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Driving assistance information display method based on dynamic probabilistic driving map

A driving assistance and information display technology, applied in 2D image generation, combustion engine, image data processing, etc., can solve the problems that automatic driving decision-making cannot handle emergency situations, and traffic conditions are prone to occur

Active Publication Date: 2019-12-13
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention provides a method for displaying driving assistance information based on a dynamic probabilistic driving map in order to solve the problem that the existing automatic driving decision-making of road detection cannot deal with emergencies that occur during the driving process, resulting in easy occurrence of traffic conditions and the like.

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  • Driving assistance information display method based on dynamic probabilistic driving map
  • Driving assistance information display method based on dynamic probabilistic driving map
  • Driving assistance information display method based on dynamic probabilistic driving map

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specific Embodiment approach 1

[0068] Specific implementation mode 1. Combination Figure 1 to Figure 17 Describe this embodiment, a method for displaying driving assistance information based on a dynamic probabilistic driving map, which is implemented by the following steps:

[0069] Step 1. Generate an initial static grid map: use the camera and inertial navigation device to obtain lane line information by building a lane line model; use laser radar to obtain obstacle information and fill it into the grid map.

[0070] The method of generating the initial static grid map is as follows:

[0071] Step 11, establishing a lane line model and obtaining lane line information;

[0072] Use the on-board smart camera for lane mark detection and lane tracking to realize the grid division of the surrounding environment of the vehicle and vehicle positioning and other functions.

[0073] Based on the vehicle coordinate system, such as figure 1 shown. Assume that the four-lane boundary recognized by the smart came...

specific Embodiment approach 2

[0171] Specific embodiment two, combine Figure 1 to Figure 17 Describe this embodiment. This embodiment is a driving assistance information system supported by a dynamic probabilistic driving map based on the driving assistance information display method based on a dynamic probabilistic driving map described in Embodiment 1;

[0172] Firstly, the spatial position information and motion information of the vehicle are obtained through the vehicle sensors such as inertial navigation and GPS, and the obstacle / vehicle occupancy information and lane line information of the vehicle's current environment are obtained through the vehicle's laser radar and vision device. .

[0173] Then, the above sensor data information is transmitted to the DPDM generation module in the assisted driving system, and the sensor feature level data is deconstructed and analyzed, and the DPDM that conforms to the current state of the vehicle is generated hierarchically.

[0174] Secondly, the updated DPD...

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Abstract

A driving assistance information display method based on a dynamic probabilistic driving map relates to a method for generating a drivable area model of an autonomous driving vehicle environment, which solves the problem that the existing automatic driving decision-making of road detection cannot handle emergencies that occur during driving, resulting in traffic accidents The present invention establishes a compact expression model of the current surrounding environment of the vehicle by combining the prior knowledge and the driving state information acquired by the on-board sensors, and at the same time enhances the safety of the smart car. The present invention realizes the key technical means of the compact expression of the intelligent vehicle environment by generating a dynamic probabilistic driving map, and divides the vehicle road environment into four layers, including vehicle motion information, lane environment information, road vehicle information, and road vehicle prediction information. Use the vehicle behavior recognition and prediction method to enhance DPDM's ability to understand road vehicles and effectively enhance its environmental resilience. When road vehicles are about to change lanes, they can predict in advance and effectively avoid them.

Description

technical field [0001] The invention relates to a method for generating an environment drivable area model of an automatic driving vehicle, in particular to a method for displaying driving assistance information based on a dynamic probabilistic driving map. Background technique [0002] With the deepening of intelligent vehicle research, the requirements for the accuracy, robustness and stability of vehicle environment perception are getting higher and higher. For smart cars, the recognition of surrounding obstacles and the semantic division of the environment are undoubtedly the most important part of the decision-making process, which has high research and application value. However, autonomous driving decisions based only on road detection may not be able to handle certain emergency situations, such as in some emergency situations, where the detected feasible road becomes impassable due to the sudden appearance of vehicles or pedestrians. In fact, when driving a car, the...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T11/00G06T19/00G06K9/00
CPCG06T17/00G06T11/00G06T19/003G06V20/588Y02T10/40
Inventor 高菲韩志武高镇海王星月胡宏宇宗实雷典
Owner JILIN UNIV