", "second", "third" may be interchanged with a specific order or sequence, as permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the application belong. The terminology used herein is for the purpose of describing embodiments of the application only and is not intended to be limiting of embodiments of the application.
In view of the above-mentioned problems in the related art, embodiments of the present application provide a method, a system, and a medium for generating a lane-level navigation map, so as to solve the problems in the prior art that the accuracy of constructing a high-precision navigation map on a complex road segment is low, and the construction time and the construction cost are long in the construction process.
The embodiment of the application provides a method for generating a lane-level navigation map, which is applied to a system for generating the lane-level navigation map deployed on a vehicle, wherein the system for generating the lane-level navigation map comprises the following steps: the calculation unit and the acquisition unit are shown in fig. 1, and are schematic flow diagrams of a method for generating a lane-level navigation map according to an embodiment of the present application; the following description is made with reference to fig. 1:
Step S101, adopting the computing unit, and under the condition that the vehicle drives into a complex road section, creating a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section acquired from the acquisition unit.
In some embodiments of the present application, the system for generating a lane-level navigation map may be deployed on a vehicle, and the corresponding acquisition unit included in the system may be used to acquire positioning information of the vehicle, road information corresponding to a complex road section, and the like, and at the same time, the computing unit in the system for generating a lane-level navigation map may be used to perform fusion computation on the positioning information and the road information of the vehicle acquired by the acquisition unit.
It should be noted that the system for generating a lane-level navigation map includes an acquisition unit, and the acquired information can be transmitted to a calculation unit through a data bus on the vehicle.
Wherein, the positioning information of the vehicle may include: absolute positioning coordinate information of the vehicle, etc., may also include longitude, latitude, altitude, time, etc.
Here, the complex road section may be: crossing, roundabout, bifurcation road segment, merging road segment, etc.
In some embodiments of the present application, the current road map corresponding to the vehicle may be a road map of a current road of the own vehicle (corresponding to the vehicle provided by the embodiment of the present application) with lane-level accuracy.
Here, the road information of the complex road section includes, but is not limited to: the road traffic system comprises the following components, wherein the components comprise fixed road elements such as lane lines, road edges, protective guardrails, red and green lamp poles, traffic signs, traffic platforms and the like, and the fixed road elements comprise the position, type, appearance and the like of the vehicles, and the fixed road elements comprise the position, type, appearance and the like of movable road elements such as road cones, temporary signs and the like, and the movable road elements comprise the position, type, appearance and the like of the vehicles, and the movable road elements can further comprise the information such as lane line positions, lane line types, lane line tracks, lane line starting points, road edge positions, road edge heights, road edge tracks, road edge starting points, protective guardrail positions, protective guardrail types, protective guardrail tracks, protective guardrail starting points, traffic light pole positions, street lamp numbers and positions, traffic sign types, traffic sign positions, traffic platform types, traffic platform positions, road cone types, road cone positions, temporary sign types, temporary sign positions and the like; meanwhile, the traffic light system can also comprise information such as lane line color, traffic light type, road edge color, guardrail color, traffic sign color, traffic platform color, road cone color, temporary sign color and the like.
Here, the acquisition unit may include: the vehicle positioning unit and the road perception unit, wherein, the vehicle positioning unit can be by: a global navigation satellite system (Global Navigation Satellite System, GNSS) +real-time differential positioning (RTK) +inertial measurement unit (Inertial Measurement Unit, IMU) +wheel speed sensor combined positioning module which fuses the satellite positioning system, differential positioning base station, vehicle inertial navigation system and vehicle wheel speed sensor information to provide lane-level absolute positioning coordinate information of the vehicle 2, including longitude, latitude, elevation, time and other information; the road sensing unit may be constituted by: the forward perception laser radar, the forward perception camera and the forward perception millimeter wave radar are formed; the road sensing unit is used for acquiring the road information.
Step S102, adopting the computing unit, and based on the current road map, creating a first road map with the lane driving direction of the first lane and a second road map with the lane driving direction of the second lane.
Wherein the first lane is a lane in which the vehicle travels; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels.
In some embodiments of the present application, a first road map having a lane travel direction of a first lane and a second road map having a lane travel direction of a second lane may be further created based on the current road map on the basis of determining the current road map using the calculation unit; the method can be based on the current road map and the turn signal state of the vehicle, and can be combined with the positioning information of the vehicle in the current road map to create a first road map with the lane driving direction of the road on which the vehicle is driven, or can be based on the current road map and the positioning information of the front vehicle, and can be combined with the positioning information of the vehicle in the current road map to create a second road map with the lane driving direction of the road on which the front vehicle is driven.
Here, the area located in front of the vehicle may refer to an area collected by a collection unit disposed on a generation system of a lane-level navigation map on the vehicle with a traveling direction of the vehicle as a reference view angle; meanwhile, the front vehicle located in the front area of the vehicle may include a vehicle traveling in the same direction as the vehicle, or may include a vehicle traveling in opposite directions to the vehicle; the number of the preceding vehicles may be one, or may be two or more.
And step S103, adopting the computing unit to fuse the first road map and the second road map to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section.
In some embodiments of the application, a computing unit is employed to fuse the first road map and the second road map; the method comprises the steps of carrying out fusion on coordinate information carried by a first road map and a second road map, so that a vehicle is driven in a complex road section, and a lane-level navigation map with a multi-lane driving path is created by a single journey.
Here, the lane-level navigation map having a multi-lane driving direction corresponding to the complex road section may include a driving path corresponding to each road (not limited to: one-way driving or two-way driving) in the complex road section, and lane driving direction information corresponding to each driving road section.
In this way, only by means of the acquisition unit and the calculation unit which are arranged in the system for generating the lane-level navigation map on the vehicle, the lane-level navigation map with the multi-lane driving direction corresponding to the complex road section can be constructed by a single journey of the vehicle, namely, when the vehicle is driven on the complex road section, based on the first road map with the lane driving direction of the lane driven by the vehicle and the second road map with the lane driving direction of the lane driven by the front vehicle, and the construction efficiency and the accuracy of constructing the lane-level navigation map, namely, the high-precision navigation map can be improved.
In some embodiments of the present application, in the case where the system for generating a lane-level navigation map further includes a navigation map unit, the computing unit may also be used to identify that the vehicle is driving into a complex road section based on the navigation map road information collected by the navigation map unit during the driving process of the vehicle, that is, in the method for generating a lane-level navigation map provided in the embodiment of the present application, before executing step S101, the following step S201 may also be executed. Fig. 2 is a schematic flow chart of another method for generating a lane-level navigation map according to an embodiment of the present application; the following description is made with reference to fig. 1 and 2:
step S201, using the computing unit to obtain navigation map road information corresponding to the vehicle during the running process, where the navigation map information is collected by the navigation map unit.
In some embodiments of the present application, a computing unit may be used to obtain navigation map road information corresponding to a vehicle acquired by a navigation map unit during a driving process; wherein the navigation map road information includes, but is not limited to: road attributes; information about whether the vehicle is driving into an intersection, a roundabout, a bifurcation link, a confluence link, etc. can be identified based on the road attribute.
Step S202, adopting the computing unit, and determining that the vehicle is driven into the complex road section based on the road attribute of the navigation map representing the road as the complex road condition.
In some embodiments of the present application, the calculating unit is adopted, based on the navigation map road information, the road attribute is represented as a complex road condition, that is, the current road condition of the vehicle is a complex road condition, so that it can be determined that the vehicle is driven into a complex road section.
Therefore, whether the vehicle enters a complex road section is further confirmed based on the navigation map road information acquired by the navigation map unit, the judgment capability of the computing unit can be improved, and a basis is provided for subsequent execution of related computation.
Correspondingly, when the road information of the navigation map is obtained, the calculation unit may be adopted, and the current road map is created based on the road information of the navigation map and the road information by taking the positioning information of the vehicle as a reference point, that is, the step S101 provided in the foregoing embodiment may be implemented in the following manner in step 203:
step S203, using the computing unit, and under the condition that the vehicle is driving into a complex road section, using the positioning information of the vehicle collected by the collecting unit as a reference point, and creating the current road map based on the road information of the navigation map collected by the navigation map unit and the road information collected by the collecting unit.
In some embodiments of the present application, the calculation unit is directly adopted, and the positioning information of the vehicle is taken as a reference point, so as to fuse the road information of the navigation map and the road information of the complex road section, so as to generate a new road map, namely, a current road map corresponding to the vehicle.
In this way, the calculation unit is adopted to fuse the road information of the complex road section and the road information of the navigation map with the real-time running information (positioning information) of the vehicle so as to generate the current road map which has higher accuracy and is more matched with the current running condition of the vehicle.
In some embodiments of the present application, the system for generating a navigation map at a lane level further includes: under the condition of the turn signal light acquisition unit, the calculation unit can be adopted to acquire the turn signal light state of the vehicle acquired by the turn signal light acquisition unit and the front vehicle information of the front vehicle acquired by the acquisition unit, and then the calculation unit is adopted to establish a first road map based on the turn signal light state and the current road map and establish a second road map based on the front vehicle information and the current road map. That is, in the method for generating a lane-level navigation map provided in the embodiment of the present application, the following step S301 may also be performed before step S102 is performed. Fig. 3 is a schematic flow chart of another method for generating a lane-level navigation map according to an embodiment of the present application; the following description is made with reference to fig. 1 and 3:
Step S301, using the computing unit to obtain the steering lamp state of the vehicle collected by the steering lamp collecting unit and the front vehicle information of the front vehicle collected by the collecting unit.
In some embodiments of the present application, the turn signal light collection unit may collect status information of a light disposed on a vehicle, wherein the light disposed on the vehicle may be disposed at any position of the vehicle. Wherein, the turn signal state includes: turning on and off, turning on the left steering lamp, turning on the right steering lamp, etc.
The acquisition unit is adopted, so that road information of a complex road section can be acquired, and front vehicle information of a front vehicle can be acquired, wherein the front vehicle information of the front vehicle comprises, but is not limited to: the type, number, real-time position relative to the host vehicle (vehicle), color, etc. of the preceding vehicle.
It should be noted that the turn signal of the vehicle includes, but is not limited to: turn signals disposed on the left and right sides of the vehicle.
Correspondingly, on the basis that the calculating unit acquires the turn signal state and the preceding vehicle information, the following steps S302 and S303 may be further performed:
step S302, using the computing unit, creating the first road map based on the turn signal status and the current road map.
In some possible embodiments of the present application, the computing unit may be used to analyze the turn-on information of the turn-around lamp carried in the turn-around lamp, and then create the first road map based on the turn-on information, the current road map, and the positioning information of the vehicle 2, that is, step S302 provided in the foregoing embodiment may be implemented by the following steps S3021 and S3022 (not shown in the figure):
step S3021, obtaining, by using the computing unit, turn-on information of the turn signal lamp carried in the turn signal lamp state;
step S3022, using the computing unit, to create the first road map by fusing with the positioning information of the vehicle based on the opening information and the current road map.
In some embodiments of the present application, the turn signal on information includes: start-stop time, which azimuth lamp is on (left or right lamp).
In this way, the first road map having the driving direction of the lane in which the vehicle is driving is constructed based on the turn-on information of the turn signal lamp of the vehicle, the positioning information of the vehicle and the current road map are fused, so that the accuracy of the constructed first road map is higher on the basis of the driving information (the turn-on information and the positioning information of the turn signal lamp) of the reference vehicle.
Step S303, using the computing unit, creating the second road map based on the preceding vehicle information and the current road map.
In some possible embodiments of the present application, a calculating unit may be used to obtain the positioning information of the front vehicle from the front vehicle information, and then construct a second road map with the driving direction of the lane in which the front vehicle is driving based on the positioning information of the front vehicle, the positioning information of the vehicle and the current road map, that is, step S303 provided in the foregoing embodiment may be implemented by the following steps S3031 and S3032 (not shown in the figure):
step S3031, using the computing unit to obtain positioning information of the preceding vehicle in the preceding vehicle information;
step S3032, using the computing unit, creating the second road map based on the current road map, the positioning information of the preceding vehicle, and the positioning information of the vehicle.
In some embodiments of the present application, the distance and the azimuth difference between the positioning information of the front vehicle and the positioning information of the vehicle can be determined according to the actual requirements.
The computing unit is configured to determine relative position information of the preceding vehicle with respect to the vehicle based on the positioning information of the preceding vehicle and the positioning information of the vehicle, and further construct the second road map based on the relative position information and the current road map.
In this way, the second road map having the driving direction of the lane in which the preceding vehicle is driving is constructed based on the positioning information of the preceding vehicle, the positioning information of the vehicle, and the current road map, and thus, the accuracy of the constructed second road map is made higher on the basis of the driving information of the preceding vehicle and the driving information of the vehicle.
In this way, the first road map corresponding to the vehicle, namely the vehicle, is created based on the state of the turn light and the current road map, and the second road map corresponding to the front vehicle is created based on the front vehicle information and the current road map, so that the accuracy of corresponding road map generation can be improved, and a parameter basis is provided for subsequently creating a lane-level navigation map with a multi-lane driving direction corresponding to a complex road section.
Based on the above description, the method for generating a lane-level navigation map provided by the embodiment of the present application can also execute the following step a:
and step A, transmitting the lane-level navigation map to a control unit of the vehicle by using the computing unit through a communication bus on the vehicle so that the control unit controls the vehicle to run in the complex road section based on the lane-level navigation map.
In some embodiments of the present application, the calculating unit is further configured to send the calculated lane-level navigation map to a control unit on the vehicle through a communication bus on the vehicle, so that the control unit on the vehicle controls the vehicle to travel in the complex road section based on the received lane-level navigation map.
Therefore, information interaction is carried out with a control unit on the vehicle through a communication bus on the vehicle, and the vehicle is controlled to run on a complex road section based on the calculated lane-level navigation map, so that the running efficiency of the vehicle on the complex road section is improved.
Meanwhile, the system for generating the navigation map at the lane level further comprises: under the condition of the high-precision map unit, the calculation unit can be adopted to send the lane-level navigation map to the high-precision map unit, so that the high-precision map unit can update the initial high-precision navigation map based on the lane-level navigation map to obtain an updated high-precision navigation map, namely, the generation method of the lane-level navigation map provided by the embodiment of the application can also execute the following step B:
step B, the calculation unit is adopted to send the lane-level navigation map to the high-precision map unit, so that the high-precision map unit updates an initial high-precision navigation map based on the lane-level navigation map to obtain an updated high-precision navigation map;
the initial high-precision navigation map is a high-precision navigation map corresponding to the complex road section.
Here, the vehicle (the system for generating a lane-level navigation map) may be further configured with a high-precision map unit, so that when the vehicle travels on a complex road segment, a high-precision navigation map corresponding to the complex road segment is generated, and the calculated lane-level navigation map may be further used by the calculation unit to update or adjust the high-precision navigation map generated by the high-precision map unit, so that the accuracy of the finally obtained lane-level navigation map (the high-precision navigation map) is higher.
The method for generating a lane-level navigation map is described below with reference to a specific embodiment, however, it should be noted that the specific embodiment is only for better illustrating the embodiment of the present application, and is not meant to be unduly limiting.
The current pilot auxiliary driving system determines a target driving path and a target driving lane according to the navigation path of the map and the high-precision map. In the related art, a pilot aided driving system based on a high-precision map is limited by the drawing period and drawing cost of the high-precision map. For the construction of complex road sections such as intersections, bifurcation road sections and the like, the driving direction and the driving path of a lane need to be identified; in the related art, the lane driving direction is identified by the following two schemes:
according to the scheme I, the driving direction marks of all lanes of the road sign are identified through the sensors such as the camera, the camera is required to match the roads and the lanes applicable to all road signs at the intersection, and because the road driving direction signs at the intersection and the bifurcation road sections are more, the possibility of mismatching of the road indication sign possibly exists, meanwhile, the road sections with large-area lane line blanks such as the intersection and the bifurcation road sections cannot obtain the paths of the corresponding target lanes through the scheme, and road network construction can not be completed.
In the second scheme, the vehicle to be driven runs the lane to be mapped once, the running path direction of the vehicle is collected, and the running direction mark in the lane is identified through sensors such as cameras, if the collection of the running direction of each lane is required to be completed, the user is required to complete the running coverage of each lane, and the problems of long learning period and large stored data quantity are solved.
Based on the above description, in order to alleviate the limitation of the current high-precision map drawing progress, a navigation map required by the navigation auxiliary driving function can be constructed in advance by learning the driving path and road information of the user. The embodiment of the application provides a method for generating a lane-level navigation map, which is deployed (carried) on a vehicle and comprises the following steps of: an electronic control (Electronic Control Unit, ECU) calculation unit 401, a navigation map unit 402, a vehicle steering lamp acquisition unit 403, a combined positioning unit 404 composed of gnss+rtk+imu+wheel speed sensor, a forward perception laser radar 405, a forward perception camera 406, a forward perception millimeter wave radar 407, a vehicle bus 408, and a high-precision map unit 409, as shown in fig. 4, are shown a system frame diagram of a system corresponding to the method for generating a lane-level navigation map provided by the embodiment of the present application.
The navigation map unit 402 can provide road-level road information including whether or not the road attribute is an intersection, a roundabout, a bifurcation link, or a confluence link.
The vehicle turn signal light collection unit 403 can provide information on the turning on/off of the left turn signal light and the right turn signal light in the vehicle.
The combined positioning unit 404 formed by the GNSS+RTK+IMU+wheel speed sensor fuses the satellite positioning system, the differential positioning base station, the vehicle inertial navigation system and the vehicle wheel speed sensor information to provide lane-level absolute positioning coordinate information of the vehicle, and comprises longitude, latitude, elevation, time and other information.
Forward perception lidar 405 provides road information of the road on which the vehicle is traveling and forward vehicle information, wherein: the road information comprises attribute information such as the position, type, appearance and the like of fixed road elements such as lane lines, road edges, protective guardrails, red and green lamp poles, road lamp poles, traffic signs and traffic stations relative to the vehicle, and also comprises attribute information such as the position, type, appearance and the like of movable road elements such as road cones and temporary signs relative to the vehicle, and specifically comprises information such as lane line positions, lane line types, lane line tracks, lane line starting and stopping points, road edge positions, road edge heights, road edge tracks, road edge starting and stopping points, protective guardrail positions, protective guardrail types, protective guardrail tracks, protective guardrail starting and stopping points, traffic lamp pole positions, road lamp numbers and positions, traffic sign types, traffic sign positions, traffic station types, traffic station positions, road cone types, road cone positions, temporary signs types and temporary signs positions. The preceding vehicle information includes the type of vehicle, the number of the vehicle, and the real-time position of the vehicle relative to the host vehicle.
The forward-looking camera 406 provides road information of a road on which the vehicle is traveling and forward vehicle information. The road information comprises road information identified by the laser radar, and can also comprise color information of road elements which cannot be identified by the laser radar, and specifically comprises lane line color, traffic light type, road edge color, guardrail color, traffic sign color, traffic platform color, road cone color and temporary indication board color. Color of the front vehicle information.
The forward sense millimeter wave radar 407 provides road information on which the vehicle is traveling and forward vehicle information corresponding to the preceding vehicle, including road information and forward vehicle information identified by the laser radar.
The high-precision map module 409 provides attribute information of whether the road on which the vehicle is located covers the high-precision map.
The ECU calculation unit 401 acquires information provided by the combined positioning unit 404, the forward perception laser radar 405, the forward perception camera 406, and the forward perception millimeter wave radar 407, which are formed by the navigation map unit 402, the vehicle steering lamp acquisition unit 403, the high-precision map unit 409, the gnss+rtk+imu+wheel speed sensor, learns and records the first road map 1 corresponding to the driving path of the vehicle, the second road map 2 corresponding to the driving path of the front vehicle, and creates the lane-level road map 3 corresponding to the first road map 1 and the second road map 2.
The vehicle bus 408 acquires information from each unit for the ECU calculation unit 401, and uploads the lane-level road map 3 created by the ECU calculation unit 401 to the vehicle bus 408 for the rear end demander of the intelligent driving algorithm module in the vehicle to call.
Correspondingly, the embodiment of the application also provides a frame diagram for generating relevant information by using the execution flow corresponding to the method for generating the lane-level navigation map, which can be shown in fig. 5:
first, as in the ECU calculation unit 401 shown in fig. 5, navigation map road information 501 is acquired from the navigation map unit 402, own vehicle positioning information 502 is acquired from the combined positioning unit 404 composed of gnss+rtk+imu+wheel speed sensor, and current road map 507 of own vehicle is created in combination with road information 503 to 505 acquired by each of the forward perception lidar 405, the forward perception camera 406, and the forward perception millimeter wave radar 407.
Here, the ECU calculation unit 401 determines whether or not the current road needs to start the corresponding lane-level navigation map generation step; the ECU calculation unit 401 obtains road-level navigation map information from the navigation map unit 402, including whether the road attribute is an intersection, a roundabout, a bifurcation road segment, and a confluence road segment; if the road where the vehicle is located is a crossing, a bifurcation road segment, and the like, the ECU calculation unit 401 starts to calculate various information collected by the relevant collection units, that is, the combined positioning unit 404 composed of gnss+rtk+imu+wheel speed sensor, the forward perception laser radar 405, the forward perception camera 406, and the forward perception millimeter wave radar 47.
Next, the ECU calculation unit 401 acquires the vehicle turn signal on/off information from the own vehicle turn signal acquisition unit 403, and performs own vehicle travel path learning, i.e., 511, in combination with the current road map 507 of the own vehicle, that is, creates a road map 511 in which the lane on which the own vehicle is traveling has the lane travel direction.
Then, the ECU calculation unit 401 simultaneously performs own vehicle travel path learning, i.e., 512, from the preceding vehicle information 508 to 510 acquired from each of the forward-looking laser radar 405, the forward-looking camera 406, and the forward-looking millimeter wave radar 407, in combination with the own vehicle's current road map 507, to create a road map 512 in which the lane on which the preceding vehicle is traveling has the lane travel direction.
Finally, the ECU calculation unit 401 merges the road map 511 with the lane of travel of the own vehicle and the road map 512 with the lane of travel of the preceding vehicle, and realizes creation of the road map 513 with the multi-lane travel route in a single trip.
In this way, the system for generating the lane-level navigation map provided by the embodiment of the application is carried on a vehicle, can realize that the lane-level map of the integrated road path is completed in a single journey of the vehicle, namely, the map of the road of the vehicle and the road map of the adjacent lane are built, and can solve the problems that in the related technology, different lanes need to be driven for multiple times and the learning efficiency is low in the road path map building, namely, the drawing cost and the time consumption duration are reduced. Therefore, the driving route direction of a plurality of lanes of the intersection, the roundabout, the bifurcation and the confluence road section can be created in the single journey process, the current situation that the single journey can only learn the driving route of the lane can be changed, the driving route learning efficiency is improved, and the module convenient for rear-end piloting can quickly obtain the road map meeting the piloting requirement.
The embodiment of the application provides a system for generating a lane-level navigation map, the system for generating the lane-level navigation map is deployed on a vehicle, as shown in fig. 6, and the system 1 for generating the lane-level navigation map comprises:
an acquisition unit 11 configured to acquire positioning information of the vehicle and road information of the complex road section;
the calculating unit 12 is configured to create a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section in the case where the vehicle is driving into the complex road section;
the computing unit 12 is further configured to create a first road map with a lane travel direction of a first lane and a second road map with a lane travel direction of a second lane based on the current road map; wherein the first lane is a lane in which the vehicle travels; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels;
the calculating unit 12 is further configured to fuse the first road map and the second road map to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section.
It should be noted that, the description of the corresponding embodiment of the lane-level navigation map generating system is similar to the description of the method embodiment described above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the system embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.
Correspondingly, the embodiment of the application further provides a computer program product, which comprises computer executable instructions, and the computer executable instructions can realize the method for generating the lane-level navigation map.
Correspondingly, the embodiment of the application further provides a computer storage medium, wherein the computer storage medium is stored with computer executable instructions, and the computer executable instructions realize the method for generating the lane-level navigation map provided by the embodiment when being executed by a processor.
The description of the above embodiments of the system and the storage medium for generating a lane-level navigation map is similar to the description of the above embodiments of the method, and has similar technical descriptions and beneficial effects to those of the corresponding embodiments of the method, and is limited in scope, and reference may be made to the description of the above embodiments of the method, so that the description thereof will not be repeated here. For technical details not disclosed in the embodiments of the system and the storage medium for generating a lane-level navigation map provided by the present application, please refer to the description of the method embodiment of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic of the processes, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units. Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.
The foregoing is merely a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the embodiment of the present application, and the changes or substitutions are covered by the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A method of generating a lane-level navigation map, the method being applied to a system for generating a lane-level navigation map deployed on a vehicle, the system comprising: the generation method comprises the following steps of:
adopting the computing unit, and under the condition that the vehicle drives into a complex road section, creating a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section acquired from the acquisition unit;
creating, with the computing unit, a first road map having a lane travel direction of a first lane and a second road map having a lane travel direction of a second lane based on the current road map; wherein the first lane is a lane in which the vehicle travels; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels;
And fusing the first road map and the second road map by adopting the computing unit to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section.
2. The generation method according to claim 1, wherein the generation system of the lane-level navigation map further comprises: the navigation map unit adopts the calculation unit, and under the condition that the vehicle drives into a complex road section, the method further comprises the following steps before the positioning information of the vehicle and the road information of the complex road section are acquired from the acquisition unit and the current road map corresponding to the vehicle is created:
acquiring navigation map road information corresponding to the vehicle in the driving process acquired by the navigation map unit by adopting the computing unit;
and adopting the calculating unit, and determining that the vehicle is driven into the complex road section based on the road information of the navigation map, wherein the road attribute is represented as complex road conditions.
3. The generating method according to claim 2, wherein the creating, with the computing unit, a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section acquired from the acquisition unit in the case where the vehicle is driving into the complex road section, includes:
And under the condition that the vehicle drives into a complex road section, the calculation unit is adopted, the positioning information of the vehicle collected by the collection unit is taken as a reference point, and the current road map is created based on the road information of the navigation map collected by the navigation map unit and the road information collected by the collection unit.
4. A method of generating a lane-level navigation map in accordance with any one of claims 1 to 3, further comprising: the turn signal acquisition unit is configured to, before the calculating unit is configured to create, based on the current road map, a first road map having a lane driving direction of a first lane and a second road map having a lane driving direction of a second lane, the method further includes:
the calculating unit is used for acquiring the steering lamp state of the vehicle acquired by the steering lamp acquisition unit and the front vehicle information of the front vehicle acquired by the acquisition unit;
the creating, with the computing unit, a first road map having a lane travel direction of a first lane and a second road map having a lane travel direction of a second lane based on the current road map, includes:
Adopting the computing unit to create the first road map based on the turn light state and the current road map;
and adopting the computing unit to create the second road map based on the front vehicle information and the current road map.
5. The method according to claim 4, wherein the creating, with the computing unit, the first road map based on the turn signal status and the current road map includes:
acquiring the turn-light starting information carried in the turn-light state by adopting the computing unit;
and adopting the computing unit to establish the first road map by fusing with the positioning information of the vehicle based on the starting information and the current road map.
6. The method according to claim 4, wherein the creating, with the computing unit, the second road map based on the preceding vehicle information and the current road map includes:
acquiring positioning information of the front vehicle in the front vehicle information by adopting the computing unit;
and adopting the computing unit to create the second road map based on the current road map, the positioning information of the preceding vehicle and the positioning information of the vehicle.
7. A method of generating according to any one of claims 1 to 3, further comprising:
and transmitting the lane-level navigation map to a control unit of the vehicle through a communication bus on the vehicle by adopting the computing unit, so that the control unit controls the vehicle to run in the complex road section based on the lane-level navigation map.
8. A method of generating a lane-level navigation map in accordance with any one of claims 1 to 3, wherein the system for generating a lane-level navigation map further comprises: a high precision map unit, the method further comprising:
the calculation unit is adopted to send the lane-level navigation map to the high-precision map unit, so that the high-precision map unit updates an initial high-precision navigation map based on the lane-level navigation map to obtain an updated high-precision navigation map;
the initial high-precision navigation map is a high-precision navigation map corresponding to the complex road section.
9. A system for generating a lane-level navigation map, wherein the system for generating a lane-level navigation map is deployed on a vehicle, the system for generating a lane-level navigation map comprising:
The acquisition unit is configured to acquire positioning information of the vehicle and road information of the complex road section;
the calculating unit is configured to create a current road map corresponding to the vehicle based on the positioning information of the vehicle and the road information of the complex road section under the condition that the vehicle is driven into the complex road section;
the computing unit is further configured to create a first road map with a lane travel direction of a first lane and a second road map with a lane travel direction of a second lane based on the current road map; wherein the first lane is a lane in which the vehicle travels; the second lane is a lane in which a preceding vehicle located in a front region of the vehicle travels;
the computing unit is further configured to fuse the first road map and the second road map to obtain a lane-level navigation map with a multi-lane driving direction corresponding to the complex road section.
10. A computer storage medium having stored thereon computer executable instructions which, when executed, enable the method of generating a lane-level navigation map of any one of claims 1 to 8.
CN202311099763.1A 2023-08-29 2023-08-29 Lane-level navigation map generation method, system and medium Pending CN117141494A (en)

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