Intersection lane topology connection relation generation method

Abstract

The invention discloses an intersection lane topological connection relation generation method, which relates to the technical field of road traffic, and can automatically obtain all topological connections and occurrence probabilities thereof by collecting vehicle trajectory data and carrying out statistical analysis on the data, and can select the topological connection with higher occurrence probability as a basis for generating lane connecting lines on a map. According to the method, the driving habits of human drivers are fully considered, the method is more reasonable than mechanical use of simple fixed rules to generate the lane topology, other traffic participants can easily predict the intention and route of the current vehicle, safe driving is facilitated, traffic accidents are reduced, and the intersection passing efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of road traffic, in particular to a method for generating topological connection relations of lanes at intersections. Background technique [0002] High-precision maps are an essential part of current driverless technology, and lane data is the core content of high-precision maps. Vehicles usually need to automatically drive along a series of coordinate points given by the lane centerline data of high-precision maps as a predetermined trajectory. Therefore, not only the centerline of the lane needs to be smooth in curvature, but also the topological relationship needs to be reasonable. And at the intersection, since there is no clear ground marking to determine the topological relationship, it is usually necessary to manually judge and add and generate the topological relationship of the lane. Due to the complexity of the topological relationship at the intersection, the efficiency of manual generation is ve...

AI Technical Summary

Problems solved by technology

The topological relationship of intersections is determined by ground arrow marks. The disadvantage is that many small intersections or special intersections do not have ground arrow marks, or lack some ground arrow marks. At this time, it is impossible to determine the lane topology.

However, by artificially setting some fixed rules to generate the intersection lane topology, some lane topologies are unreasonable, and the probability of occurrence in actual driving is relatively low. After generating lane connecting lines, when vehicles drive along these connecting lines, other It is difficult for traffic participants to predict the intention of the current vehicle, which may easily lead to traffic accidents

Images