Map making and/or processing method, map storage device and route planning method

Abstract

The invention provides a method for making and / or processing a map for a vehicle. The method comprises the following steps of providing and storing static road elements; selecting a planning auxiliary element, and storing the planning auxiliary element or information for pointing to the planning auxiliary element, the planning auxiliary element representing an element associated with the traffic safety of the vehicle selected from the static road elements or sub-elements thereof; a data interface being provided, wherein the planning auxiliary element can be read directly through the data interface. The invention relates to a map storage device, comprising a static road element storage unit (1), a planning auxiliary element storage unit (2) for storing planning auxiliary elements or information for directing the planning auxiliary elements, and an interface unit (3) for reading data via a data interface. The invention further provides a using method of the map and a path planning method for path planning of the autonomous vehicle. By directly reading the planning auxiliary element marked with related traffic safety, automatic driving safety can be improved, and the calculated amount of planning can be reduced.

Description

technical field [0001] The present invention relates to the field of high-precision maps and the field of automatic driving, and in particular to a method for making and / or processing vehicle maps, a method for using maps, a map storage device, and a path planning method for path planning for automatic driving vehicles . The "autonomous driving" referred to herein includes automatic driving and / or driving assistance with a level above L1. Background technique [0002] With high-precision maps, self-driving vehicles can achieve high-precision positioning, determine the drivable area, should drive the lane, and know the properties of the road ahead (such as slope, curvature, etc.). High-precision maps can provide automatic driving systems with full-link assistance in perception, positioning, decision-making, path planning, and control, improving system robustness. [0003] In recent years, autonomous driving technology has developed rapidly along with high-precision maps. T...

AI Technical Summary

Problems solved by technology

It is difficult for defined scenarios to fully cover the complex combination of variables that may occur in reality

Therefore, even if the vehicle has the ability to recognize the state of the lane in real time, if the lane is complex due to its own attributes, such as variable guiding lanes, tidal lanes, etc., the vehicle may experience temporary traffic control, congestion, and weak points during its driving. Uncommon scenarios such as road users traveling in reverse, it is difficult to ensure that the system makes safe and timely decisions

[0008] As another example, for road environments such as interchanges, since China's high-precision maps for autonomous driving do not allow expression of height information, the impact on vehicle driving planning and decision-making has yet to be verified.

[0009] Therefore, in the face of customers' expectations for vehicle safety, only relying on the traditional high-precision map cooperation method is not enough

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