Road Segment Topology Positioning in Overlapping Road Layers
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In autonomous driving, accurate positioning is challenging in spatially overlapping scenarios where roads have the same or similar longitude and latitude but differ in height, leading to positioning errors.
Innovation Solution
A positioning method that constructs a local topology map based on pre-stored map information, using identifiers of road segments and their connection relationships, to determine the specific road segment a vehicle is on, even in overlapping regions, by querying the local topology map and matching with laser point cloud data or GNSS signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS signal is used for positioning, then positioning can be obtained, but positioning accuracy deteriorates in spatially overlapping scenarios
Solution Approach 1:
The patent introduces a local topology map as an intermediary data structure that mediates between GNSS positioning data and the actual vehicle location. The map stores road segment identifiers and their spatial relationships, allowing the system to resolve ambiguities when multiple road segments share the same GNSS coordinates. By querying the topology map with adjacent road segment identifiers, the system can disambiguate the vehicle's true location even when GNSS alone provides insufficient information.
2Measurement precision
If local topology map is constructed with road segment identifiers, then positioning accuracy in overlapping regions is improved, but system complexity increases
Solution Approach 1:
The patent segments the positioning problem into two distinct components: (1) a local topology map that stores road segment identifiers and their spatial relationships, and (2) a query mechanism that uses these identifiers to resolve positioning ambiguities. This segmentation allows the system to handle complex overlapping scenarios without requiring a complete redesign of the entire positioning system. The topology map is built incrementally by collecting adjacent road segment identifiers, and the query process independently resolves ambiguities by comparing current position with stored topology data.
3Loss of information
If multiple road segment identifiers are stored in topology map, then disambiguation capability is improved, but information storage requirements increase
Solution Approach 1:
The patent applies local quality by storing road segment identifiers and topology information only in the immediate vicinity of the vehicle's current position. The local topology map maintains identifiers for the current road segment and adjacent road segments, rather than storing information for the entire road network. This localized approach ensures that the system has sufficient information to resolve positioning ambiguities in the current area while minimizing data storage requirements by not maintaining a complete global topology map.
Data Source
AI summary
A positioning method, which relates to the positioning field and is applied to target positioning in a spatially overlapping scenario, is disclosed. The positioning method can avoid a positioning error in the spatially overlapping scenario. The method includes: constructing a local topology map of a target at a current moment based on identifiers of segments and one or more connection relationships among at least some of the segments, wherein the identifiers of the segments and the one or more connection relationships are prestored in map information; and determining, by using the local topology map, a specific road segment in which a target located in a spatially overlapping region is located at a next moment. In addition, a positioning map linked with a road segment may be further stored in the map information, and a positioning map linked with a positioned road segment is determined based on the positioned road segment, to implement high-precision positioning.