A map data processing method and device

Abstract

The application discloses a kind of map data processing method and device, comprising: obtaining map data, according to the map data, obtain all divergent confluence lane junction and corresponding lane scene;According to the lane scene, determine the point threshold, according to the point threshold and divergent confluence lane junction, determine curvature calculation point;According to divergent confluence lane junction and the curvature calculation point, determine lane divergent confluence curve, and according to the lane divergent confluence curve, calculate the curvature of the divergent confluence lane;According to the divergent confluence lane junction and divergent confluence lane curvature, integrate divergent confluence lane data.The present application sets point threshold according to different scenes, determines the curvature of divergent confluence lane under each scene, fills in the blank of missing divergent confluence lane curvature in high-precision map data, so as to provide driving assistance for autonomous vehicle according to curvature at divergent confluence position.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a map data processing method and apparatus. Background Technology

[0002] Autonomous driving has become a major disruptive innovation since the invention of the automobile, and lane curvature plays a crucial role in the speed, safety, and comfort of autonomous vehicles. Most existing autonomous vehicles obtain lane curvature data from high-precision maps to adjust vehicle speed and assist in autonomous driving.

[0003] Most existing high-precision map data only stores curvature information within a single lane, lacking calculations for the curvature between lanes, especially at lane divergence and merging points. This results in existing high-precision map data being unable to provide curvature information for autonomous vehicles at lane divergence and merging points, thus hindering autonomous driving and leading to poor stability of autonomous vehicles at these points. Summary of the Invention

[0004] This invention provides a map data processing method and apparatus to solve the technical problem that high-precision map data lacks the curvature of merging and diverging lanes, resulting in the inability to assist autonomous driving at merging and diverging points.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a map data processing method, including:

[0006] Acquire map data, and based on the map data, obtain all branching and merging lane connection points and corresponding lane scenes;

[0007] The point selection threshold is determined based on the lane scenario, and the curvature calculation point is determined based on the point selection threshold and the connection point of the diverging and merging lanes.

[0008] The lane divergence and merging curve is determined based on the lane divergence and merging lane connection point and the curvature calculation point, and the lane divergence and merging lane curvature is calculated based on the lane divergence and merging curve.

[0009] The diverging and merging lane data is integrated based on the diverging and merging lane connection points and the diverging and merging lane curvature.

[0010] This invention determines the curvature of merging and diverging lanes in different scenarios by setting point thresholds according to different scenarios, thereby filling the gap in high-precision map data that lacks curvature of merging and diverging lanes. By obtaining the curvature of the current lane and the lane about to merge at the merging and diverging location, the invention provides driving assistance to autonomous vehicles at the merging and diverging location based on the curvature.

[0011] Furthermore, the step of determining the curvature calculation point based on the point selection threshold and the connection point of the diverging and merging lanes specifically involves:

[0012] The lanes connected by the merging and diverging lane connection points are determined based on the map data.

[0013] The curvature calculation point for each lane is determined based on the merging and diverging lane connection point and the point selection threshold; the difference between the curvature calculation point and the merging and diverging lane connection point is the point selection threshold.

[0014] Furthermore, before determining the lane divergence and merging curve based on the lane connection point and the curvature calculation point, the process also includes:

[0015] The transition sequence numbers for the merging and diverging lane connection points are determined based on the driving direction of each lane. These transition sequence numbers include the current driving lane, the lane to be merged into, and the transition sequence value.

[0016] Furthermore, determining the transition sequence numbers of all merging and branching lane connection points based on the driving direction of each lane specifically involves:

[0017] Obtain a first lane and a second lane from the lanes connected by the merging and diverging lane connection point, and use the first lane as the current driving lane and the second lane as the lane to be merged into.

[0018] The transition sequence numbers of the first lane and the second lane are determined based on the travel directions of the first lane and the second lane.

[0019] Furthermore, determining the lane divergence and merging curve based on the lane connection point and the curvature calculation point specifically involves:

[0020] The first merging lane and the second merging lane are determined according to the transition sequence number, wherein the first merging lane and the second merging lane are connected by the same merging lane connection point.

[0021] Obtain the curvature calculation points in the first and second diverging merging lanes respectively;

[0022] The lane divergence and merging curves are determined based on two curvature calculation points and the connection point of the divergence and merging lanes.

[0023] Furthermore, the calculation of the curvature of the merging and branching lanes based on the lane branching and merging curves specifically involves:

[0024] Obtain the radius of curvature of the lane divergence and merging curve at the connection point of the divergence and merging lanes;

[0025] The curvature of the diverging and merging lanes is calculated based on the radius of curvature and the curvature calculation algorithm.

[0026] Furthermore, the integration of merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes specifically involves:

[0027] The data structure for merging and diverging lanes is integrated, wherein the data includes merging and diverging lane connection points, transition ordinals, and turning geometry curvatures; the merging and diverging lane connection points and transition ordinals are two related forms;

[0028] Wherein, the merging and diverging lane connection point includes the connection point of the merging and diverging lanes and all lane information connected by the connection point, and the turning geometry curvature is the merging and diverging lane curvature corresponding to the merging and diverging lane connection point and the transition sequence number.

[0029] This invention obtains merging and diverging lane data based on the connection points of the merging and diverging lanes, and then calculates and stores the curvature of different merging and diverging lanes according to the data structure of each merging and diverging lane. By setting the connection points of the merging and diverging lanes, the speed of querying the curvature of each lane is improved.

[0030] Secondly, embodiments of the present invention also provide a map data processing device, including: a data acquisition module, a point acquisition module, a curvature calculation module, and a data integration module;

[0031] The data acquisition module is used to acquire map data and, based on the map data, acquire all merging and diverging lane connection points and corresponding lane scenes.

[0032] The point acquisition module is used to determine the point acquisition threshold according to the lane scenario, and to determine the curvature calculation point according to the point acquisition threshold and the connection point of the diverging and merging lanes.

[0033] The curvature calculation module is used to determine the lane divergence and merging curve based on the lane divergence and merging connection point and the curvature calculation point, and to calculate the curvature of the divergence and merging lane based on the lane divergence and merging curve.

[0034] The data integration module is used to integrate the merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes.

[0035] Thirdly, embodiments of the present invention provide a method for controlling vehicle speed in lane divergence and merging lanes, including:

[0036] When a vehicle reaches a merging / branching point, the map data processing method described above is used to obtain the curvature of the merging / branching lanes of the vehicle's current driving lane and the lane it is about to merge into.

[0037] The vehicle's autonomous driving speed is adjusted based on the curvature of the diverging and merging lanes.

[0038] This invention improves the safety and comfort of autonomous vehicles at lane divergence and merging points by acquiring the curvature of the current lane and the lane to be merged into at the divergence and merging points.

[0039] Fourthly, embodiments of the present invention provide a lane divergence and merging lane speed control device, comprising: a curvature calculation module and a speed adjustment module;

[0040] The curvature calculation module is used to obtain the curvature of the current driving lane and the merging lane of the vehicle when the vehicle is driving to the merging and branching position by applying the map data processing method.

[0041] The speed adjustment module is used to adjust the vehicle's autonomous driving speed according to the curvature of the diverging and merging lanes. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of a map data processing method provided in an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a merging and branching lane provided in an embodiment of the present invention;

[0044] Figure 3 A schematic diagram illustrating the calculation of lane divergence and merging curves in a map data processing method provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of another branching and merging lane provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of a map data processing device according to an embodiment of the present invention. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] Example 1

[0049] Please refer to Figure 1 , Figure 1 A schematic diagram of a map data processing method provided in an embodiment of the present invention includes steps 101 to 104, as detailed below:

[0050] Step 101: Obtain map data, and obtain all branching and merging lane connection points and corresponding lane scenes based on the map data;

[0051] In this embodiment, all merging and diverging lane connection points and lane information connected by the merging and diverging lane connection points are obtained based on map data. The lane information includes lane scene, lane driving direction and lane angle, where the lane angle is the angle between the lane direction and due north.

[0052] In this embodiment, the lane scenarios include expressways, urban roads, parks, and parking lots.

[0053] Step 102: The lane scene determines the point selection threshold, and the curvature calculation point is determined based on the point selection threshold and the connection point of the diverging and merging lanes;

[0054] In this embodiment, the sampling thresholds for different merging and diverging lanes are determined according to different lane scenarios. Specifically, the driving speed range of the current lane scenario is determined, and the sampling threshold is determined based on the driving speed range. If the driving speed is higher in the driving speed range, the sampling threshold is larger.

[0055] In this embodiment, the lane scenarios include expressways, urban roads, parks, and parking lots. Taking the expressway scenario as an example, the point selection threshold is set to 15 meters.

[0056] In this embodiment, determining the curvature calculation point based on the point selection threshold and the connection point of the merging and diverging lanes specifically involves:

[0057] The lanes connected by the diverging and merging lane connection points are determined according to the preset directional arrangement order and the map data.

[0058] The curvature calculation point for each lane is determined based on the merging and diverging lane connection point and the point selection threshold; the difference between the curvature calculation point and the merging and diverging lane connection point is the point selection threshold.

[0059] In this embodiment, all lanes connected by each merging and diverging lane connection point are determined based on the map data, and curvature calculation points are set at positions on each lane that are at a distance of a threshold value from the merging and diverging lane connection point.

[0060] Step 103: Determine the lane divergence and merging curve based on the lane divergence and merging lane connection point and the curvature calculation point, and calculate the lane divergence and merging lane curvature based on the lane divergence and merging curve.

[0061] In this embodiment, before determining the lane divergence and merging curve based on the lane connection point and the curvature calculation point, the method further includes:

[0062] The transition sequence numbers for the merging and diverging lane connection points are determined based on the driving direction of each lane. These transition sequence numbers include the current driving lane, the lane to be merged into, and the transition sequence value.

[0063] In this embodiment, determining the transition sequence numbers of all merging and branching lane connection points based on the driving direction of each lane specifically involves:

[0064] Obtain a first lane and a second lane from the lanes connected by the merging and diverging lane connection point, and use the first lane as the current driving lane and the second lane as the lane to be merged into.

[0065] The transition sequence numbers of the first lane and the second lane are determined based on the travel directions of the first lane and the second lane.

[0066] In this embodiment, information on all lanes connected by the merging and diverging lane connection point is obtained based on map data. One of the merging and diverging lane connection points can connect any number of lanes. For any two lanes in the same merging and diverging lane connection point, if the first lane can travel to the second lane, then the transition sequence value for traveling from the first lane to the second lane exists.

[0067] In another optional embodiment, the transition sequence value is calculated as follows: when transitioning to the same lane, the transition sequence value is 0; when the two lanes are in the same direction, the transition sequence value is 0; when the current lane cannot travel to another lane, the transition sequence value is 0; otherwise, it is 1. The transition sequence value is represented in binary.

[0068] Please refer to Figure 2 , Figure 2 This is a schematic diagram of a merging and branching lane provided in an embodiment of the present invention.

[0069] like Figure 2 As shown, in the diverging and merging lane data coded as laneConnector1, the connection point connects three lanes: lane1, lane2, and lane3.

[0070] In a simple embodiment, if a merging lane connection point connects three lanes: lane1, lane2, and lane3. When lane1 transitions to lane2, since they are still in the same lane, the transition sequence value is 0. When lane1 transitions to lane2, since lane1 and lane2 have the same direction, the transition sequence value is also 0. Since lane1 cannot transition to lane3, the transition sequence value is also 0. When lane3 transitions to lane2, since lane3 and lane2 are two lanes with different directions of travel, and vehicles can merge from lane3 into lane2, the transition sequence value is 1.

[0071] In this embodiment, determining the lane divergence and merging curve based on the lane connection point and the curvature calculation point specifically involves:

[0072] The first merging lane and the second merging lane are determined according to the transition sequence number, wherein the first merging lane and the second merging lane are connected by the same merging lane connection point.

[0073] Obtain the curvature calculation points in the first and second diverging merging lanes respectively;

[0074] The lane divergence and merging curves are determined based on two curvature calculation points and the connection point of the divergence and merging lanes.

[0075] In this embodiment, the connection point of the diverging and merging lanes and all lane information connected by the connection point are obtained according to map data. Based on the transition ordinal number associated with the connection point of the diverging and merging lanes, all diverging and merging lanes with curvature to be calculated are selected according to the transition ordinal number.

[0076] In this embodiment, the step of filtering out all merging and branching lanes with curvature to be calculated based on the transition sequence number specifically involves taking the first merging and branching lane as the current driving lane and the second merging and branching lane as the lane about to merge, filtering out the transition sequence numbers associated with the connection points of the merging and branching lanes. If the transition sequence number does not exist, then the first merging and branching lane and the second merging and branching lane are not merging and branching lanes, and the merging and branching curves do not exist.

[0077] In this embodiment, if the first merging lane and the second merging lane are merging lanes, then the curvature calculation points in the first merging lane and the second merging lane are obtained respectively.

[0078] The lane divergence and merging curves are determined based on two curvature calculation points and the connection point of the divergence and merging lanes.

[0079] In this embodiment, calculating the curvature of the merging and branching lanes based on the lane branching and merging curve specifically involves:

[0080] Obtain the radius of curvature of the lane divergence and merging curve at the connection point of the divergence and merging lanes;

[0081] The curvature of the diverging and merging lanes is calculated based on the radius of curvature and the curvature calculation algorithm.

[0082] In this embodiment, for two merging lanes connected by a merging lane connection point, the two curvature calculation points on the two merging lanes and the merging lane connection point, a total of three points, determine a quadratic curve. The quadratic curve at the merging lane connection point is the curvature between the two merging lanes.

[0083] In this embodiment, the curvature of the quadratic curve at the junction of the diverging and merging lanes is obtained based on the arc of the quadratic curve.

[0084] In this embodiment, an arc is determined by the two curvature calculation points and the connection point of the diverging and merging lanes, and the radius of the arc is confirmed. The radius of the arc is the radius of the lane diverging and merging curve.

[0085] In this embodiment, the curvature of the branching and merging lanes is calculated based on the radius of curvature. The curvature calculation algorithm is as follows:

[0086] turnGeometryCurvature=1 / r (1)

[0087] Where turnGeometryCurvature is the curvature of the merging and diverging lanes, and r is the radius of curvature.

[0088] Please refer to Figure 3 , Figure 3 This is a schematic diagram illustrating the calculation of lane divergence and merging curves in a map data processing method provided in an embodiment of the present invention.

[0089] In this embodiment, a high-speed scenario is used as an example, and the point selection threshold is set to 15 meters.

[0090] In this embodiment, points are taken at each lane connected by the connection point of each diverging and merging lane, where a threshold is set. Together with the connection point of the diverging and merging lanes, three points are used to determine a quadratic curve, and its curvature is calculated.

[0091] In this embodiment, as Figure 4As shown, starting from laneConnector1, extend 15 meters along the direction of lane2; this location is determined as curvature calculation point P1. Starting from laneConnector1, extend 15 meters in the opposite direction along lane3; this location is determined as curvature calculation point P2. The lane branching and merging curves are determined based on the three points: laneConnector1, P1, and P2.

[0092] In this embodiment, a circle is determined based on the lineConnector1, P1, and P2, and the radius of this circle is determined, which is the radius of curvature. Specifically:

[0093] Connect lineConnector1, P1, and P2 to form a triangle; then draw the perpendicular bisectors of any two sides of the triangle; the perpendicular bisectors intersect at a single point, which is the center of the circle (the center is equidistant from the three points). The distance from the center of the circle to any point is the radius of curvature.

[0094] Step 104: Integrate the merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes.

[0095] In this embodiment, the step of integrating the merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes specifically involves:

[0096] The data structure for merging and diverging lanes is integrated, wherein the data includes merging and diverging lane connection points, transition ordinals, and turning geometry curvatures; the merging and diverging lane connection points and transition ordinals are two related forms;

[0097] The merging and diverging lane connection point includes the connection point of the merging and diverging lanes and information on all lanes connected by the connection point. The turning geometry curvature is the curvature of the merging and diverging lanes corresponding to the connection point and the transition sequence.

[0098] In this embodiment, the map data is processed and the curvature between the diverging and merging lanes is obtained, thereby integrating the diverging and merging lane data.

[0099] In this embodiment, to facilitate the storage of curvature, a merging and branching lane data structure is constructed using map data of the merging and branching lanes. The merging and branching lane data structure is stored by establishing a lightweight database table, and the merging and branching lane data structure is constructed as two related data forms.

[0100] Please refer to Table 1, which is a diverging and merging lane data table provided in an embodiment of the present invention.

[0101] The lane divergence and merging lane data table (laneTurnGeometryCurvature) includes laneConnectorId, transitionOrdinalNumber, and turnGeometryCurvature. LaneConnectorId is the code for the lane divergence and merging connection point, transitionOrdinalNumber is the transition ordinal number of the current lane divergence and merging data, which indicates the direction of travel from the current lane to another lane, and turnGeometryCurvature is the curvature of the corresponding travel direction.

[0102]

[0103] Table 1

[0104] In this embodiment, the combination of laneConnectorId and transitionOrdinalNumber in the merging lane data table is used as the primary key.

[0105] In another alternative embodiment, laneConnectorId is a globally unique identifier for laneConnector (the junction point of the branching and merging lanes).

[0106] In this embodiment, in the merging lane data coded as laneConnector1, the connection point connects three lanes: lane1, lane2, and lane3.

[0107] Please refer to Table 2, which is a transitional ordinal table of the diverging and merging lane data structure provided in the embodiments of the present invention.

[0108]

[0109] Table 2

[0110] In this embodiment, in Table 2, fromLane represents the vehicle's current driving lane, toLane represents the lane the vehicle is about to merge into, and transitionOrdinalNumber represents the transition ordinal number from the current driving lane to the lane the vehicle is about to merge into.

[0111] As shown in Table 2, when lane 1 transitions to lane 2, the transition sequence number is 0 because they are still in the same lane. When lane 1 transitions to lane 2, the transition sequence number is also 0 because lane 1 and lane 2 are in the same direction. Since lane 1 cannot transition to lane 3, the transition sequence number is also 0. When lane 3 transitions to lane 2, the transition sequence number is 1 because lane 3 and lane 2 are two lanes with different directions of travel, and vehicles can merge from lane 3 into lane 2.

[0112] Please refer to Figure 4 , Figure 4 This is a schematic diagram of another branching and merging lane provided in an embodiment of the present invention.

[0113] In this embodiment, at a merging and diverging lane connection point, the lanes connected to the merging and diverging lane connection point are sorted in ascending order of clockwise angle from due north.

[0114] In this embodiment, the angles of all lanes connected by the merging and diverging lane connection point are determined. Taking the three lanes associated with laneConnector I d1 as an example, lane1 has a 270° clockwise angle to north, lane2 has a 90° clockwise angle to north, and lane3 has a 200° clockwise angle to north. The lanes are then sorted and coded according to their clockwise angles from north to south, for example, the angles are sorted from smallest to largest as 90° < 200° < 270°, i.e., lane2 (①). <l ane3(②)<l ane1(③)。

[0115] In this embodiment, when storing the transition ordinal, only the lane codes of the lanes connecting the merging and branching lane connection points need to be stored. Based on these lane codes, vehicles can quickly locate their current lane and the lane they are about to merge into when retrieving the merging and branching data, thereby obtaining the curvature of the merging and branching lanes.

[0116] Please refer to Figure 5 , Figure 5 This is a schematic diagram of a map data processing device according to an embodiment of the present invention, including: a data acquisition module 501, a point acquisition module 502, a curvature calculation module 503, and a data integration module 504;

[0117] The data acquisition module 501 is used to acquire map data and, based on the map data, acquire all merging and diverging lane connection points and corresponding lane scenes.

[0118] The point acquisition module 502 is used to determine a point acquisition threshold based on the lane scenario, and to determine a curvature calculation point based on the point acquisition threshold and the connection point of the diverging and merging lanes.

[0119] The curvature calculation module 503 is used to determine the lane divergence and merging curve based on the lane divergence and merging connection point and the curvature calculation point, and to calculate the curvature of the divergence and merging lane based on the lane divergence and merging curve.

[0120] The data integration module 504 is used to integrate the diverging and merging lane data based on the diverging and merging lane connection points and the diverging and merging lane curvature.

[0121] In this embodiment, the point-taking module 502 is specifically used for:

[0122] The lanes connected by the merging and diverging lane connection points are determined based on the map data.

[0123] The curvature calculation point for each lane is determined based on the merging and diverging lane connection point and the point selection threshold; the difference between the curvature calculation point and the merging and diverging lane connection point is the point selection threshold.

[0124] In this embodiment, the curvature calculation module 503 is specifically used for:

[0125] The transition sequence numbers for the merging and diverging lane connection points are determined based on the driving direction of each lane. These transition sequence numbers include the current driving lane, the lane to be merged into, and the transition sequence value.

[0126] In this embodiment, the curvature calculation module 503 is specifically used for:

[0127] Obtain a first lane and a second lane from the lanes connected by the merging and diverging lane connection point, and use the first lane as the current driving lane and the second lane as the lane to be merged into.

[0128] The transition sequence numbers of the first lane and the second lane are determined based on the travel directions of the first lane and the second lane.

[0129] In this embodiment, the curvature calculation module 503 is specifically used for:

[0130] The first merging lane and the second merging lane are determined according to the transition sequence number, wherein the first merging lane and the second merging lane are connected by the same merging lane connection point.

[0131] Obtain the curvature calculation points in the first and second diverging merging lanes respectively;

[0132] The lane divergence and merging curves are determined based on two curvature calculation points and the connection point of the divergence and merging lanes.

[0133] In this embodiment, the curvature calculation module 503 is specifically used for:

[0134] Obtain the radius of curvature of the lane divergence and merging curve at the connection point of the divergence and merging lanes;

[0135] The curvature of the diverging and merging lanes is calculated based on the radius of curvature and the curvature calculation algorithm.

[0136] In this embodiment, the data integration module 504 is specifically used for:

[0137] The process of integrating the merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes specifically involves:

[0138] The data structure for merging and diverging lanes is integrated, wherein the data includes merging and diverging lane connection points, transition ordinals, and turning geometry curvatures; the merging and diverging lane connection points and transition ordinals are two related forms;

[0139] The merging and diverging lane connection point includes the connection point of the merging and diverging lanes and information on all lanes connected by the connection point. The turning geometry curvature is the curvature of the merging and diverging lanes corresponding to the connection point and the transition sequence.

[0140] This invention also provides a method for controlling vehicle speed in lane divergence merging lanes, including:

[0141] When a vehicle reaches a merging / branching point, the map data processing method described above is used to obtain the curvature of the merging / branching lanes of the vehicle's current driving lane and the lane it is about to merge into.

[0142] The vehicle's autonomous driving speed is adjusted based on the curvature of the diverging and merging lanes.

[0143] In this embodiment, when a vehicle reaches a merging / branching point, the system retrieves the vehicle's current lane data and the lane it is about to merge into from the database; determines the transition sequence number of the merging / branching point; and then determines the curvature of the merging / branching lane based on the merging / branching connection point code and the transition sequence number. The merging / branching point can be set based on the merging / branching connection point.

[0144] In another alternative embodiment, the vehicle can pre-set an autonomous driving route and obtain the curvature of each divergence and merging point in the divergence and merging data, and preset the vehicle speed at all divergence and merging points in the vehicle's driving route based on the curvature of the divergence and merging points.

[0145] This invention also provides a lane splitting and merging lane speed control device, including: a curvature calculation module and a speed adjustment module;

[0146] The curvature calculation module is used to obtain the curvature of the current driving lane and the merging lane of the vehicle when the vehicle is driving to the merging and branching position by applying the map data processing method.

[0147] The speed adjustment module is used to adjust the vehicle's autonomous driving speed according to the curvature of the diverging and merging lanes.

[0148] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A map data processing method, characterized in that, include: Acquire map data, and based on the map data, obtain all branching and merging lane connection points and corresponding lane scenes; A point selection threshold is determined based on the lane scenario, and a curvature calculation point is determined based on the point selection threshold and the merging / branching lane connection point; specifically: each lane connected by the merging / branching lane connection point is determined based on the map data; the curvature calculation point of each lane is determined based on the merging / branching lane connection point and the point selection threshold; the difference between the curvature calculation point and the merging / branching lane connection point is the point selection threshold. The transition sequence numbers of the merging and diverging lane connection points are determined based on the driving direction of each lane. The transition sequence numbers include the current driving lane, the lane to be merged into, and the transition sequence value. When the same lane is used for the transition, or when the driving directions of the two lanes are the same, or when the current driving direction cannot be changed to the other lane, the transition sequence value is 0; otherwise, the transition sequence value is 1. The lane divergence and merging curve is determined based on the lane divergence and merging lane connection point and the curvature calculation point, and the curvature of the divergence and merging lane is calculated based on the lane divergence and merging curve. Specifically, determining the lane divergence and merging curve based on the lane divergence and merging lane connection point and the curvature calculation point specifically involves: determining a first divergence and merging lane and a second divergence and merging lane based on the transition ordinal number, wherein the first divergence and merging lane and the second divergence and merging lane are connected by the same lane divergence and merging lane connection point; obtaining the curvature calculation points in the first divergence and merging lane and the second divergence and merging lane respectively; and determining the lane divergence and merging curve based on the two curvature calculation points and the connection point of the divergence and merging lane. The diverging and merging lane data is integrated based on the diverging and merging lane connection points and the diverging and merging lane curvature.

2. The map data processing method as described in claim 1, characterized in that, The process of determining the transition sequence numbers of all merging and branching lane connection points based on the driving direction of each lane is as follows: Obtain a first lane and a second lane from the lanes connected by the merging and diverging lane connection point, and use the first lane as the current driving lane and the second lane as the lane to be merged into. The transition sequence numbers of the first lane and the second lane are determined based on the driving directions of the first lane and the second lane.

3. The map data processing method as described in claim 1, characterized in that, The calculation of the curvature of the merging and branching lanes based on the lane branching and merging curves specifically involves: Obtain the radius of curvature of the lane divergence and merging curve at the connection point of the divergence and merging lanes; The curvature of the diverging and merging lanes is calculated based on the radius of curvature and the curvature calculation algorithm.

4. The map data processing method as described in claim 1, characterized in that, The process of integrating the merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes specifically involves: The data structure for merging and diverging lanes is integrated, wherein the data includes merging and diverging lane connection points, transition ordinals, and turning geometry curvatures; the merging and diverging lane connection points and transition ordinals are two related forms; The merging and diverging lane connection point includes the connection point of the merging and diverging lanes and information on all lanes connected by the connection point. The turning geometry curvature is the curvature of the merging and diverging lanes corresponding to the connection point and the transition sequence.

5. A map data processing device, characterized in that, include: Data acquisition module, point selection module, curvature calculation module, and data integration module; The data acquisition module is used to acquire map data and, based on the map data, acquire all merging and diverging lane connection points and corresponding lane scenes. The point selection module is used to determine a point selection threshold based on the lane scene, and to determine curvature calculation points based on the point selection threshold and the connection points of the merging and diverging lanes; specifically, it determines each lane connected by the connection points of the merging and diverging lanes based on the map data; it determines the curvature calculation points of each lane based on the connection points of the merging and diverging lanes and the point selection threshold; the difference between the curvature calculation points and the connection points of the merging and diverging lanes is the point selection threshold. The transition sequence numbers of the merging and diverging lane connection points are determined based on the driving direction of each lane. The transition sequence numbers include the current driving lane, the lane to be merged into, and the transition sequence value. When the same lane is used for the transition, or when the driving directions of the two lanes are the same, or when the current driving direction cannot be changed to the other lane, the transition sequence value is 0; otherwise, the transition sequence value is 1. The curvature calculation module is used to determine the lane divergence and merging curve based on the lane divergence and merging lane connection point and the curvature calculation point, and to calculate the curvature of the divergence and merging lane based on the lane divergence and merging curve. Specifically, determining the lane divergence and merging curve based on the transition ordinal number involves: determining a first divergence and merging lane and a second divergence and merging lane, wherein the first divergence and merging lane and the second divergence and merging lane are connected by the same lane divergence and merging lane connection point; obtaining the curvature calculation points in the first divergence and merging lane and the second divergence and merging lane respectively; and determining the lane divergence and merging curve based on the two curvature calculation points and the connection point of the divergence and merging lane. The data integration module is used to integrate the merging and diverging lane data based on the merging and diverging lane connection points and the curvature of the merging and diverging lanes.

6. A method for controlling vehicle speed in lane diverging and merging lanes, characterized in that, include: When a vehicle reaches a merging / branching position, the map data processing method described in any one of claims 1 to 4 is used to obtain the curvature of the merging / branching lanes of the vehicle's current driving lane and the lane it is about to merge into. The vehicle's autonomous driving speed is adjusted based on the curvature of the diverging and merging lanes.

7. A speed control device for lane divergence and merging lanes, characterized in that, include: Curvature calculation module and speed adjustment module; The curvature calculation module is used to obtain the curvature of the current driving lane and the merging lane of the vehicle when the vehicle is driving to the merging and branching position by applying the map data processing method as described in any one of claims 1 to 4. The speed adjustment module is used to adjust the vehicle's autonomous driving speed according to the curvature of the diverging and merging lanes.

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