The invention belongs to the field of driving memorizing, and discloses a driving memorizing method and device. The method comprises the following steps: in a driving process, acquiring a first vehicle position and a first road condition image; performing semantic segmentation on the first road condition image to obtain a first road condition element contained in the first road condition image and a first relative position between the first road condition element and the autonomous vehicle; if a reference road condition element and a reference relative position corresponding to the first vehicle position in a first semantic map downloaded from a cloud server are respectively the same as the first road condition element and the first relative position, according to a first vehicle pose corresponding to the first vehicle position in the first semantic map, determining that the first vehicle position corresponds to the first vehicle position; and controlling the automatic driving vehicle to perform memory driving. According to the invention, driving memory is carried out in a complex urban area.
本申请属于记忆行车领域,公开了一种记忆行车的方法和装置。所述方法包括:在行驶过程中,获取第一车辆位置和第一路况图像;对所述第一路况图像进行语义分割,得到所述第一路况图像中包含的第一路况元素以及所述第一路况元素与所述自动驾驶车辆之间的第一相对位置;如果从云服务器下载的第一语义地图中所述第一车辆位置对应的参考路况元素和参考相对位置分别与所述第一路况元素和所述第一相对位置相同,则按照所述第一语义地图中所述第一车辆位置对应的第一车辆位姿,控制所述自动驾驶车辆进行记忆行车。采用本申请在复杂的城区中进行记忆行车。
Method and device for memorizing driving
一种记忆行车的方法和装置
2023-06-23
Patent
Electronic Resource
Chinese
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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