Method and device for determining level of road where vehicle is located in three-dimensional traffic area

Abstract

The invention relates to the technical field of vehicle positioning and navigation. The invention provides a method for determining the level of a road where a vehicle is located in a three-dimensional traffic area. The method comprises the following steps: S1, obtaining positioning information of the vehicle; S2, acquiring a first criterion about the road level position of the vehicle in the three-dimensional traffic area, wherein the first criterion describes the signal quality of the positioning information of the vehicle; S3, obtaining a second criterion about the road level position of the vehicle in the three-dimensional traffic area, wherein the second criterion describes the relative lane relation of the vehicle; and S4, determining the road level position of the vehicle in the three-dimensional traffic area based on the first criterion and the second criterion. The invention further provides equipment for determining the level of a road where the vehicle is located in the three-dimensional traffic area and a computer program product. According to the invention, reliable positioning in a multi-layer overlapped elevated area can be realized only by using a common positioning technology and sensing information in an automatic driving system, and the problem of road planning in a positioning navigation blind area is solved with low cost.

Description

technical field [0001] The invention relates to a method for determining the road level of a vehicle in a three-dimensional traffic area, a device for determining the road level of a vehicle in a three-dimensional traffic area and a computer program product. Background technique [0002] In order to achieve reliable activation of L3 autonomous driving functions, accurate vehicle positioning is an important part. A mainstream solution is to use high-precision maps to determine vehicle positions with lane-level accuracy. However, due to policy and regulation requirements, high-precision maps may be limited in expressing specific information. For example, only objects can be displayed in high-precision maps 2D position information, while the elevation information is not allowed to be expressed. Under such restrictions, only the projection of the vehicle position onto the flat road can be realized, but when the road structure is stacked (such as in the elevated road area), it ca...

AI Technical Summary

Problems solved by technology

[0005] However, there are still many deficiencies in the above solutions, especially, because the elevated roads in many areas are quite high from the ground, the vehicles on the lower roads can also receive good satellite signals, and in this case, it is impossible to distinguish the correctness of the vehicle. Location

In addition, the judgment method that relies on environmental feature recognition is often easily disturbed by various factors, and also puts high demands on the vehicle camera and image recognition algorithm

Images