Rod-shaped object fusion method and system based on road structure, server and medium

Abstract

The invention discloses a rod-shaped object fusion method and system based on a road structure, a server and a medium, and the method comprises the steps: segmenting a vehicle track into a plurality of segment roads, and adjusting the central point of a rod-shaped object according to the road structure, namely, determining the segment road where the rod-shaped object is located according to the center point of the rod-shaped object and the center point of the segment road, determining the lane lines corresponding to the rod-shaped object according to the center point of the rod-shaped object and the center points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, adjusting the central point of the rod-shaped object according to the projection of the central point of the rod-shaped object on the corresponding lane line; then clustering the adjusted center point of the rod-shaped object to obtain a clustered center point, and adjustingthe clustered center point again according to the road structure to obtain the final position of the rod-shaped object. Thus, the fusion of the rod-shaped object is realized based on nearby map elements, the output rod-shaped objects have better position precision, and help can be better provided for a vehicle driving decision.

Description

technical field [0001] The present invention relates to the technical field of vehicle automatic driving, in particular to a road structure-based rod fusion method and system, a server and a medium. Background technique [0002] In the field of autonomous driving, in order to accurately control the driving of vehicles, it often involves the drawing of high-precision maps, and the rod-shaped object data drawn from high-precision maps participates in the driving decision-making of autonomous vehicles. When the sensors of the self-driving vehicle fail under the influence of severe weather such as heavy fog, hail, and heavy rain, the vehicle can make decisions on driving behavior based on the pole-shaped object data in the known high-precision map. Due to the error in the position of the collected rods due to factors such as equipment during the collection of rods, if the rods with large deviations are not moved to the correct position or filtered during the fusion process, auto...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, and propose a road structure-based rod fusion method and system, server and medium to solve the problem of errors caused by equipment and other factors in the existing rod collection process, resulting in The problem of deviation in driving decision-making with the participation of sticks

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