The invention belongs to the technical field of automatic driving, particularly provides a map updating method and device, an automatic driving control method and device, a medium and a vehicle, and aims to solve the problem of map updating of a geometric problem area in a high-precision map. In order to achieve the purpose, the method comprises the steps that lane line level correlation is conducted on a target lane line and a source lane line, and a first aggregation lane line set is obtained; screening the first aggregation lane line set based on the road level association result of the target road and the source road to obtain a second aggregation lane line set; and based on the second aggregation lane line set, directly or re-screening to obtain a map updating source and updating the target map. According to the method, the accuracy of updating the source data by the map is improved through the lane lines of the target map and the source map, the multi-level association of the roads and the multi-level distance threshold; through the crowdsourcing map with high freshness and the high-precision map with relatively low freshness, the safety of the automatic driving vehicle is improved, the starting range of the automatic driving system is expanded, and the user experience is improved.

    本发明属于自动驾驶技术领域,具体提供一种地图更新、自动驾驶控制方法、设备、介质及车辆,旨在解决高精地图中存在几何问题区域的地图更新的问题。为此目的,本发明的方法包括:对目标车道线和源车道线进行车道线级关联,得到第一聚合车道线集合;基于目标道路和源道路的道路级关联结果筛选第一聚合车道线集合,得到第二聚合车道线集合;基于第二聚合车道线集合直接或再次筛选得到地图更新源并更新目标地图。本发明通过目标地图、源地图的车道线、道路的多级关联和多级距离阈值,提高了地图更新源数据的准确性;通过鲜度高的众包地图更新鲜度相对低的高精地图,提高了自动驾驶车辆的安全性,扩大了自动驾驶系统的开启范围,提升了用户体验。


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    Titel :

    Map updating method and device, automatic driving control method and device, medium and vehicle


    Weitere Titelangaben:

    地图更新、自动驾驶控制方法、设备、介质及车辆


    Beteiligte:
    GUO CHENGCHENG (Autor:in) / YU SIYUAN (Autor:in) / SONG MENGXIAO (Autor:in) / YAO DI (Autor:in) / YANG SHUAI (Autor:in) / YUAN HONGYUAN (Autor:in) / REN SHAOQING (Autor:in)

    Erscheinungsdatum :

    2023-04-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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