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Method, system and memory for constructing horizontal topological relationship of high-precision map lanes

A topological relationship and high-precision technology, applied in the traffic control system of road vehicles, traffic control systems, instruments, etc., can solve the problems of not being able to determine which lane is located, and the route guidance is not accurate enough

Active Publication Date: 2020-12-29
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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  • Method, system and memory for constructing horizontal topological relationship of high-precision map lanes
  • Method, system and memory for constructing horizontal topological relationship of high-precision map lanes
  • Method, system and memory for constructing horizontal topological relationship of high-precision map lanes

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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 present invention relates to a method, system and memory for constructing a horizontal topological relationship of lanes in a high-precision map. The method includes: acquiring lane group data in a high-precision map; Line group, to determine the number of parallel boundary line elements, if it is 1, the horizontal topological relationship between the two adjacent lanes will not be generated, otherwise, determine the number and type of boundary line elements on the parallel boundary line elements; if shared If the number of boundary line units is 1, the horizontal topological relationship between two adjacent lanes is generated according to the type of shared boundary line; otherwise, according to the virtual and real change points of the shared boundary line, the lane group is cut and segmented along the direction of the lane, and according to the boundary The type of line unit, which generates the horizontal topological relationship between two adjacent lanes in each lane group in turn after cutting. Through the present invention, a simple cutting algorithm can be used to calculate the transverse topological relationship between lanes. The algorithm implementation is simple and easy to implement and 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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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G06F16/29
CPCG01C21/3446G01C21/3867G01C21/3822G06V20/588B60W30/12G08G1/167
Inventor 刘小燕
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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