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Lane Picking Algorithm for High-precision Maps for Autonomous Driving

An automatic driving, high-precision technology, applied in geographic information databases, structured data retrieval, etc., can solve problems such as increasing the difficulty of data retrieval

Active Publication Date: 2021-07-06
禾多科技(广州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with the traditional navigation map that is accurate to the street level, the high-precision map for autonomous driving can be accurate to the lane level and has richer information, but it also increases the difficulty of data retrieval

Method used

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  • Lane Picking Algorithm for High-precision Maps for Autonomous Driving

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Embodiment Construction

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0026] It should be understood that terms such as "having", "comprising" and "including" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0027] Such as figure 1 As shown, the present invention provides a lane picking algorithm for automatic driving high-precision maps, including:

[0028] Step 1. Determine the state of lane picking by judging the positioning accuracy of the positioning module that positions the vehicle. If the positioning accuracy of the positioning module decreases, the lane picking enters an emergency retrieval state; if the positioning module is For high-precision positioning, go to step 2.

[0029] Step 2. Judging whether to enter a local search, if it is a local search, go to step 6; if it is...

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Abstract

The invention discloses a lane picking algorithm for a high-precision map for automatic driving, which includes: step 1, if the positioning accuracy of the positioning module decreases, enter the emergency retrieval state; if the positioning module is high-precision positioning, enter step 2; step 2 , Determine whether to enter the local search, if it is a local search, then go to step 6; if it is not a local search, go to step 3 tile search, get the location range of the vehicle and the street ID within the location range, then go to step 4 range search , after retrieving the set of possible streets where the vehicle is located, proceed to step 5 for rough search to find the set of streets that the vehicle may currently be in; if not found, proceed to step 4 to expand the search range; if found, proceed to step 6 for fine search to obtain the vehicle The first element in the set of possible lanes is the most likely lane. The present invention can quickly and efficiently retrieve the relevant information of the lane where the current vehicle is located from the high-precision map database.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a lane picking algorithm for a high-precision map for automatic driving. Background technique [0002] With the continuous development of autonomous driving technology and the continuous clarification of commercial landing scenarios, high-precision maps and their applications are also playing an increasingly important role, serving perception, positioning, planning control, decision-making, and human-computer interaction. Modules of the autonomous driving system. From a technical point of view, compared with traditional maps, while providing road network topological relationships, high-precision maps have richer road information at the lane level, which not only provides important prior data support for automatic driving systems, but also guarantees Driving safety provides strong system redundancy. From the perspective of commercial implementation, the various sensors...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F16/29
Inventor 郝文天戴震
Owner 禾多科技(广州)有限公司
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