The invention discloses a vehicle intersection passing assisting method and system and a vehicle, and the method comprises the steps: detecting coarse-granularity intersection information based on SD navigation information and low-precision positioning information, and carrying out the fine-granularity positioning of an intersection based on the detected coarse-granularity intersection information and visual perception information. The method comprises the following steps: recording and storing perception data based on intersections subjected to fine granularity positioning, recording realization based on perception triggering on-line fusion, splicing the stored perception data into incremental topological graphs of the intersections based on offline post-processing, storing the incremental topological graphs, splicing the incremental topological graphs based on visual flow information fusion, and carrying out visual flow information fusion on the basis of visual flow information fusion. The visual flow information comprises lane line information, navigation information and/or positioning information, triggering the stored increment topological graph of the intersection based on the process of detecting and confirming that the vehicle passes through the intersection, and assisting the vehicle to pass through the intersection based on the increment topological graph of the intersection. According to the invention, the performance of safely passing the intersection by the user aiming at the familiar route is effectively solved or improved to a certain extent, and the user experience is improved.

    本发明公开了一种车辆路口通行辅助方法、系统及车辆,包括基于SD导航信息和低精度的定位信息检测粗颗粒度的路口信息,基于检测的粗颗粒度的路口信息以及视觉感知信息对路口进行细颗粒度定位,记录并保存基于经过细颗粒度定位的路口的感知数据,记录基于感知触发在线融合实现,将保存的感知数据基于离线后处理拼接成路口的增量拓扑图并保存,增量拓扑图基于视觉流信息融合进行拼接,视觉流信息包括车道线信息、导航信息和/或定位信息,基于检测并确认车辆处于通过路口的过程中,触发保存的路口的增量拓扑图,并基于路口的增量拓扑图辅助车辆通过路口。本发明有效解决或在一定程度上提升了用户针对熟悉路线安全通过路口的性能及提成用户体验感。


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    Title :

    Vehicle intersection passing assisting method and system and vehicle


    Additional title:

    一种车辆路口通行辅助方法、系统及车辆


    Contributors:
    WANG JUNPING (author) / CHAI JIAFENG (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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