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Construction method of transverse topological relation of lanes in high-accuracy map, system and storage device

A topological relationship and high-precision technology, which is applied in the traffic control system of road vehicles, traffic control systems, instruments, etc., can solve the problems of inaccurate route guidance and inability to determine which lane it is in.

Active Publication Date: 2018-11-23
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

However, most of the current route planning based on high-precision maps is based on roads. Its advantage is that it can perform long-distance road calculations. The disadvantage is that it cannot determine which lane it is located in under local route planning, making route guidance inaccurate.

Method used

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  • Construction method of transverse topological relation of lanes in high-accuracy map, system and storage device
  • Construction method of transverse topological relation of lanes in high-accuracy map, system and storage device
  • Construction method of transverse topological relation of lanes in high-accuracy map, system and storage device

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Embodiment Construction

[0086] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0087] Such as figure 1 It is a flow chart of a method for constructing a horizontal topological relationship of a high-precision map lane provided by an embodiment of the present invention, including the following steps:

[0088] 1. Read the lane group data in the high-precision map. After reading the data, you need to ensure the correctness of the lane numbers in each lane group and ensure that the order of the lanes is consistent with the real world.

[0089] 2. Filter the read-in high-precision lane group set, and obtain the lane group data with the total number of lanes greater than 1 and containing the line shape point information of the lane boundary. as in figure 2 Among the several lane groups shown, lane ...

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Abstract

The invention relates to a construction method of a transverse topological relation of lanes in a high-accuracy map, a system and a storage device. The construction method comprises the following steps: acquiring data of lane groups in the high-accuracy map; for each lane group, taking a shared boundary line group of every two adjacent lanes in sequence, judging the number of parallel boundary line elements, if the number is 1, skipping generating the transverse topological relation between the two adjacent lanes, otherwise judging the number and the type of boundary line units on parallel boundary line elements; if the number of the shared boundary line units is 1, generating the transverse topological relation between the two adjacent lanes according to the types of shared boundary lines; otherwise according to virtual and actual change points of the shared boundary lines, carrying out cutting and sectioning processing on the lane groups along a lane direction, and according to the types of the boundary line units, generating the transverse topological relation between the two adjacent lanes in each section of lane group after cutting in sequence. The construction method, the system and the storage device have the advantages that the transverse topological relation among the lanes can be calculated by utilizing a simple cutting algorithm; the algorithm is simple and easy to implement and is easy to understand.

Description

technical field [0001] The invention relates to the technical field of high-precision map navigation and data processing, in particular to a method, system and memory for constructing a lane topology network in a high-precision map. Background technique [0002] As an important support for the development of unmanned vehicles, high-precision maps play an important role in horizontal / vertical precise positioning, path planning, intelligent speed regulation and steering, etc. However, most of the current route planning based on high-precision maps is based on roads. Its advantage is that it can perform long-distance road calculations. The disadvantage is that it cannot determine which lane it is in under local route planning, making route guidance inaccurate. [0003] Therefore, in the related research of unmanned driving, there is an urgent need for a path planning algorithm based on lane level, which can quickly perform topology calculation, improve the detailed planning of ...

Claims

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Application Information

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IPC IPC(8): G01C21/34G06F17/30
CPCG01C21/3446G01C21/3867G01C21/3822G06V20/588B60W30/12G08G1/167
Inventor 刘小燕
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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