TWI747314B - System and method for updating and sharing dynamic map information at intersection - Google Patents

Abstract

A system and method for updating and sharing dynamic map information at intersections, which receives detection information output by a detection device on a vehicle. The detection information includes the absolute positioning coordinates of the vehicle, the vehicle's own vehicle heading, the vehicle's own vehicle speed, the object and the vehicle's speed The relative speed and the original relative coordinates of the object and the vehicle; respectively match the absolute positioning coordinates of the vehicle and the original relative coordinates of the object and the vehicle plus the estimated coordinate displacement; according to the vehicle heading and the reference position of the geodetic coordinate system will match The relative coordinates are rotated and converted to form a matching conversion coordinate; the absolute positioning coordinates of the vehicle and the matching conversion coordinate of the object are merged into the intersection area map information to become the intersection dynamic map information; external sharing of the intersection dynamic map information to achieve the intersection dynamic map information Update the purpose of sharing.

Description

System and method for updating and sharing dynamic map information at intersection

The present invention relates to a system and method for updating and sharing map information, in particular to a system and method for updating and sharing map information at intersections.

With the development of Intelligent Transport System (ITS), self-driving vehicles (self-driving cars) will become one of the mainstream transportation methods in the future. Self-driving cars can drive on the road, mainly based on the computer to implement navigation decisions; among them, Self-driving cars can be equipped with detection units such as cameras, optical radar (LiDAR), global navigation satellite systems (GNSS) and inertial navigation systems (INS)... to locate the position of the self-driving car and detect objects around the self-driving car For the object such as other vehicles or pedestrians, the self-driving car can make navigation decisions based on the detection data of the detection unit.

Different from a controlled road environment like a laboratory or test site, the actual road has all kinds of vehicles and pedestrians, and even vehicles and pedestrians that violate regulations, such as speeding, running red lights, etc., especially at intersections (for example, crossroads or crossroads) , Vehicles and pedestrians cross the intersection from different directions. This shows that for self-driving cars, smoothly passing intersections is an important issue.

However, the detection range of existing self-driving cars is limited, and its detection range is limited to the area around the self-driving car itself. Vehicles and pedestrians at intersections come from all directions. Therefore, some road conditions at intersections (especially those far away from self-driving cars) are self-driving. Undetectable, resulting in the existing self-driving cars being unable to effectively and comprehensively grasp the intersection information when passing through the intersection, and thus unable to implement more comprehensive navigation decisions.

In view of this, the main purpose of the present invention is to provide a system and method for updating and sharing dynamic map information at intersections, in order to overcome the shortcomings of the limited detection range of self-driving cars described in the prior art.

The system for updating and sharing dynamic map information at intersections of the present invention includes: An on-vehicle detection device, set in a vehicle for detecting the surrounding objects of the vehicle and periodically outputting a detection information, the detection information includes an absolute positioning coordinate of the vehicle, a heading of the vehicle, and a vehicle Speed, a relative speed of at least one object and the vehicle, and an original relative coordinate of the at least one object and the vehicle; and an arithmetic device storing map data of an intersection area, the intersection area map data is established in a large-scale coordinate system, The geodetic coordinate system includes a reference position; wherein, when the computing device receives the detection information from the detection device on the vehicle, the computing device adds the absolute positioning coordinates of the vehicle to an estimated coordinate displacement of the vehicle. Obtain a matched absolute coordinate, and add an estimated coordinate displacement of the object to the original relative coordinate of the at least one object and the vehicle to obtain a matched relative coordinate, wherein the estimated coordinate displacement of the vehicle is based on the original relative coordinate The vehicle speed and a time difference are calculated, and the estimated coordinate displacement of the object is calculated based on the relative speed and the time difference; the computing device performs coordinate rotation conversion on the matched relative coordinates according to the vehicle’s heading and the reference azimuth. A matching conversion coordinate is formed, and the matching absolute coordinate and the matching conversion coordinate are merged into the intersection area map data to become the dynamic map data of the intersection, and the dynamic map data of the intersection is shared with the outside.

The method for updating and sharing the dynamic map information of the intersection of the present invention is executed on a computing device, and the method includes: receiving a detection information output by at least one on-vehicle detection device, the detection information including an absolute positioning coordinate of a vehicle, A heading of the vehicle, a speed of the vehicle, a relative speed of at least one object and the vehicle, and an original relative coordinate of the at least one object and the vehicle; the absolute positioning coordinates of the vehicle are added with an estimated coordinates of the vehicle A matching absolute coordinate is obtained by displacement, and the original relative coordinate of the at least one object and the vehicle is added with an estimated coordinate displacement of the object to obtain a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is It is calculated based on the speed of the vehicle and a time difference, and the estimated coordinate displacement of the object is calculated based on the relative speed and the time difference; According to the heading of the vehicle and a reference position of the coordinate system of a large place, the matching relative coordinates are rotated and converted to form a matching conversion coordinate; the matching absolute coordinates and the matching conversion coordinate are merged into the map data of the intersection area In order to become a dynamic map of the intersection; and share the dynamic map of the intersection with the outside world.

In summary, the intersection dynamic map information shared by the present invention can show the location of objects passing through the intersection. For example, when ten self-driving cars equipped with the on-board detection device of the present invention pass through the intersection from all directions, these ten self-driving cars Provide its own detection information to the computing device for the computing device to generate and share the intersection dynamic map data. In this way, a self-driving car passing through an intersection can receive the dynamic map data of the intersection, and from the dynamic map data of the intersection, it can obtain the road condition information outside the detection range of its on-board detection device (that is, the detection information generated by other self-driving cars ), especially the object location of the intersection dynamic map data is estimated, which is closer to the actual road conditions of the intersection dynamic map data broadcast, rather than the earlier road conditions, and the self-driving car can conduct comprehensive navigation based on the intersection dynamic map data. Make decisions to ensure driving safety, so overcome the problems described in the previous technology.

10: Vehicle detection device

11: Computing device

110: Intersection area map information

12: Object detection device

120: auxiliary detection information

13: receiving device

20: Vehicle

30: Detect information

31: Absolute positioning coordinates

32: Relative speed

33: The course of the vehicle

331: The first car course

332: The second car course

333: The third course of the car

334: The fourth course of the car

335: Fifth car course

336: The sixth car course

34: Relative coordinates

35: own car speed

41: The first self-driving car

410: First Detection Information

411: Absolute coordinates of the first match

412: Second matching conversion coordinate

42: second self-driving car

420: second detection information

421: First matching conversion coordinate

422: Absolute coordinates of the second match

43: The third self-driving car

430: Third Detection Information

431: Third matching absolute coordinates

44: The fourth self-driving car

440: Fourth Detection Information

441: Absolute coordinates of the fourth match

442: Fifth matching conversion coordinate

443: Third matching conversion coordinate

45: Fifth self-driving car

450: Fifth Detection Information

451: Fourth matching conversion coordinate

452: Fifth matching absolute coordinates

453: Sixth matching conversion coordinate

46: The sixth self-driving car

460: Sixth Detection Information

461: Seventh matching conversion coordinate

462: The sixth matching absolute coordinate

50: Motorcycle

51: Non-self-driving

60: Intersection dynamic map information

S01~S04: steps

Figure 1: A block diagram of the system for updating and sharing dynamic map information at intersections according to the present invention.

Figure 2: Schematic diagram of the usage scenario of the system for updating and sharing dynamic map information at intersections according to the present invention.

Figure 3: A schematic diagram of the arithmetic device of the present invention generating an intersection dynamic map data based on the detection information.

Figure 4: A block diagram of the detection information of the present invention.

Fig. 5: Time schematic diagram of broadcast intersection dynamic map data of the present invention.

Fig. 6: In an embodiment of the present invention, a schematic diagram of a plurality of on-vehicle detection devices respectively generating detection information.

Figure 7: Schematic diagram of coordinate rotation conversion performed by the present invention.

Fig. 8: A schematic diagram of the dynamic map information of the intersection of the present invention.

Fig. 9: A schematic flowchart of the method for updating and sharing dynamic map information at intersections according to the present invention.

Please refer to FIG. 1, the embodiment of the system for updating and sharing information on the intersection dynamic map of the present invention includes at least one on-vehicle detection device 10 and at least one computing device 11, or further includes at least one object detection device 12, which detects on-vehicle The device 10 is for installation in a vehicle, and the object detection device 12 is for installation at a road junction. On the whole, the present invention uses the vehicle detection device 10 or further combines with the object detection device 12 to detect the location of the object around the vehicle or at the intersection, and periodically detect the result It is transmitted to the computing device 11, where the object is a detected object, such as various vehicles, pedestrians, or other objects (such as scattered objects). The computing device 11 matches and merges the received detection results with the map data of the intersection area to form a dynamic map data of the intersection; the computing device 11 can periodically broadcast the map data of the intersection area to Share the intersection dynamic map data to a receiving device 13, such as a self-driving car, in-car audio-visual navigation device, or user electronic device (such as a smart phone), etc., for the receiving device 13 to receive the intersection dynamic Figure and use it. The further technical details of the present invention are described below.

In the embodiment of the present invention, please refer to FIG. 2 and FIG. 3, each of the on-vehicle detection devices 10 can be installed on a vehicle 20 running on the road. The vehicle 20 can be, for example, an autonomous vehicle (self-driving) or non For self-driving cars, the on-board detection device 10 may include, for example, a camera, optical radar (LiDAR), global navigation satellite system (GNSS), inertial navigation system (INS), and a wireless communication module for data transmission. Its positioning function, The sensing function and the data transmission function are common knowledge in the technical field, and will not be described in detail here. Therefore, the vehicle detection device 10 can periodically output a detection information 30, for example, it can broadcast the detection information 30 through (but not limited to) dedicated short-range communication technology (DSRC), or through mobile communication technology (such as The fifth generation (5G) or higher-level mobile communication technology) outputs the detection information 30. Please refer to FIG. 4. The detection information 30 includes an absolute value of each vehicle 20 generated by the vehicle detection device 10 through the positioning function. Positioning coordinates 31, and including generating at least one relative speed of at least one object and the vehicle 20 through a sensing function 32. A vehicle heading 33, at least one relative coordinate 34 of the at least one object and the vehicle 20, and a vehicle speed 35, wherein the vehicle heading 33 refers to the heading of the vehicle 20. In the embodiment of the present invention, the following description only takes an object detected by the vehicle 20 as an example, and the relative coordinate 34 in the detection information 30 is defined as an original relative coordinate.

Please refer to FIG. 4 together. The absolute positioning coordinate 31 reflects the absolute position of the vehicle 20 in the intersection area map data, and the relative coordinate 34 reflects the relative position between the object and the vehicle 20. For the convenience of description, the absolute positioning coordinates 31 and the relative coordinates 34 are coordinate values of the X-Y plane coordinate system, which can be converted to the longitude and latitude of the geodetic coordinates system.

An embodiment of the computing device 11 may be an edge computing device installed at an intersection, which includes a wireless communication module and a processor for receiving broadcast information, processing information, and external broadcast information. For example, The computing device 11 can broadcast and receive information through dedicated short-range communication technology (DSRC), but is not limited to this; therefore, when the vehicle 20 passes through an intersection, the on-board detection device 10 of the vehicle 20 can broadcast its detection Detecting information 30, the computing device 11 can receive the detecting information 30. In addition, another embodiment of the computing device 11 may be a cloud server, and the on-vehicle detection device 10 can establish a connection with the computing device 11 through mobile communication technology, so that the on-vehicle detection device 10 can communicate with the computing device 11 The device 11 can transmit the detection information 30 through mobile communication technology.

3, the computing device 11 stores the intersection area map data 110, the intersection area map data 110 can be a high-precision intersection plan, which can include lane marking information (such as lane markings or zebra crossings, etc.) of the intersection. Wherein, the intersection area map data 110 can be established in a large-scale coordinate system, and the large-scale coordinate system includes a reference direction. For example, the range of the intersection area map data 110 may be specified and divided by the longitude and latitude values of the geodetic coordinate system, and the reference orientation may include east, west, south, and north.

Hereinafter, an example is used to illustrate the method for updating and sharing the dynamic map information of an intersection of the present invention. The method for updating and sharing an intersection dynamic map and information of the present invention is executed by the computing device 11. Please refer to Figure 2, Figure 3 and Figure 9, the The computing device 11 takes an edge computing device as an example. When the vehicle 20 passes through an intersection, as described above, the on-vehicle detection device 10 of the vehicle 20 periodically broadcasts the detection information 30 for the computing device 11 to receive ( Step S01). Whenever the arithmetic device 11 receives the detection information 30, the arithmetic device 11 adds the absolute positioning coordinate 31 in the detection information 30 to an estimated coordinate displacement of the vehicle (described later) to obtain a match Absolute coordinates, and the original relative coordinates (ie, the relative coordinates 34) plus an estimated coordinate displacement of the object (described later) to obtain a matching relative coordinate (step S02). Because the matched relative coordinates only present a relative positional relationship between the object and the vehicle 20, the computing device 11 further performs coordinate rotation conversion on the matched relative coordinates according to the vehicle heading 33 and the reference orientation to convert The relative position between the object and the vehicle 20 is correspondingly positioned in the XY plane coordinate system, and then the matched absolute coordinates corresponding to the position of the vehicle 20 and the matched relative coordinates after the rotation conversion corresponding to the position of the object are converted into longitude After merging with latitude to the intersection area map data 110, to become a road junction dynamic map data (step S03), and share the intersection dynamic map data externally (step S04), the sharing method can be, for example, through a dedicated short-range communication technology (DSRC) ) Broadcast mode.

In step S02, regarding the generation of the estimated coordinate displacement of the vehicle and the estimated coordinate displacement of the object, please refer to FIG. 5 with reference to FIGS. 2 to 4. When the vehicle is 20 in the first position, the Overall, the on-board detection device 10 of the vehicle spends △ _TP time for information calculation and △T _T time for information transmission. The on-board detection device 10 broadcasts the detection at a first time point t1. Information 30, the detection information 30 is the detection result of the on-vehicle detection device 10 corresponding to the first position; the broadcast period of the on-vehicle detection device 10 may be _TR , the broadcast period of the computing device 11 may be T _{B; foregoing, △ T P, △ T T} , T R and T _B are known information, can be preset in the arithmetic unit 11, for example, △ T _P and △ _T T 5 each may be In milliseconds (ms), _TR can be 125 (ms), and T _B can be 200 (ms).

It can be seen that the computing device 11 can broadcast at a second time point t2, and the time point when the vehicle 20 is located at the first position and the second time point t2 have a time difference ΔT for information computing and transmission, as described above Time data, △T is 85 (ms). The position of the vehicle 20 and the object and The relative position of the vehicle 20 may change over time, and the estimated coordinate displacement of the vehicle 20 and the estimated coordinate displacement of the object are the complex estimated changes of the detection information 30 during the time difference ΔT. In this way, the dynamic map information of the intersection broadcast by the computing device 11 at the second time point t2 will be more consistent with the actual road conditions at the second time point t2 instead of earlier road conditions.

The estimated coordinate displacement of the object can be expressed as follows:

為該物件預估座標位移量，

為該物件與該車輛20的該 相對速度32，△T為該時間差。故該匹配相對座標可表示如下：

In the above formula, X and Y can respectively represent the coordinate axis of the XY plane coordinate system;

Estimate the coordinate displacement of the object,

Is the relative speed 32 between the object and the vehicle 20, and ΔT is the time difference. Therefore, the relative coordinates of the matching can be expressed as follows:

表示該匹配相對座標，

表示該 原始相對座標(即：該物件與該車輛20的該相對座標34)。 In the above formula,

Indicates the relative coordinates of the match,

Represents the original relative coordinates (ie: the relative coordinates 34 of the object and the vehicle 20).

On the other hand, the estimated coordinate displacement of the vehicle can be expressed as follows:

為該本車預估座標位移量，

為該車輛20的該本車速度35， △T為該時間差。故該匹配絕對座標可表示如下：

In the above formula, X and Y can respectively represent the coordinate axis of the XY plane coordinate system,

Estimate the coordinate displacement for the vehicle,

Is the own vehicle speed 35 of the vehicle 20, and ΔT is the time difference. Therefore, the absolute coordinates of the matching can be expressed as follows:

表示該車輛20的該匹配絕對座標，

表示該車輛20的該絕對定位座標31。 In the above formula,

Represents the matching absolute coordinates of the vehicle 20,

It represents the absolute positioning coordinate 31 of the vehicle 20.

The following further describes the usage scenarios of the present invention in conjunction with the drawings. Please refer to the intersection shown in Figure 6 and refer to Figures 2 to 4. The east-west lane contains four self-driving cars and one motorcycle 50. The four self-driving cars are the first, second, fourth, and fourth. Five self-driving cars 41, 42, 44, 45; the north-south lanes include the third and sixth self-driving cars 43, 46 and a non-self-driving car 51. Each self-driving car 41~46 is equipped with the on-board detection of the present invention装置10。 Device 10.

The object detected by the on-vehicle detection device 10 of the first self-driving car 41 includes the second self-driving car 42, so in the first detection information 410 generated by the first self-driving car 41, the first The original relative coordinates of the self-driving car 41 and the second self-driving car 42 may show that the second self-driving car 42 is located at the left front of the first self-driving car 41, and a first self-driving car 41 of the first self-driving car 41 is east. Similarly, the second to sixth detection information 420 to 460 of the on-vehicle detection device 10 of the second to sixth self-driving cars 42 to 46 can be deduced by analogy.

The detection information 410-460 of each of the self-driving cars 41-46 is sent to the computing device 11, and the computing device 11 performs coordinate matching and merging as described above, wherein the first self-driving car 41 is Take the detection information 410 as an example. The first self-driving car 41 has a heading 331 of east, and the matching relative coordinates only show that the second self-driving car 42 is located at the left front of the first self-driving car 41. The "front" of the positional relationship is transformed into the "east" of the geodetic coordinate system. The relative position of the "front" and "east" are different by 90 degrees. Therefore, the matching of the first self-driving car 41 can be opposed through a rotation matrix. The coordinates undergo coordinate rotation conversion so that the "front" of the relative position relationship is transformed into the "east" of the geodetic coordinate system.

Please refer to Figure 7. X ^A and Y ^A respectively represent the coordinate axis of the XY plane coordinate system, ^{the arrow of Y A} axis points to the north corresponding to the geodetic coordinate system, and ^{the arrow of X A} axis points to the east corresponding to the geodetic coordinate system. X ^R and Y ^R are coordinate axes representing the relative positional relationship between the object and the vehicle 20. Generally speaking, the aforementioned coordinate rotation conversion can be expressed as follows:

為經過座標旋轉轉換後的該匹配相對座標，後稱之 為一匹配轉換座標，以反映物件位置；

為旋轉矩陣，θ°為 旋轉矩陣的旋轉角度；上式的

為該匹配相對座標。 in,

It is the matching relative coordinate after coordinate rotation conversion, which is called a matching conversion coordinate to reflect the position of the object;

Is the rotation matrix, θ ° is the rotation angle of the rotation matrix;

Is the relative coordinates of the match.

If the first detection information 410 of FIG. 6 is taken as an example, taking the matching absolute coordinates of the first self-driving car 41 as the origin and rotated 90 degrees clockwise, that is, θ ° is 90 degrees, the second to sixth detections The coordinate conversion of the measured information 420~460 can be deduced by analogy, but it is necessary to pay attention to the corresponding relationship between the "front" of the relative position relationship and the reference position of the geodetic coordinate system to confirm the rotation angle of the rotation matrix.

Please refer to the merged dynamic map information 60 of the intersection shown in FIG. 8, and in conjunction with FIG. 6, taking the first detection information 410 and the second detection information 420 as an example, one of the first self-driving car 41 The position of the first matching absolute coordinate 411 corresponds to a first matching conversion coordinate 421 calculated from the second detection information 420. Similarly, the position of a second matching absolute coordinate 422 of the second self-driving car 42 corresponds to A second matching conversion coordinate 412 calculated from the first detection information 410.

The situations of the third to sixth self-driving cars 43 to 46 can be deduced by analogy. In short, the position of a fourth matching absolute coordinate 441 of the fourth self-driving car 44 corresponds to the position calculated from the fifth detection information 450 The position of a fifth matching absolute coordinate 452 of the fifth self-driving car 45 corresponds to a fifth matching conversion coordinate 442 calculated from the fourth detection information 440, and the motorcycle 50 Corresponds to a third matching conversion coordinate 443 calculated from the fourth detection information 440, the The position of the non-self-driving car 51 corresponds to a sixth matching conversion coordinate 453 calculated from the fifth detection information 450 and a seventh matching conversion coordinate 461 calculated from the sixth detection information 460. The third automatic A third matching absolute coordinate 431 of the driving car 43 and a sixth matching absolute coordinate 462 of the sixth self-driving car 46 are displayed independently.

To sum up, the intersection dynamic map 60 can display the location of objects passing through the intersection, as shown in FIG. 6 with reference to FIGS. 2 to 4, taking the first self-driving car 41 as an example, although 41. The detection range of the on-vehicle detection device 10 does not cover the third to sixth self-driving cars 43~46, the motorcycle 50 and the non-self-driving car 51, but after coordinate conversion and matching, it matches the one shown in Fig. 8 The intersection dynamic map data 60 shown can also obtain the real-time dynamics of the third to sixth self-driving cars 43 to 46, the motorcycle 50 and the non-self-driving car 51, and when the computing device 11 broadcasts the intersection dynamic map data periodically At 60 o'clock, the position of the object is updated periodically, and the intersection dynamic map data 60 enables the object to be dynamically presented.

Therefore, when the self-driving car passes through the intersection, it can receive the intersection dynamic map information 60 broadcast by the computing device 11, and the self-driving car can make comprehensive navigation decisions based on the intersection dynamic map information 60; on the other hand, Vehicles or user electronic devices with the function of receiving broadcast messages (such as smart phones) can also receive the intersection dynamic map 60 broadcast by the computing device 11 to display the intersection dynamic map 60 to the driver or Passenger inspection allows drivers to grasp the road conditions at the intersection in real time and improve traffic safety at the intersection.

On the other hand, other embodiments of the present invention may further include the object detection device 12. Compared with the on-vehicle detection device 10, the object detection device 12 can be fixedly installed on the side of the road to detect objects at intersections. And the object detected by the object detecting device 12 and the on-vehicle detecting device 10 may be the same or different objects. It should be noted that the at least one object detected by the on-vehicle detecting device 10 is defined as At least one first object, and at least one object detected by the object detecting device 12 is defined as at least one second object. Please refer to Figures 2 and 3, the object detection device 12 can also send an auxiliary detection information 120 to the computing device 11 through broadcast or mobile communication technology. The auxiliary detection information 120 and the vehicle detection device The detection information 30 generated by setting 10 is similar, that is, the object detection device 12 can also detect the at least one second object such as vehicles, pedestrians, or other objects (such as scattered objects) at the intersection, and combine the auxiliary detection The measurement information 120 is sent to the computing device 11. The difference is that since the position of the object detection device 12 is fixed, the auxiliary detection information 120 is not the same as the vehicle heading 33 and the vehicle speed 35 of the detection information 30. The auxiliary detection information 120 It includes an absolute positioning coordinate of the object detecting device 12 itself and a relative speed and a relative coordinate between the at least one second object and the object detecting device 12.

Since the position of the object detecting device 12 is fixed, the computing device 11 can preset the absolute positioning coordinates of the object detecting device 12, and by analogy with the aforementioned step S02, the computing device 11 is based on the at least one second object The relative speed with the object detection device 12 and a time difference between information calculation and transmission generate an auxiliary coordinate displacement (the calculation of the auxiliary coordinate displacement is equivalent to the estimated coordinate displacement of the object), and the The relative coordinate between at least one second object and the object detecting device 12 plus the auxiliary coordinate displacement to obtain an auxiliary matching coordinate; the computing device 11 can directly add the absolute positioning coordinate of the object detecting device 12 The auxiliary matching coordinates can be used to locate the coordinate position of the at least one second object, which can be converted into longitude and latitude and then merged into the intersection dynamic map 60. The auxiliary matching coordinates do not need to undergo coordinate rotation conversion.

In the foregoing description, the computing device 11 is an embodiment of an edge computing device. In other embodiments, when the computing device 11 is a cloud server, the received detection information 30 and auxiliary detection information 120 can be used to implement multiplexing. service function. For example, the computing device 11 may store each piece of the auxiliary detection information 120 transmitted from the object detection device 12, and each piece of the auxiliary detection information 120 may include the coordinates of a plurality of second objects, so the computing device 11 can judge whether the object moves according to whether the front and back coordinates of one of the second objects among the plurality of second objects are changed, and can accumulate a static time Ts of each second object. The computing device 11 may be provided with a plurality of different time thresholds. The time thresholds may include, for example, a first time threshold Ta, a second time threshold Tb, and a third time threshold Tc. And a fourth time threshold Td, where Ta>Tb>Tc>Td, for example, Td can be 1 second, Tc can be 1 minute, Tb can be 1 hour, and Ta can be 1 month.

When Ts<Td, the computing device 11 can determine that the second object corresponds to a dynamic object information, such as a vehicle or a pedestrian; when Td<Ts<Tc, the computing device 11 can determine that the second object corresponds to half of dynamic information, such as an accident , Road construction or traffic jam; and so on, when Tc<Ts<Tb, the computing device 11 can determine that the second object is half static information; when Tb<Ts<Ta, the computing device 11 can determine that the second object is One static information. By judging the object static time Ts and the time threshold values Ta, Tb, Tc, and Td, the service function of classifying object information can be achieved, which can be used as a reference for evaluating road conditions at intersections.

S01~S04: steps

Claims (10)

A dynamic map information updating and sharing system for intersections, including: An on-vehicle detection device, set in a vehicle for detecting the surrounding objects of the vehicle and periodically outputting a detection information, the detection information includes an absolute positioning coordinate of the vehicle, a heading of the vehicle, and a vehicle Speed, a relative speed of at least one object and the vehicle, and an original relative coordinate of the at least one object and the vehicle; and An arithmetic device storing map data of an intersection area, the map data of the intersection area is established on a large-scale coordinate system, and the geodetic coordinate system includes a reference position; Wherein, when the computing device receives the detection information from the vehicle detection device, the computing device adds the absolute positioning coordinates of the vehicle to an estimated coordinate displacement of the vehicle to obtain a matching absolute coordinate, and The original relative coordinates of at least one object and the vehicle are added with an estimated coordinate displacement of the object to obtain a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated based on the speed of the vehicle and a time difference, The estimated coordinate displacement of the object is calculated based on the relative speed and the time difference; the computing device performs coordinate rotation conversion on the matching relative coordinates according to the vehicle heading and the reference azimuth to form a matching conversion coordinate, and then The matching absolute coordinates and the matching conversion coordinates are merged into the intersection area map data to become an intersection dynamic map data, and the intersection dynamic map data is shared externally. For example, the road junction dynamic map information updating and sharing system described in claim 1, wherein the estimated coordinate displacement of the object is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axis of the XY plane coordinate system,

Estimate the coordinate displacement of the object,

Is the relative speed of the at least one object and the vehicle, and ΔT is the time difference; the matching relative coordinates are expressed as follows:

In the above formula,

Indicates the relative coordinates of the match,

Represents the original relative coordinates; the matching conversion coordinates are represented as follows:

in,

Convert coordinates for this match;

Is a rotation matrix,

Is the rotation angle of the rotation matrix; the estimated coordinate displacement of the vehicle is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axis of the XY plane coordinate system,

Estimate the coordinate displacement for the vehicle,

Is the own vehicle speed of the vehicle, and ΔT is the time difference; the absolute coordinates of the match are expressed as follows:

In the above formula,

Represents the matching absolute coordinates of the vehicle,

Represents the absolute positioning coordinates of the vehicle. According to claim 1, the dynamic map data updating and sharing system at the entrance of the road further includes an object detection device, wherein the at least one object detected by the on-board detection device is defined as at least one first object, and the object At least one object detected by the detecting device is defined as at least one second object; The object detection device is fixedly installed on the roadside, and the object detection device sends one of its auxiliary detection information to the computing device. The auxiliary detection information includes an absolute positioning coordinate of the object detection device and the at least one A relative speed and a relative coordinate between the second object and the object detecting device; The computing device generates an auxiliary coordinate displacement amount according to the relative speed and a time difference between the at least one second object and the object detecting device, and changes the distance between the at least one second object and the object detecting device The relative coordinates are added to the auxiliary coordinate displacement to obtain an auxiliary matching coordinate; the arithmetic device directly adds the absolute positioning coordinate of the object detection device to the auxiliary matching coordinate to be combined with the dynamic map data of the intersection. According to any one of claims 1 to 3, the road junction dynamic map information updating and sharing system, wherein the computing device is an edge computing device. As described in any one of claim items 1 to 3, the roadway dynamic map data update sharing system, wherein the computing device is a cloud server, and the cloud server implements service functions by using the received detection information. A method for updating and sharing intersection dynamic map information, which is executed on a computing device, and the method includes: Receive a detection information output by at least one vehicle detection device, the detection information includes an absolute positioning coordinate of a vehicle, a vehicle heading of the vehicle, a vehicle speed, at least one object and a relative of the vehicle Speed and an original relative coordinate of the at least one object and the vehicle; The absolute positioning coordinates of the vehicle are added with an estimated coordinate displacement of the vehicle to obtain a matching absolute coordinate, and the original relative coordinates of the at least one object and the vehicle are added with an estimated coordinate displacement of the object to obtain A matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated based on the speed of the vehicle and a time difference, and the estimated coordinate displacement of the object is calculated based on the relative speed and the time difference; According to the vehicle's own vehicle heading and a reference azimuth of a large-scale coordinate system, coordinate rotation conversion is performed on the matching relative coordinates to form a matching conversion coordinate; Combine the matching absolute coordinates and the matching conversion coordinates into the map data of the No. 1 junction area to become a dynamic map of the No. 1 junction; and Share the dynamic map information of the intersection with the outside world. For example, the method for updating and sharing the dynamic map information of the road junction described in claim 6, wherein the estimated coordinate displacement of the object is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axis of the XY plane coordinate system,

Estimate the coordinate displacement of the object,

Is the relative speed of the at least one object and the vehicle, and ΔT is the time difference; the matching relative coordinates are expressed as follows:

In the above formula,

Indicates the relative coordinates of the match,

Represents the original relative coordinates. For example, the method for updating and sharing road junction dynamic map data described in claim 7, wherein the estimated coordinate displacement of the vehicle is expressed as follows:

In the above formula, X and Y respectively represent the coordinate axis of the XY plane coordinate system,

Estimate the coordinate displacement for the vehicle,

Is the speed of the vehicle of the vehicle, and ΔT is the time difference; the absolute coordinates of the match are expressed as follows:

In the above formula,

Represents the matching absolute coordinates of the vehicle,

Represents the absolute positioning coordinates of the vehicle. For example, the method for updating and sharing information of the road crossing dynamic map according to claim 8, wherein the matching conversion coordinates are expressed as follows:

in,

Convert coordinates for this match;

Is a rotation matrix,

Is the rotation angle of the rotation matrix. According to claim 6, the method for updating and sharing the dynamic map information at the entrance of the road, wherein the at least one object is defined as at least one first object, and the method further includes: Receive an auxiliary detection information of at least one object detection device, the auxiliary detection information includes an absolute positioning coordinate of the object detection device, a relative speed between at least one second object and the object detection device, and a Relative coordinates Generating an auxiliary coordinate displacement amount according to the relative speed and a time difference between the at least one second object and the object detecting device; Adding the auxiliary coordinate displacement amount to the relative coordinate between the at least one second object and the object detecting device to obtain an auxiliary matching coordinate; The absolute positioning coordinates of the object detection device are directly added to the auxiliary matching coordinates to merge into the dynamic map information of the intersection.

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