Digital Map Deformation Correction for Vehicle Trajectory Planning
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Solution Overview
Problem
The current digital maps used in automatic vehicle driving systems experience distortion at the edges of neighboring zones due to different Cartesian coordinate systems, leading to discontinuity and incorrect trajectory planning.
Innovation Solution
A method and apparatus that transform road coordinate information from one Cartesian coordinate system to another, allowing for the generation of a corrected map by combining information from adjacent zones, ensuring smooth road information across zone transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If Gauss-Krueger projection is used to transform localization information to Cartesian coordinates, then the coordinate system is suitable for local zone processing, but discontinuity and distortion occur at the edges of neighboring zones
Solution Approach 1:
The patent introduces an intermediary coordinate transformation process that converts coordinates from the second zone's Cartesian coordinate system to the first zone's Cartesian coordinate system through a transition area. This intermediary transformation eliminates the direct discontinuity between neighboring zones and ensures smooth coordinate transitions across zone boundaries.
Solution Approach 2:
The patent changes the coordinate system parameters by transforming road coordinate information from one Cartesian coordinate system (second zone) to another Cartesian coordinate system (first zone). This parameter transformation allows the same physical location to be represented consistently across different zones, eliminating distortion at zone edges.
2Ease of manufacture
If different Cartesian coordinate systems are used for different zones, then each zone can be processed independently, but distortion and discontinuity occur when moving through neighboring zones
Solution Approach 1:
The patent introduces an intermediary coordinate transformation process that converts coordinates from the second zone's Cartesian coordinate system to the first zone's Cartesian coordinate system through a transition area. This intermediary transformation eliminates the direct discontinuity between neighboring zones and ensures smooth coordinate transitions across zone boundaries.
3Device complexity
If one center line is used for projection in one local HD map, then processing within that zone is simplified, but violent coordinate changes occur when points are far from the center line
Solution Approach 1:
The patent changes the coordinate system parameters by transforming road coordinate information from one Cartesian coordinate system (second zone) to another Cartesian coordinate system (first zone). This parameter transformation allows the same physical location to be represented consistently across different zones, eliminating distortion at zone edges.
Data Source
AI summary
A method and an apparatus for correcting deformation of a digital map for a vehicle, includes loading a related part from the digital map; determining whether the related part includes road coordinate information in a first zone and road coordinate information in a second zone, wherein the road coordinate information in the first zone is associated with a first Cartesian coordinate system and the road coordinate information in the second zone is associated with a second Cartesian coordinate system; transforming the road coordinate information in the second zone to the first Cartesian coordinate system, if the related part includes the road coordinate information in the first zone and the road coordinate information in the second zone; and generating a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone; wherein the first Cartesian coordinate system is the coordinate system of the vehicle for processing the road coordinate information.