A system receives a road network map that corresponds to a road network in an environment of an autonomous vehicle. For each of the one or more lane segments, the system identifies one or more conflicting lane segments from the plurality of lane segments, each lane segment conflicting with the lane segment, and adds conflict data relating to a conflict between the lane segment and the one or more conflicting lane segments to a set of conflict data. The system analyzes the conflict data to identify a cluster of conflicts representing the intersection. The system groups the leading lane segments and the subsequent lane segments into entrances or exits of the intersection, generates external geometric boundaries of the intersection, generates internal geometric boundaries of the intersection, creates a data representation of the intersection, and adds the data representation to a road network map.
一种系统接收道路网络地图,所述道路网络地图与自主车辆的环境中的道路网络相对应。对于一个或多个车道路段中的每一个,系统从多个车道路段中标识一个或多个冲突车道路段,每个车道路段与车道路段冲突,并将与车道路段和一个或多个冲突车道路段之间的冲突有关的冲突数据添加到冲突数据的集合。系统分析冲突数据以标识表示交叉路口的冲突集群。系统将前导车道路段和后继车道路段分组为交叉路口的入口或出口,生成交叉路口的外部几何边界,生成交叉路口的内部几何边界,创建交叉路口的数据表示,并将数据表示添加到道路网络地图。
Method and system for constructing data representation for assisting navigation of autonomous vehicle at intersection
用于构建用于辅助自主车辆在交叉路口导航的数据表示的方法和系统
2023-08-29
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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