CN109147317B - Automatic driving navigation system, method and device based on vehicle-road coordination - Google Patents
Automatic driving navigation system, method and device based on vehicle-road coordination Download PDFInfo
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- CN109147317B CN109147317B CN201810847897.XA CN201810847897A CN109147317B CN 109147317 B CN109147317 B CN 109147317B CN 201810847897 A CN201810847897 A CN 201810847897A CN 109147317 B CN109147317 B CN 109147317B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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Abstract
本发明适用电子信息技术领域，提供了一种基于车路协同的自动驾驶导航系统、方法及装置，该系统包括：目标检测设备、中心控制服务器以及路基设施，本发明控制目标检测设备发射目标探测射线，以对道路中的目标物体进行探测，当探测到目标物体时，计算目标物体与目标检测设备的相对位置，再将该相对位置和路基GPS信息相叠加，得到目标物体的目标GPS信息，并将目标GPS信息发送给中心控制服务器，控制中心控制服务器将接收到的目标GPS信息在导航地图上进行标注和刷新，以通过标注和刷新后的导航地图对自动驾驶车辆进行导航，从而降低架设自动驾驶导航系统或车辆的成本，并提高了导航地图的覆盖范围和精确度，进而提高自动驾驶车辆行驶的安全性。
The present invention is applicable to the field of electronic information technology, and provides an automatic driving navigation system, method and device based on vehicle-road coordination. The system includes: target detection equipment, a central control server and roadbed facilities. ray to detect the target object in the road. When the target object is detected, the relative position of the target object and the target detection device is calculated, and then the relative position is superimposed with the GPS information of the roadbed to obtain the target GPS information of the target object. Send the target GPS information to the central control server, and the control center control server will mark and refresh the received target GPS information on the navigation map, so as to navigate the autonomous vehicle through the marked and refreshed navigation map, thereby reducing the erection The cost of self-driving navigation systems or vehicles, and improving the coverage and accuracy of navigation maps, which in turn increases the safety of self-driving vehicles.
Description
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to an automatic driving navigation system, method and device based on vehicle-road cooperation.
Background
With the development of computer science and robot technology, the automatic driving vehicle is widely applied to military, civil and scientific research and other aspects, integrates the latest research results of multiple subjects such as structure science, electronics, control theory, artificial intelligence and the like, and has wide application prospect. The Institute of Electrical and Electronics Engineers (IEEE) forecasts that the proportion of autonomous vehicles to running vehicles will reach 75% by 2040 years.
In the traditional intelligent driving technology, an automatic driving vehicle needs to be provided with a large number of sensors such as a camera, a laser radar, a GPS (global positioning system), an inertial unit and the like, then a mode which can be understood by human is identified through a complex mapping, positioning and target identification algorithm, and then appropriate control actions such as turning, braking, accelerating, pedestrian avoidance, traffic regulation compliance and the like are carried out based on the rules of human driving. However, the high dimensionality of the state information and the large computational overhead make existing intelligent autonomous vehicles extremely expensive.
Therefore, a Vehicle-to-Vehicle cooperation technology based On Vehicle-to-Vehicle communication technology arises, Vehicle-to-Vehicle communication (V2I), i.e., communication between an On Board Unit (OBU) and a Road Side Unit (RSU), is commonly used for Vehicle-to-Vehicle information acquisition (uplink), Road condition information broadcast (downlink), and communication relay between vehicles, and Vehicle-to-Vehicle communication (V2V) includes information interaction between vehicles and vehicles, and between vehicles and pedestrians, and is also called Vehicle Ad-hoc Network (VANET). At present, an Intelligent Transportation System (ITS) based on a vehicle-road cooperation technology broadcasts geographic information and traffic identification to vehicles by arranging devices such as wireless transmission devices on road infrastructure, and a constructed high-precision map also provides more perception information to the vehicles by marking road semantic information. However, such methods can only provide static traffic information such as road lane lines, traffic signs, traffic lights and the like, and dynamic traffic information can only be acquired through vehicle sensors, so that the intelligent automatic driving vehicle still needs to be equipped with expensive sensing equipment to detect the target and dynamically avoid obstacles.
Disclosure of Invention
The invention aims to provide an automatic driving navigation system, a method and a device based on vehicle-road cooperation, and aims to solve the problems that the automatic driving navigation system is high in erection cost or vehicle configuration cost and the provided navigation map is inaccurate due to the fact that an effective automatic driving navigation method cannot be provided in the prior art.
In one aspect, the present invention provides an automatic driving navigation system based on vehicle-road coordination, the system comprising:
the target detection equipment is used for detecting a target object in a road and acquiring target GPS information of the target object;
the central control server is connected with the target detection equipment and is used for marking and dynamically refreshing the acquired target GPS information of the target object on a pre-constructed navigation map so as to navigate an automatic driving vehicle through the marked and refreshed navigation map; and
and roadbed facilities arranged on two sides of the road and used for fixing the target detection equipment.
In another aspect, the present invention provides an automatic driving navigation method of the automatic driving navigation system based on vehicle-road coordination, where the method includes the following steps:
controlling the target detection equipment to emit target detection rays, and detecting the target object in the road through the target detection rays;
when the target object is detected, controlling the target detection equipment to calculate the relative position of the target object and the target detection equipment;
controlling the target detection equipment to calculate the target GPS information of the target object according to the relative position and pre-acquired roadbed GPS information of the roadbed facility fixed by the target detection equipment, and sending the calculated target GPS information to the central control server connected with the target detection equipment;
and controlling the central control server to label and dynamically refresh the received target GPS information of the target object on a pre-constructed navigation map so as to navigate the automatic driving vehicle through the labeled and refreshed navigation map.
In another aspect, the present invention provides an automatic driving navigation device of the automatic driving navigation system based on vehicle-road coordination, the device includes:
the target object detection unit is used for controlling the target detection equipment to emit target detection rays and detecting the target object in the road through the target detection rays;
a relative position calculation unit configured to control the object detection device to calculate a relative position of the object and the object detection device when the object is detected;
a GPS information calculation unit configured to control the target detection device to calculate target GPS information of the target object based on the relative position and pre-acquired roadbed GPS information of the roadbed facility to which the target detection device is fixed, and to send the calculated target GPS information to the central control server connected to the target detection device; and
and the map marking and refreshing unit is used for controlling the central control server to mark and dynamically refresh the received target GPS information of the target object on a pre-constructed navigation map so as to navigate the automatic driving vehicle through the marked and refreshed navigation map.
The invention provides an automatic driving navigation system based on vehicle-road cooperation, which comprises target detection equipment for detecting a target object in a road, a central control server connected with the target detection equipment and a roadbed facility for fixing the target detection equipment, wherein the target detection equipment is controlled to emit target detection rays so as to detect the target object in the road, when the target object is detected, the relative position of the target object and the target detection equipment is calculated, then the relative position and roadbed GPS information are superposed to obtain target GPS information of the target object, the target GPS information is sent to the central control server connected with the target detection equipment, the control central control server marks and refreshes the received target GPS information on a navigation map so as to navigate an automatic driving vehicle through the marked and refreshed navigation map, therefore, the cost for erecting the automatic driving navigation system or the vehicle is reduced, the coverage area and the accuracy of the navigation map are improved, and the running safety of the automatic driving vehicle is further improved.
Drawings
Fig. 1 is a schematic structural diagram of an automatic driving navigation system based on vehicle-road coordination according to an embodiment of the present invention;
fig. 2 is a flowchart of an implementation of an automatic driving navigation method based on vehicle-road coordination according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an automatic driving navigation device based on vehicle-road coordination according to a third embodiment of the present invention; and
fig. 4 is a schematic diagram of a preferred structure of an automatic driving navigation device based on vehicle-road coordination according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the first embodiment is as follows:
fig. 1 shows a structure of an automatic driving navigation system based on vehicle-road coordination according to a first embodiment of the present invention, and for convenience of description, only the portions related to the first embodiment of the present invention are shown.
The embodiment of the invention provides an automatic driving navigation system 1 based on vehicle-road coordination, the automatic driving navigation system 1 based on vehicle-road coordination comprises a roadbed facility 11, a target detection device 12 and a central control server 13, wherein:
the roadbed facilities 11 are arranged on two sides of the road and used for fixing the target detection equipment 12, and street lamps erected on two sides of the road can be used as the roadbed facilities 11, or towers can be erected on two sides of the road again to be used as the roadbed facilities 11. And the target detection device 12 is used for detecting a target object in a road and acquiring target GPS information of the target object, wherein the target object can be a pedestrian, an obstacle, a vehicle or the like. The central control server 13 is connected to the target detection device 12 via the internet, and is configured to label and dynamically refresh the acquired target GPS information of the target object on a pre-constructed navigation map, so as to navigate an autonomous vehicle traveling on the road through the labeled and refreshed navigation map.
Preferably, the object detecting device 12 is composed of one kind of detector of the same type, or a mixture of a plurality of different types of detectors, for example, the object detecting device 12 may be composed of an infrared correlation detector, or a mixture of an infrared correlation detector, a vibrating cable detector, a fiber grating detector, a laser correlation detector, a microwave correlation detector, a phased radar array, and the like. Each detector consists of a transmitting end transmitter (T) and a receiving end receiver (R), and the transmitting end and the receiving end are fixedly arranged on the roadbed facility 11 face to form a detection area, so that the anti-interference capability of the target detection equipment 12 is improved according to the detection range and the detection sensitivity of different detectors, and the detection success degree of target objects in the road is further improved.
In the embodiment of the present invention, as long as the measurement distance of the probe is about 20 meters and the measurement accuracy is at the centimeter level, the probe can be used as the target detection device 12 for installing the automatic driving navigation system 1, thereby reducing the cost of the target detection device 12 and further reducing the cost for installing the automatic driving navigation system 1.
Further preferably, the target detection device 12 emits the target detection ray in a mixed manner of direct radiation and cross radiation to detect the target object in the road, so as to improve the detection range of the target detection ray and the coverage of the road blind area, and further improve the detection success degree of the target object in the road.
It is further preferred that the target detection apparatus 12 is fixed to the infrastructure 11 at a height at least as high as the chassis of the autonomous vehicle, thereby improving the success of detecting the target object in the road.
In the embodiment of the present invention, it is preferable to set the roadbed distance between the roadbed facilities 11 according to the detection distance of the target detection device 12 and the lane width of each lane in the road, so as to improve the erection reasonableness of the roadbed facilities 11 and reduce the cost for erecting the roadbed facilities 11.
Further preferably, the number of the beams of the target detection rays emitted by the target detection device 12 is set according to the vehicle width of the vehicles in the road, the lane width of the lane where the vehicles are located and the roadbed distance between the roadbed facilities 11, so that the detection range of the target detection rays and the coverage range of the road blind area are increased, and the detection success degree of the vehicles in the road is increased.
The embodiment of the invention provides an automatic driving navigation system based on vehicle-road cooperation, which comprises target detection equipment for detecting a target object in a road, a central control server connected with the target detection equipment and a roadbed facility for fixing the target detection equipment, wherein the target detection equipment is controlled to emit target detection rays to detect the target object in the road, when the target object is detected, the relative position of the target object and the target detection equipment is calculated, then the relative position and roadbed GPS information are superposed to obtain target GPS information of the target object, the target GPS information is sent to the central control server connected with the target detection equipment, the central control server marks and refreshes the received target GPS information on a navigation map to navigate an automatic driving vehicle through the marked and refreshed navigation map, therefore, the cost for erecting the automatic driving navigation system or the vehicle is reduced, the coverage area and the accuracy of the navigation map are improved, and the running safety of the automatic driving vehicle is further improved.
Example two:
fig. 2 shows an implementation flow of an automatic driving navigation method based on vehicle-road coordination according to a second embodiment of the present invention, where the automatic driving navigation method based on vehicle-road coordination is applied to an automatic driving navigation system based on vehicle-road coordination according to a first embodiment of the present invention, and for convenience of description, only the relevant parts related to the embodiments of the present invention are shown, and detailed descriptions are as follows:
in step S201, the target detection device is controlled to emit a target detection ray, and a target object in the road is detected by the target detection ray.
The embodiment of the invention is suitable for the automatic driving navigation system based on vehicle-road cooperation in the first embodiment, and the system comprises roadbed facilities, target detection equipment and a central control server, wherein the roadbed facilities are arranged at two sides of a road and used for fixing the target detection equipment, the target detection equipment is used for detecting a target object in the road and acquiring target GPS information of the target object, and the central control server is connected with the target detection equipment through the Internet and used for marking and dynamically refreshing the acquired target GPS information of the target object on a pre-constructed navigation map so as to navigate an automatic driving vehicle running in the road through the marked and refreshed navigation map.
In the embodiment of the invention, the target detection device is controlled to emit target detection rays, and target objects in a road are detected through the target detection rays, wherein the target detection rays are rays generated by laser, infrared, microwave, radar and the like, and the target objects in the road are pedestrians, obstacles, vehicles and the like.
When the target detection device is controlled to emit the target detection rays, preferably, the target detection device is controlled to emit the target detection rays according to a mixed mode of direct radiation and cross radiation, and the target object is detected through the target detection rays, so that the detection range of the target detection rays and the coverage range of a road blind area are improved, and the detection success degree of the target object in the road is further improved.
In step S202, when the target object is detected, the target detection apparatus is controlled to calculate the relative position of the target object and the target detection apparatus.
In the embodiment of the present invention, when the target detection device is controlled to calculate the relative position between the target object and the target detection device, preferably, when the target detection device detects the target object, the target detection device is controlled to receive a reflected signal of the target object to the target detection ray, a distance between the target object and the target detection device is calculated by the target detection device according to a receiving time when the target detection device receives the reflected signal and a transmitting time when the target detection device transmits the target detection ray, a relative angle between the target object and the target detection device is determined according to the angle of the target detection ray, and the relative position between the target object and the target detection device is determined according to the distance and the relative angle, so as to improve the accuracy of the relative position between the target object and the target detection device.
In step S203, the control target detection device calculates target GPS information of the target object based on the relative position and previously acquired roadbed GPS information of the roadbed facility to which the target detection device is fixed, and transmits the calculated target GPS information to the central control server connected to the target detection device.
In the embodiment of the present invention, based on the calculated relative position between the target object and the target detection device and the roadbed GPS information of each roadbed facility acquired when the roadbed facility is erected, the target detection device superimposes the relative position with the roadbed GPS information of the roadbed facility fixed by the target detection device to obtain the target GPS information (for example, the latitude and longitude where the target object is located) of the target object, and the target GPS information is transmitted to the central control server connected to the target detection device.
In step S204, the control center control server performs labeling and dynamic refreshing on the pre-constructed navigation map with the received target GPS information of the target object, so as to navigate the autonomous vehicle through the labeled and refreshed navigation map.
In the embodiment of the invention, the received target GPS information of the target object is marked and dynamically refreshed on the pre-constructed navigation map through the central control server, so that the automatic driving vehicle running on the road is navigated through the marked and refreshed navigation map.
Illustratively, on the basis of the Baidu map, software such as drainage software is adopted to mark the Baidu map according to the GPS information of the target object according to an API (application program interface) provided by the Baidu map, and the Baidu map is refreshed so as to navigate the automatic driving vehicle running in the road through the refreshed Baidu map.
In the embodiment of the invention, the target detection equipment is controlled to emit target detection rays to detect a target object in a road, when the target object is detected, the relative position of the target object and the target detection equipment is calculated, then the relative position and roadbed GPS information are superposed to obtain the target GPS information of the target object, the target GPS information is sent to the central control server connected with the target detection equipment, and the control central control server marks and refreshes the received target GPS information on the navigation map to navigate the automatic driving vehicle through the marked and refreshed navigation map, so that the cost for erecting the automatic driving navigation system or the vehicle is reduced, the coverage range and the accuracy of the navigation map are improved, and the driving safety of the automatic driving vehicle is improved.
Example three:
fig. 3 shows a structure of an automatic driving navigation device based on vehicle-road coordination according to a third embodiment of the present invention, which is applied to an automatic driving navigation system based on vehicle-road coordination according to a first embodiment of the present invention, and for convenience of description, only the portions related to the embodiments of the present invention are shown, including:
and the target object detection unit 31 is used for controlling the target detection equipment to emit target detection rays, and detecting the target object in the road through the target detection rays.
The embodiment of the invention is suitable for the automatic driving navigation system based on vehicle-road cooperation in the first embodiment, and the system comprises roadbed facilities, target detection equipment and a central control server, wherein the roadbed facilities are arranged at two sides of a road and used for fixing the target detection equipment, the target detection equipment is used for detecting a target object in the road and acquiring target GPS information of the target object, and the central control server is connected with the target detection equipment through the Internet and used for marking and dynamically refreshing the acquired target GPS information of the target object on a pre-constructed navigation map so as to navigate an automatic driving vehicle running in the road through the marked and refreshed navigation map.
In the embodiment of the invention, the target detection device is controlled to emit target detection rays, and target objects in a road are detected through the target detection rays, wherein the target detection rays are rays generated by laser, infrared, microwave, radar and the like, and the target objects in the road are pedestrians, obstacles, vehicles and the like.
A relative position calculation unit 32 for controlling the object detection device to calculate the relative position of the object and the object detection device when the object is detected.
In the embodiment of the present invention, when the target detection device is controlled to calculate the relative position between the target object and the target detection device, preferably, when the target detection device detects the target object, the target detection device is controlled to receive a reflected signal of the target object to the target detection ray, a distance between the target object and the target detection device is calculated by the target detection device according to a receiving time when the target detection device receives the reflected signal and a transmitting time when the target detection device transmits the target detection ray, a relative angle between the target object and the target detection device is determined according to the angle of the target detection ray, and the relative position between the target object and the target detection device is determined according to the distance and the relative angle, so as to improve the accuracy of the relative position between the target object and the target detection device.
A GPS information calculating unit 33 for controlling the object detecting device to calculate the target GPS information of the target object based on the relative position and the roadbed GPS information of the roadbed facility to which the target detecting device is fixed, which is acquired in advance, and transmitting the calculated target GPS information to the central control server connected to the target detecting device.
In the embodiment of the present invention, based on the calculated relative position between the target object and the target detection device and the roadbed GPS information of each roadbed facility acquired when the roadbed facility is erected, the target detection device superimposes the relative position with the roadbed GPS information of the roadbed facility fixed by the target detection device to obtain the target GPS information (for example, the latitude and longitude where the target object is located) of the target object, and the target GPS information is transmitted to the central control server connected to the target detection device.
And the map labeling and refreshing unit 34 is used for controlling the central control server to label and dynamically refresh the received target GPS information of the target object on a pre-constructed navigation map so as to navigate the automatic driving vehicle through the labeled and refreshed navigation map.
In the embodiment of the invention, the received target GPS information of the target object is marked and dynamically refreshed on the pre-constructed navigation map through the central control server, so that the automatic driving vehicle running on the road is navigated through the marked and refreshed navigation map.
Illustratively, on the basis of the Baidu map, software such as drainage software is adopted to mark the Baidu map according to the GPS information of the target object according to an API (application program interface) provided by the Baidu map, and the Baidu map is refreshed so as to navigate the automatic driving vehicle running in the road through the refreshed Baidu map.
As shown in fig. 4, the target object detection unit 31 preferably includes:
and the object detection subunit 311 is configured to control the target detection device to emit a target detection ray according to a mixed manner of direct radiation and cross radiation, and detect the target object through the target detection ray.
The relative position calculation unit 32 includes:
a reflected signal receiving unit 321 for controlling the target detection apparatus to receive a reflected signal of the target detection ray by the target object;
a distance angle calculation unit 322, configured to calculate a distance between the target object and the target detection device according to a receiving time when the target detection device receives the reflected signal and an emitting time when the target detection device emits the target detection ray, and determine a relative angle between the target object and the target detection device according to an angle of the target detection ray; and
a relative position determination unit 323 for determining the relative position of the target object and the target detection apparatus from the distance and the relative angle.
In the embodiment of the present invention, each unit of the automatic driving navigation device based on vehicle-road coordination may be implemented by a corresponding hardware or software unit, and each unit may be an independent software or hardware unit, or may be integrated into a software or hardware unit, which is not limited herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An autonomous driving navigation system based on vehicle-road coordination, the system comprising:
the target detection equipment is used for detecting a target object in a road and acquiring target GPS information of the target object; the target detection equipment emits target detection rays in a mixed mode of direct radiation and cross correlation so as to detect the target object in the road; setting the number of ray beams of target detection rays emitted by target detection equipment; the target detection equipment is formed by mixing a plurality of different types of detectors; the object detection apparatus is constituted by: the system comprises an infrared correlation detector, a vibrating cable detector, a fiber grating detector, a laser correlation detector, a microwave correlation detector and a phased radar array;
the target detection device is used for receiving a reflected signal of the target object to the target detection ray, calculating the distance between the target object and the target detection device according to the receiving time of the reflected signal and the emitting time of the target detection ray emitted by the target detection device, determining the relative angle between the target object and the target detection device according to the angle of the target detection ray, and determining the relative position of the target object and the target detection device according to the distance and the relative angle;
the central control server is connected with the target detection equipment and is used for marking and dynamically refreshing the acquired target GPS information of the target object on a pre-constructed navigation map so as to navigate an automatic driving vehicle through the marked and refreshed navigation map; and
roadbed facilities which are arranged on two sides of the road and used for fixing the target detection equipment; the height of the target detection equipment fixed on the roadbed facilities at least reaches the height of an automatic driving vehicle chassis, and roadbed distances among the roadbed facilities are set according to the detection distance of the target detection equipment and the lane width of each lane in a road;
each detector consists of a transmitting end and a receiving end, and the transmitting end and the receiving end are fixedly arranged on the roadbed facility in a face-to-face mode to form a detection area.
2. An automatic driving navigation method based on the automatic driving navigation system based on the vehicle-road cooperation of claim 1, characterized by comprising the following steps:
controlling the target detection equipment to emit target detection rays, and detecting the target object in the road through the target detection rays;
when the target object is detected, controlling the target detection equipment to calculate the relative position of the target object and the target detection equipment;
controlling the target detection equipment to calculate the target GPS information of the target object according to the relative position and pre-acquired roadbed GPS information of the roadbed facility fixed by the target detection equipment, and sending the calculated target GPS information to the central control server connected with the target detection equipment;
and controlling the central control server to label and dynamically refresh the received target GPS information of the target object on a pre-constructed navigation map so as to navigate the automatic driving vehicle through the labeled and refreshed navigation map.
3. The method of claim 2, wherein the step of controlling the object detection device to emit object detection radiation comprises:
and controlling the target detection equipment to emit the target detection ray according to a mixed mode of direct radiation and cross radiation, and detecting the target object through the target detection ray.
4. An automatic driving navigation device based on the automatic driving navigation system based on the vehicle-road cooperation of claim 1, characterized in that the device comprises:
the target object detection unit is used for controlling the target detection equipment to emit target detection rays and detecting the target object in the road through the target detection rays;
a relative position calculation unit configured to control the object detection device to calculate a relative position of the object and the object detection device when the object is detected;
a GPS information calculation unit configured to control the target detection device to calculate target GPS information of the target object based on the relative position and pre-acquired roadbed GPS information of the roadbed facility to which the target detection device is fixed, and to send the calculated target GPS information to the central control server connected to the target detection device; and
and the map marking and refreshing unit is used for controlling the central control server to mark and dynamically refresh the received target GPS information of the target object on a pre-constructed navigation map so as to navigate the automatic driving vehicle through the marked and refreshed navigation map.
5. The apparatus according to claim 4, wherein the target object detection unit includes:
and the object detection subunit is used for controlling the target detection equipment to emit target detection rays according to a mixed mode of direct radiation and cross correlation, and detecting the target object through the target detection rays.
6. The apparatus of claim 4, wherein the relative position calculation unit comprises:
a reflected signal receiving unit, configured to control the target detection device to receive a reflected signal of the target detection ray from the target object;
a distance angle calculation unit, configured to calculate a distance between the target object and the target detection device according to a receiving time when the target detection device receives the reflected signal and an emitting time when the target detection device emits the target detection ray, and determine a relative angle between the target object and the target detection device according to an angle of the target detection ray; and
and the relative position determining unit is used for determining the relative position of the target object and the target detection equipment according to the distance and the relative angle.
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| CN109919999B (en) * | 2019-01-31 | 2021-06-11 | 深兰科技（上海）有限公司 | Target position detection method and device |
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