Global navigation system and navigation information generation method based on high-precision map
A technology of navigation information and navigation system, which is applied in the field of global navigation system and navigation information generation, can solve problems such as inability to realize planning, and achieve the effect of good universality, simple requirements and efficient global navigation
Active Publication Date: 2020-11-10
XI AN JIAOTONG UNIV
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[0004] After obtaining the high-precision guide line map, how to use these data for global planning is also an important issue. If you simply extract nodes and use the topology for planning, it is impossible to achieve planning from any point on the map to any point.
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[0035] The present invention is further described below in conjunction with accompanying drawing:
[0036] see Figure 1-Figure 8 , a global navigation system based on high-precision maps, including a guide line map construction module, a global guide line generation module, and a navigation map output module; the guide line map construction module, the global guide line generation module, and the navigation map output module are connected in sequence:
[0037] The guiding line map construction module is used to extract the topological structure and node information of the map, and construct the guiding line map according to the topological structure and node information.
[0038] The global guideline generation module is used to generate a global guideline passing through all key waypoints from the guideline map.
[0039] The navigation map output module is used to complete the unstructured information area passed by the global guide line, and output the final navigation map...
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The invention discloses a high-precision-map-based global navigation system. The system comprises a guide line map building module, a global guide line generation module and a navigation map output module, wherein the guide line map building module, the global guide line generation module and the navigation map output module are connected in sequence. The system off-line builds a navigation map through steps of guide line map building, global guide line extraction, navigation map building and the like and provides precise navigation map information under a structural scene. The navigation system can adapt to structural scenes such as an urban city and a high speed, and plays an important role of navigating a smart car in an actual environment. The system has a simple requirement for a highprecision map and is extremely high in robustness to scenes, so that the technology can be widely applied to the fields of navigation of pilotless automobiles, visual assisted driving of smart cars and the like.
Description
technical field [0001] The invention belongs to the field of computer vision and intelligent transportation, and in particular relates to a global navigation system based on a high-precision map and a method for generating navigation information. Background technique [0002] Using high-precision maps for global navigation is a critical and basic technology in the field of unmanned vehicles. How to effectively use high-precision maps for navigation is also a hot research issue in the field of unmanned vehicles. High-precision maps often contain traffic information such as lane lines and road boundaries, but cannot provide high-precision navigation information to guide unmanned vehicles to cruise by chasing lines in static scenes covered by maps. This problem can often be disassembled into two problems of constructing a guide line map and global planning. [0003] When constructing a guide line map, in general, the guide line in the road can be obtained by taking the center ...
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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 薛建儒李沛东许光林
Owner XI AN JIAOTONG UNIV