A perceived and map edge association system for an autonomous driving vehicle includes one or more controllers that execute instructions to receive a plurality of perceived lane edge candidates each representing a perceived lane edge, and a plurality of map lane edge candidates each representing a map lane edge. The one or more controllers identify a difference between the selected perceived lane edge candidate and a best fit map edge candidate of the lane feature based on a posterior association probability matrix and a difference flag. The one or more controllers divide a pair of inconsistent perceived and map lane edges into one or more matching segments. The one or more matching segments indicate where the perceived lane edge and the map lane edge match each other based on the lane features. A perceptual and map edge association system improves localization and scene creation performance.
一种用于自动驾驶车辆的感知与地图边缘关联系统,包括一个或多个控制器,其执行指令以接收每个都代表感知车道边缘的多个感知车道边缘候选项,以及每个都代表地图车道边缘的多个地图车道边缘候选项。该一个或多个控制器基于后验关联概率矩阵和差异标志来识别所选择的感知车道边缘候选项与车道特征的最佳拟合地图边缘候选项之间的差异。该一个或多个控制器将一对不一致的感知和地图车道边缘分割成一个或多个匹配段。该一个或多个匹配段基于车道特征指示感知车道边缘和地图车道边缘在何处彼此匹配。感知与地图边缘关联系统提高了定位和场景创建性能。
Perceptual and map edge association system accommodating inconsistent perceptual and map data
容纳不一致的感知和地图数据的感知与地图边缘关联系统
06.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 |
PERCEPTION AND MAP EDGE ASSOCIATION SYSTEM FOR ACCOMMODATING INCONSISTENT PERCEPTION AND MAP DATA
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