Intersection vector-grid map scheme suitable for small automatic driving vehicle

A grid map, autonomous driving technology, applied in geographic information databases, special data processing applications, structured data retrieval, etc., to achieve the effect of smooth driving and rich semantic information

Pending Publication Date: 2020-09-18
武汉小狮科技有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a kind of crossing vector-grid map scheme suitable for small self-driving vehicles, to solve the problems respectively existing in the existing vector map and grid map

Method used

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  • Intersection vector-grid map scheme suitable for small automatic driving vehicle
  • Intersection vector-grid map scheme suitable for small automatic driving vehicle

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Embodiment Construction

[0013] The invention provides a vector map in the intersection vector-grid map solution suitable for small self-driving vehicles, accurately expresses road information and serves the self-driving vehicles.

[0014] The self-driving vehicle obtains the reference line attribute in the vector map, which is represented by discrete points. When the vehicle is on the road, it can determine which point is the closest to the current location and the direction of the road to be driven. The self-driving vehicle obtains the lane attributes in the vector map, knows the lane of the road it is currently in, and knows whether it is passable in this lane and whether the lanes can be crossed. The self-driving vehicle obtains the connection attribute between the roads in the vector map, through which the path planning between the start point and the end point can be carried out, and the optimal path that can be passed is automatically selected.

[0015] The self-driving vehicle obtains the curv...

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Abstract

The invention discloses an intersection vector-grid map scheme suitable for a small automatic driving vehicle. The intersection vector-grid map scheme suitable for the small automatic driving vehiclecomprises a vector map and a grid map. In the map scheme, under an intersection or other unconventional road environments, a basis can be provided for automatic driving vehicle decision making in combination with a vector map (Figure 1) and a grid map (Figure 2), so that a high-precision map has rich semantic information and strict road rules, also has a sufficient and flexible passable area, andcan ensure smooth driving of small unmanned vehicles. According to the intersection vector-grid map suitable for the small automatic driving vehicle provided by the invention, the advantages of the vector map and the grid map are fused, so that the small automatic driving vehicle can effectively drive in more scenes.

Description

technical field [0001] The invention relates to the field of maps required by self-driving vehicles, in particular to an intersection vector-grid map solution suitable for small self-driving vehicles. Background technique [0002] The development of autonomous driving technology has given birth to the emergence of high-precision maps. The service objects of high-precision maps are mainly self-driving vehicles, which mainly include driving assistance information, including road geometry, lane information, front and rear connection information and semantic information, or only passable information within a certain range. [0003] At present, the maps commonly used in domestic and foreign industries include vector maps and raster maps. Among them, the vector map describes the road and its surrounding environment strictly according to the rules of the road. Although it can accurately represent the road information, it limits the driving range of the self-driving vehicle. It is ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F16/29
CPCG06F16/29
Inventor 张亮秦伦洪叶
Owner 武汉小狮科技有限公司
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