The invention relates to a vehicle automatic driving obstacle avoidance method and system based on high-precision map lane lines, and the method comprises the steps: Q1, obtaining obstacle data information outside and inside a road boundary of a road where a vehicle is located based on high-precision map data information when the vehicle runs on a public road, and carrying out the two-dimensional coordinate transformation, outputting obstacle data information outside and inside the road boundary under the two-dimensional coordinate system; and Q2, obstacle data information outside and inside the road boundary under the two-dimensional coordinate system. According to the invention, the system resource occupation is reduced, the efficiency of the perception algorithm and the planning decision algorithm is improved, the system resource occupation of the perception module and the planning decision module is reduced, and the experience effect of the automatic driving system is ensured. In the lane, the final safety guarantee is made by detecting the lane line and planning the distance between the trajectory and the polygon in the lane, and the safety performance of the vehicle is guaranteed.

    本发明涉及一种基于高精地图车道线的车辆自动驾驶避障方法及系统,该方法包括Q1:车辆行驶在公开道路上,基于高精地图数据信息,获取车辆所在道路的道路边界外和内的障碍物数据信息,并进行二维坐标变换,输出二维坐标系下的道路边界外和内的障碍物数据信息;Q2:基于所述二维坐标系下的道路边界外和内的障碍物数据信息。本发明不仅降低系统资源占用,提高感知算法和规划决策算法效率,减小感知模块和规划决策模块的系统资源占用,而且保证自动驾驶系统体验效果,车道外通过检测规划轨迹在costmap中的热度图,车道内通过检测车道线和规划轨迹与车道内多边形的距离做最后的安全保障,保证车辆安全性能。


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    Title :

    Vehicle automatic driving obstacle avoidance method and system based on high-precision map lane lines


    Additional title:

    一种基于高精地图车道线的车辆自动驾驶避障方法及系统


    Contributors:
    XIONG DIAO (author)

    Publication date :

    2023-04-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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