Method for constructing, compiling and reading small-volume high-precision positioning layer

A construction method and compilation method technology, which is applied in the field of compilation and reading, and the construction of small-volume high-precision positioning layers, can solve the problems of unable to form positioning methods, limited retrieval speed, and multiple storage spaces, and achieve reduction The effect of map size, call speed increase, and small size

Active Publication Date: 2021-08-24
禾多科技(广州)有限公司
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AI Technical Summary

Problems solved by technology

[0003] Existing high-precision maps for positioning are mainly formatted in two ways: a topological vector map, which is similar to the format of traditional navigation maps, with a small volume but not enough information for positioning , it is impossible to form a positioning method through feature point matching; the other is a panoramic point cloud or feature point layer. Although this kind of map directly describes the environmental information, it can realize a high-precision positioning algorithm through feature point matching. The amount is large, takes up a lot of storage space, and the retrieval speed is relatively limited

Method used

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Examples

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Embodiment

[0062] The transformation of the map grid and the compilation of the positioning layer are carried out by adopting the construction, compilation and reading method of the small-volume high-precision positioning layer described in the present invention, and the specific implementation method is as follows:

[0063] 1. Transformation of the map grid

[0064] A. Describe information such as three-dimensional markers (street signs, isolation strips, etc.) in the form of feature points of the lidar point cloud.

[0065] B. Describe information such as three-dimensional markers (street signs, barriers, etc.) in the form of feature points collected by the camera.

[0066] C. Describe the three-dimensional position information of the ending point of each dashed line segment of the lane line collected by the camera.

[0067] D. Describe the point cloud data of the dotted line segment of the lane line collected by the lidar.

[0068] E. Compress the map content described in ABCD accor...

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Abstract

The invention discloses a method for constructing, compiling and reading a small-volume high-precision positioning layer, wherein the constructing method includes: S1, using the three-dimensional marker information and the lane line information included in the construction positioning layer area with Collect by lidar and camera, and describe in the form of feature points; S2, compress the content described in the form of feature points in S1 to form a binary data package; S3, project the binary data package onto the vector map ; S4. Comprehensively compiling the three-dimensional marker information and lane line information described in the form of feature points with the vector map. It implements a map format with clear specifications, taking into account the volume of map data and reading efficiency.

Description

technical field [0001] The invention relates to the technical field of high-precision maps applied to automatic driving, in particular to a method for constructing, compiling and reading a small-volume high-precision positioning layer. Background technique [0002] Autonomous driving refers to technologies that assist or replace human-driven cars. With the development of this technology, people's travel will be more convenient, and the influence of human factors in manual driving will be reduced, which can further improve driving safety to some extent. Among the technologies of autonomous driving, high-precision positioning is the most important, because it directly affects the input of other autonomous driving modules. Precise localization is a prerequisite for performing other autonomous driving functions such as perception and decision-making control. The positioning of autonomous driving relies on the combination of vision or lidar and high-definition maps, that is, co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F16/29
CPCG06F16/29
Inventor 戴震倪凯
Owner 禾多科技(广州)有限公司
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