Priority reference method for layers of high-precision sensing map based on safety angle

Abstract

The invention discloses a priority reference method for layers of a high-precision sensing map based on a safety angle. The method comprises the following steps: S1, constructing a multi-layer data model of the high-precision map and carrying out classification processing; s2, sorting the sequence of the layers to determine the layer participation form of the basic elements; s3, checkingthe state of the sensor equipment, obtaining points of the obstacle from the data of the sensor equipment for point distance statistics, judging whether point distance data fluctuates or not, if not, entering the step S6, otherwise entering S4; s4, judging whether the dot pitch data is in a complex environment or not, and if so, entering the step S5; otherwise, entering step S6; s5, performing layer priority control according to the change of the real-time layer weighting coefficient, realizing high-precision map carrier early warning and control behavior intervention, and circulating the step until leaving the complex environment; and S6, dynamically improving the priority of the feature class layers of the high-precision map in a non-complex environment.

Description

technical field [0001] The invention relates to the technical field of high-precision maps and unmanned control, in particular to a method for prioritizing layers of high-precision sensor maps based on safety. Background technique [0002] With the development of autonomous driving technology, autonomous valet parking technology for specific scenarios is expected to achieve the earliest landing. Major car companies and autonomous driving technology companies at home and abroad have taken it as the key object of development, hoping to obtain the earliest commercial application. It refers to sensing the surrounding environment of the vehicle through various sensors, and controlling the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by the perception, so that the vehicle can run safely and reliably on the road. [0003] The data model of high-precision maps is composed of multiple data layers. At this stage, there is...

AI Technical Summary

Problems solved by technology

The method adopted is only suitable for the establishment of a rough map model, and the design of production scheduling is artificially based on the established model, which is not suitable for complex environments

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