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The priority access method of the layers of the high-precision sensor map based on the safety angle

A priority, high-precision technology, applied in directions such as road network navigators, can solve problems such as inapplicability, reduce maintenance costs, improve sensitivity, and improve the efficiency of single maintenance

Active Publication Date: 2021-08-17
SPEED SPACE TIME INFORMATION TECH CO LTD
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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

Method used

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  • The priority access method of the layers of the high-precision sensor map based on the safety angle
  • The priority access method of the layers of the high-precision sensor map based on the safety angle
  • The priority access method of the layers of the high-precision sensor map based on the safety angle

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Embodiment

[0041] Example: such as figure 1 As shown in , the priority access method of the layer of the high-precision sensor map based on the security angle specifically includes the following steps:

[0042] S1: Build a multi-layer data model of high-precision maps, moderately reduce the coupling relationship between layers in the layered construction of road components and real-time status, classify the multi-layer data model, and input the data of sensor devices;

[0043] Such as figure 2 As shown, the multi-layer data model in the step S1 is divided into three types of seven-layer structures, the first type of high-precision map features, the second type of real-time environment, and the third type of decision-making transmission; the first type of high-precision The map feature includes a conventional road network layer, a road network detail layer and a 3D feature layer, and the second type of real-time environment includes a macro dynamic layer and a real-time environment laye...

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Abstract

The invention discloses a layer priority access method of a high-precision sensor map based on a security perspective, comprising steps: S1 constructing a multi-layer data model of the high-precision map and performing classification processing; S2 sorting out the layers between the layers Determine the layer participation form of the basic elements in sequence; S3 checks the status of the sensor device, obtains the point distance statistics of obstacles from the data of the sensor device, and judges whether there is any fluctuation in the point distance data, and if there is no fluctuation change, go to step S6, if there are fluctuations, go to step S4; S4 judges whether the point distance data is in a complex environment, if it is in a complex environment, go to step S5; if it is in a non-complex environment, then go to step S6; S5 according to the change of the real-time layer weighting coefficient, carry out Layer priority control, and realize high-precision map carrier early warning and control behavior intervention, and repeat this step until leaving the complex environment; S6 will dynamically increase the priority of the high-precision map feature class layer when it is 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/30
CPCG01C21/30
Inventor 徐忠建姬炜曹峰
Owner SPEED SPACE TIME INFORMATION TECH CO LTD
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