Method and device for constructing high-precision map

Abstract

The invention discloses a method and device for constructing a high-precision map, and the method comprises the steps: projecting each pedestrian path contained in each target path to a vehicle path closest to the target path; according to the projection position of an end point of each pedestrian path, the distance between each end point and the projection of each end point, and the projection direction of each end point, determining a path table of the target path, and constructing a high-precision map based on the path table of each target path and the topological structure of each vehicle path. According to the high-precision map constructed by the method, a graph of the target path does not need to be generated based on the form of the target path, and when the target path has an error, only modification needs to be performed in the path table according to the error content, and the graph of the target path does not need to be supplemented in the high-precision map again, so that the cost of later maintenance is reduced.

Description

technical field [0001] This specification relates to the field of unmanned driving technology, and in particular to a method and device for constructing a high-precision map. Background technique [0002] At present, with the development of unmanned driving technology, the use of unmanned equipment is becoming more and more extensive. The high-precision map has become an indispensable and important element in driverless technology because it can provide the location and category information of various traffic markings on the road. [0003] In the prior art, a common high-precision map construction method is determined based on the top view of the road. Specifically, the server can identify the top view, determine the pedestrian paths and vehicle paths contained in the top view, and compare one or more pedestrian paths corresponding to pedestrian crosswalks, or one or more paths of buildings that form overpasses, underpasses, etc. Pedestrian paths, as target paths. Attach ...

AI Technical Summary

Problems solved by technology

Therefore, in the case of an error in the target path, it is necessary not only to modify the path structure of the target path, but also to delete the original graphics, generate graphics according to the correct target path, and add the corresponding graphics to the high-precision map, so that the later higher maintenance cost

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