Lane Line Map Fusion Using Road Topology and Point Alignment
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Solution Overview
Problem
Current advanced driver assistance systems (ADAS) and automated driving systems (ADS) do not adequately account for variations in lane line maps from different sources, leading to inaccuracies in vehicle navigation and operation.
Innovation Solution
A method and system for merging lane line maps by determining a road topology, identifying corresponding point pairs, and forming a fused lane line map using virtual lateral lines and an iterative closest point algorithm to align points from different lane line maps, ensuring accurate lane line representation for vehicle operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple lane line maps from different sources are used to improve navigation accuracy, then measurement precision is improved, but device complexity increases due to the need to integrate and reconcile multiple map sources
Solution Approach 1:
The patent merges multiple lane line maps from different sources (first lane line map and second lane line map) into a single fused lane line map by identifying corresponding point pairs and fusing their coordinates. This combining approach maintains high measurement precision while managing integration complexity through systematic point-matching algorithms.
Solution Approach 2:
The patent introduces virtual lateral lines as intermediary elements to facilitate the matching and fusion of points from different lane line maps. These virtual lines serve as reference structures that simplify the complex task of aligning and reconciling multiple map sources by providing a common framework for comparison.
2Reliability
If lane line maps from different sources are integrated to improve navigation reliability, then system reliability is improved, but the complexity of processing and aligning multiple maps increases
Solution Approach 1:
The patent segments the lane line maps into discrete point pairs that can be individually matched and fused. By dividing the continuous lane line representations into manageable point segments, the system can process multiple map sources more efficiently while maintaining overall navigation reliability through cumulative point fusion.
Solution Approach 2:
Virtual lateral lines act as intermediary reference structures that simplify the alignment process between multiple lane line maps. These intermediaries provide a standardized framework that reduces processing complexity by establishing consistent reference points across different map sources.
3Manufacturing precision
If an iterative closest point algorithm is used to align points from different lane line maps, then manufacturing precision of the fused map is improved, but loss of time increases due to the iterative nature of the algorithm
Solution Approach 1:
The patent performs preliminary actions by establishing virtual lateral lines and identifying corresponding point pairs before executing the iterative closest point algorithm. This pre-processing step organizes the data in advance, reducing the computational burden during the iterative fusion process and minimizing time loss while maintaining high precision.
Data Source
AI summary
A method for merging lane line maps includes determining a road topology of a road segment. The method also includes identifying a plurality of fused points based at least in part on the road topology and based at least in part on a first lane line map of the road segment and a second lane line map of the road segment. The method also includes forming a fused lane line map based at least in part on the plurality of fused points. The method also includes performing a first action based at least in part on the fused lane line map.