CN116448126A - Automatic compensation and verification system for navigation electronic map data generation - Google Patents
Automatic compensation and verification system for navigation electronic map data generation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses an automatic compensation verification system for generating navigation electronic map data, which relates to the field of navigation electronic maps and comprises a positioning acquisition unit, a data processing unit, a verification compensation unit, a display unit and a storage unit.
Description
Technical Field
The invention relates to the field of navigation electronic maps, in particular to an automatic compensation and verification system for navigation electronic map data generation.
Background
The navigation electronic map data is a basic geographic data set which is generated by processing on the basis of basic geographic data and faces navigation application, contains space position geographic coordinates, can be combined with a space positioning system, and can accurately guide people or vehicles to arrive at a destination from a departure place, and mainly comprises road data, POI data, background data, administrative boundary data, graphic files and voice files.
According to a method and a device for processing navigation electronic map data, disclosed by publication No. CN104764455A, according to a preset data correctness checking rule comprising a first checking rule and a second checking rule, data checking is carried out on the navigation electronic map data to obtain a checking result; and finally, checking the operation instruction list according to preset data, and operating the checking result according to the corresponding operation instruction. And searching the corresponding operation instruction by combining the inspection result with the data inspection operation instruction table, and performing operations including confirmation and modification, so that the rapid analysis can be realized aiming at each inspection result, the modification and confirmation operation of the data inspection result are clearly guided, and the data quality control degree and management efficiency are improved.
However, the above patent has the following problems in use that the existing navigation electronic map data cannot verify and compare the actual running path of the vehicle with the existing navigation electronic map data, a certain deviation between the navigation path and the actual running path easily occurs, and after the deviation occurs, the running track of the vehicle cannot be compensated, so that inconvenience is brought to the navigation of the vehicle.
Disclosure of Invention
The invention aims to provide an automatic compensation verification system for generating navigation electronic map data, which is characterized in that positioning and collecting and integrating current vehicle data are transmitted to a data processing unit through a positioning and collecting unit, the data processing unit processes the current vehicle data by utilizing an image processing module and a manufacturing module, the manufacturing module carries out superposition verification on the road data of the current vehicle obtained by processing and the existing road data, determines unmatched targets in the two verification road data, manufactures new road data, and finally generates a target map and a corresponding guiding path through a generating module, so that accurate navigation of the current vehicle is realized, the generated target map and guiding path can be displayed on a display unit, and meanwhile, the real-time position information of the current vehicle is obtained in real time by a verification and compensation unit, and whether the current vehicle runs according to the generated guiding path or not is determined so as to compensate the running track of the current vehicle, so that the problems in the background technology are solved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an automatic compensation verification system for generating navigation electronic map data, comprising:
the positioning acquisition unit is used for determining the position data of the current vehicle, acquiring the surrounding environment data of the current vehicle in real time, integrating the position data positioned by the current vehicle and the acquired surrounding environment data into the current vehicle data and transmitting the current vehicle data and the acquired surrounding environment data to the data processing unit;
the data processing unit is used for receiving the current vehicle data transmitted by the positioning acquisition unit, processing the received current vehicle data and generating a target map and a guide path;
the verification compensation unit is used for acquiring the real-time position information of the current vehicle in real time, comparing the real-time position information of the current vehicle with the generated guide path, and determining whether the current vehicle runs according to the generated guide path so as to compensate the running track of the current vehicle;
the display unit is used for displaying the generated target map and the guide path in the current vehicle display in real time;
and the storage unit is used for storing the generated target map, the guide path and the guide path subjected to verification and compensation.
Further, the positioning and collecting unit comprises:
the positioning module is used for acquiring the position information of the current vehicle in real time, wherein the position information of the current vehicle comprises the longitude and latitude of the current vehicle, and the running speed and the running direction of the current vehicle;
the acquisition module is used for acquiring image data of a road scene in front of the current vehicle in real time and acquiring surrounding environment data of the current vehicle in real time;
and the integration module is used for integrating the position data positioned by the positioning module and the surrounding environment data acquired by the acquisition module into current vehicle data and transmitting the current vehicle data to the data processing unit.
Further, the positioning and collecting unit performs the following steps:
the positioning module receives GPS signals through a global positioning system, realizes the positioning of the current vehicle, obtains the longitude and latitude where the current vehicle is located, the running speed and the running direction of the current vehicle, acquires the image data of the road scene in front of the current vehicle in real time through the acquisition module, acquires the surrounding environment data of the current vehicle through cameras arranged around the current vehicle, and the positioning module integrates the position information and the surrounding environment data into the integration module.
Further, the data processing unit includes:
the image processing module is used for processing the collected surrounding environment data of the current vehicle, identifying a road static target according to the collected surrounding environment data of the current vehicle, and comparing the identified road static target with map information so as to determine the target position in the map;
the manufacturing module is used for determining the current vehicle on the target position of the map according to the current vehicle position, obtaining road data containing the current vehicle, overlapping and checking the road data of the current vehicle with the existing road data, and manufacturing new road data;
and the generation module is used for generating navigation electronic map data according to the new road data so as to generate a target map, and generating a corresponding guide path according to the target map.
Further, the current vehicle surrounding environment data includes:
road static targets, including lanes around the current vehicle, lane middle lines, lane side lines, road boundaries, pavement markers, signal lights, sidewalks, road perimeter objects, raised markers, steep slopes, grade crossings and parallel roads.
Further, the data processing unit performs the steps of:
the data processing unit receives the current vehicle data transmitted by the positioning acquisition unit, the image processing module processes the surrounding environment data in the current vehicle data, recognizes a road static target in the surrounding environment data, compares the recognized road static target with the existing map information so as to determine a target position in the map, the manufacturing module processes the position information in the current vehicle data, determines the current vehicle on the target position of the map through the position information, obtains the road data containing the current vehicle, superimposes and checks the road data of the current vehicle and the existing road data, determines the unmatched targets in the two road data, manufactures new road data, and finally generates navigation electronic map data according to the manufactured new road data through the generating module, so as to generate a target map and a corresponding guiding path.
Further, the check compensation unit includes:
the detection module is used for acquiring the position information of the vehicle at the moment in real time according to the positioning acquisition unit;
the comparison module is used for comparing the current vehicle position information obtained in real time by the detection module with the guide path generated by the data processing unit, checking the current vehicle running track with the guide path running track, and analyzing whether the vehicle runs according to the guide path track generated by the data processing unit at the moment to obtain a comparison result of the current vehicle running track and the guide path;
and the resetting module is used for compensating the running track of the current vehicle according to whether the comparison result of the comparison module re-plans the guiding path.
Further, the verification and compensation unit performs the following steps:
the detection module utilizes the positioning acquisition unit to position the current vehicle, acquires the position information of the current vehicle in real time, transmits the position information of the current vehicle acquired in real time to the comparison module, simultaneously the comparison module acquires the generated guide path from the data processing unit, compares the position information of the current vehicle with the generated guide path, analyzes whether the running track of the current vehicle is consistent with the running track of the generated guide path, checks the running track of the current vehicle with the running track of the guide path, analyzes whether the current vehicle runs according to the track of the guide path generated by the data processing unit, obtains a comparison result through comparison between the two, analyzes the comparison result according to the comparison result, and re-plans a new guide path if the current vehicle with the comparison result deviates from the guide path, so as to compensate the running track of the current vehicle, and can keep the original guide path without generating the new guide path.
Further, the comparison module includes:
the position information acquisition module is used for acquiring the position information of the current vehicle sent by the detection module;
the compensation position information acquisition module is used for acquiring the compensation position quantity of the current vehicle position information according to the detection response delay time of the detection module and the information transmission response time of the comparison module for receiving the current vehicle position information;
wherein the compensation position quantity is obtained by the following formula:
wherein,,Lrepresenting the compensation position quantity;Vindicating the speed of the current vehicle,the unit is: m/s; Δt represents the time compensation amount in units of: second, wherein the second is;T 1 the theoretical detection response delay time of the detection module is represented;T 2 information transmission response time representing a theory that a comparison module receives the position information of the current vehicle;T 0 representing a unit time, wherein the unit time is 1s;
the combining module is used for combining the compensation position quantity with the position information of the current vehicle to acquire the position information of the current vehicle as target position information;
and the comparison analysis module is used for comparing the target position information with the generated guide path, analyzing whether the running track of the current vehicle is consistent with the running track of the generated guide path, checking the running track of the current vehicle with the running track of the guide path, and analyzing whether the vehicle runs according to the track of the guide path generated by the data processing unit at the moment, and obtaining a comparison result through comparison between the two.
Further, the combination module includes:
acquiring the compensation position quantity and detecting the acquired position information by a detection module;
combining the compensation position quantity with the position information detected and acquired by the detection module according to a combination model to acquire the current position information of the current vehicle;
wherein the binding model is as follows:
wherein,,L s current position information indicating a current vehicle;V s representing the speed of the current vehicle in the compensation analysis process by the comparison module;Vrepresenting the speed of the current vehicle when the detection module acquires the detected position information of the current vehicle;L 0 representing that the detection module acquires the detected position information of the current vehicle;V 0 indicating the preset standard speed variation amount,V 0 the range of the value of (2) is 0.1V-0.4V。
Compared with the prior art, the invention has the beneficial effects that:
according to the automatic compensation and verification system for generating the navigation electronic map data, the positioning acquisition unit is used for transmitting the current vehicle data which are acquired and integrated into the data processing unit, the data processing unit is used for processing the current vehicle data by utilizing the image processing module and the manufacturing module, the manufacturing module is used for overlapping and verifying the road data of the current vehicle which are obtained through processing with the existing road data, determining the unmatched targets in the two verification road data, manufacturing new road data, generating a target map and a corresponding guiding path through the generating module, so that accurate navigation of the current vehicle is realized, the generated target map and guiding path can be displayed on the display unit, meanwhile, the real-time position information of the current vehicle is obtained in real time through the verification and compensation unit, and whether the current vehicle runs according to the generated guiding path is determined, so that the running track of the current vehicle is compensated.
Drawings
FIG. 1 is a schematic overall flow chart of the present invention;
FIG. 2 is a schematic diagram of a positioning and acquisition unit according to the present invention;
FIG. 3 is a schematic diagram of a data processing unit according to the present invention;
FIG. 4 is a schematic diagram of a verification and compensation unit according to the present invention.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to solve the technical problems that the existing navigation electronic map data cannot check and compare the actual running path of the vehicle with the existing navigation electronic map data, a certain deviation between the navigation path and the actual running path easily occurs, and the running path of the vehicle cannot be compensated after the deviation occurs, and inconvenience is brought to the vehicle navigation, referring to fig. 1-4, the embodiment provides the following technical scheme:
an automatic compensation verification system for generating navigation electronic map data, comprising:
the positioning acquisition unit is used for determining the position data of the current vehicle, acquiring the surrounding environment data of the current vehicle in real time, integrating the position data positioned by the current vehicle and the acquired surrounding environment data into the current vehicle data and transmitting the current vehicle data and the acquired surrounding environment data to the data processing unit;
the data processing unit is used for receiving the current vehicle data transmitted by the positioning acquisition unit, processing the received current vehicle data and generating a target map and a guide path;
the verification compensation unit is used for acquiring the real-time position information of the current vehicle in real time, comparing the real-time position information of the current vehicle with the generated guide path, and determining whether the current vehicle runs according to the generated guide path so as to compensate the running track of the current vehicle;
the display unit is used for displaying the generated target map and the guide path in the current vehicle display in real time;
and the storage unit is used for storing the generated target map, the guide path and the guide path subjected to verification and compensation.
A positioning acquisition unit comprising:
the positioning module is used for acquiring the position information of the current vehicle in real time, wherein the position information of the current vehicle comprises the longitude and latitude of the current vehicle, and the running speed and the running direction of the current vehicle;
the acquisition module is used for acquiring image data of a road scene in front of the current vehicle in real time and acquiring surrounding environment data of the current vehicle in real time;
and the integration module is used for integrating the position data positioned by the positioning module and the surrounding environment data acquired by the acquisition module into current vehicle data and transmitting the current vehicle data to the data processing unit.
It should be noted that, the positioning module is signal receiver, the positioning module is mainly installed on the present, the positioning module utilizes signal receiver to receive the GPS signal from global positioning system, the positioning module can fix a position according to the signal received, thereby realize the location to current vehicle, the collection module is the camera, the quantity of camera is not less than four, the camera is installed around the vehicle, the collection module can carry out accurate collection through the environment around the current vehicle through a plurality of cameras, obtain accurate surrounding environment data, in this location collection unit, the location collection unit is integrated into current vehicle data through the position information of integration module with the current vehicle and surrounding environment data, and with current vehicle data and transmission to data processing unit.
The positioning and collecting unit performs the following steps:
the positioning module receives GPS signals through a global positioning system, realizes the positioning of the current vehicle, obtains the longitude and latitude where the current vehicle is located, the running speed and the running direction of the current vehicle, acquires the image data of the road scene in front of the current vehicle in real time through the acquisition module, acquires the surrounding environment data of the current vehicle through cameras arranged around the current vehicle, and the positioning module integrates the position information and the surrounding environment data into the integration module.
A data processing unit comprising:
the image processing module is used for processing the collected surrounding environment data of the current vehicle, identifying a road static target according to the collected surrounding environment data of the current vehicle, and comparing the identified road static target with map information so as to determine the target position in the map;
the manufacturing module is used for determining the current vehicle on the target position of the map according to the current vehicle position, obtaining road data containing the current vehicle, overlapping and checking the road data of the current vehicle with the existing road data, and manufacturing new road data;
and the generation module is used for generating navigation electronic map data according to the new road data so as to generate a target map, and generating a corresponding guide path according to the target map.
Current vehicle ambient data, including:
road static targets, including lanes around the current vehicle, lane middle lines, lane side lines, road boundaries, pavement markers, signal lights, sidewalks, road perimeter objects, raised markers, steep slopes, grade crossings and parallel roads.
The image processing module compares the collected surrounding environment data of the current vehicle with the data prestored in the storage unit to identify the road static target of the current vehicle, namely, the road static target of the identified road static target with map information is compared with the map information so as to determine the target position in the map, meanwhile, the current vehicle position is determined on the target position of the map through the current vehicle position to obtain the road data containing the current vehicle, the road data of the current vehicle is overlapped with the existing road data to be checked, new road data is manufactured, and the generating module generates navigation electronic map data through the new road data manufactured by the generating module, so that the target map and the guide path are generated.
A data processing unit which performs the steps of:
the data processing unit receives the current vehicle data transmitted by the positioning acquisition unit, the image processing module processes the surrounding environment data in the current vehicle data, recognizes a road static target in the surrounding environment data, compares the recognized road static target with the existing map information so as to determine a target position in the map, the manufacturing module processes the position information in the current vehicle data, determines the current vehicle on the target position of the map through the position information, obtains the road data containing the current vehicle, superimposes and checks the road data of the current vehicle and the existing road data, determines the unmatched targets in the two road data, manufactures new road data, and finally generates navigation electronic map data according to the manufactured new road data through the generating module, so as to generate a target map and a corresponding guiding path.
A verification compensation unit comprising:
the detection module is used for acquiring the position information of the vehicle at the moment in real time according to the positioning acquisition unit;
the comparison module is used for comparing the current vehicle position information obtained in real time by the detection module with the guide path generated by the data processing unit, checking the current vehicle running track with the guide path running track, and analyzing whether the vehicle runs according to the guide path track generated by the data processing unit at the moment to obtain a comparison result of the current vehicle running track and the guide path;
and the resetting module is used for compensating the running track of the current vehicle according to whether the comparison result of the comparison module re-plans the guiding path.
The verification compensation unit performs the following steps:
the detection module utilizes the positioning acquisition unit to position the current vehicle, acquires the position information of the current vehicle in real time, transmits the position information of the current vehicle acquired in real time to the comparison module, simultaneously the comparison module acquires the generated guide path from the data processing unit, compares the position information of the current vehicle with the generated guide path, analyzes whether the running track of the current vehicle is consistent with the running track of the generated guide path, checks the running track of the current vehicle with the running track of the guide path, analyzes whether the current vehicle runs according to the track of the guide path generated by the data processing unit, obtains a comparison result through comparison between the two, analyzes the comparison result according to the comparison result, and re-plans a new guide path if the current vehicle with the comparison result deviates from the guide path, so as to compensate the running track of the current vehicle, and can keep the original guide path without generating the new guide path.
Specifically, the positioning acquisition unit of the current vehicle determines position data through the positioning module, the surrounding environment data of the current vehicle is acquired in real time through the acquisition module, the data acquired by the positioning module and the acquisition module are transmitted into the integration module, the integration module integrates the position data of the current vehicle and the surrounding environment data into current vehicle data and transmits the current vehicle data to the data processing unit, the data processing unit receives and processes the current vehicle data transmitted by the positioning acquisition unit, the image processing module is used for identifying a road static target in the surrounding environment data and comparing the road static target with the existing map information so as to determine a target position in the map, the manufacturing module is used for determining the current vehicle at the target position of the map according to the position information, road data of the current vehicle is acquired, the acquired road data of the current vehicle is overlapped and checked with the existing road data, a non-matched target in the road data is checked through overlapping, new road data is manufactured, finally, the generating module generates a target map and a guide path according to the new road data, and displays the map in a display unit, and the mode of overlapped and checks the guide path is displayed on the display unit, and at the guide path is compared with the current vehicle is also generated by the current vehicle through the position of the detection module and the guide path is compared with the current vehicle in real time, and finally transmitting the generated target map and the guide path and the new guide path generated by compensation to an internal storage unit for storage, wherein the data can be used as the existing map data for next superposition and verification.
In one embodiment of the present invention, the comparison module includes:
the position information acquisition module is used for acquiring the position information of the current vehicle sent by the detection module;
the compensation position information acquisition module is used for acquiring the compensation position quantity of the current vehicle position information according to the detection response delay time of the detection module and the information transmission response time of the comparison module for receiving the current vehicle position information;
wherein the compensation position quantity is obtained by the following formula:
wherein,,Lrepresenting the compensation position quantity;Vrepresenting the current vehicle speed in units of: m/s; Δt represents the time compensation amount in units of: second, wherein the second is;T 1 the theoretical detection response delay time of the detection module is represented;T 2 information transmission response time representing a theory that a comparison module receives the position information of the current vehicle;T 0 representing a unit time, wherein the unit time is 1s;
the combining module is used for combining the compensation position quantity with the position information of the current vehicle to acquire the position information of the current vehicle as target position information;
and the comparison analysis module is used for comparing the target position information with the generated guide path, analyzing whether the running track of the current vehicle is consistent with the running track of the generated guide path, checking the running track of the current vehicle with the running track of the guide path, and analyzing whether the vehicle runs according to the track of the guide path generated by the data processing unit at the moment, and obtaining a comparison result through comparison between the two.
Wherein the binding module comprises:
acquiring the compensation position quantity and detecting the acquired position information by a detection module;
combining the compensation position quantity with the position information detected and acquired by the detection module according to a combination model to acquire the current position information of the current vehicle;
wherein the binding model is as follows:
wherein,,L s current position information indicating a current vehicle;V s representing the speed of the current vehicle in the compensation analysis process by the comparison module;Vrepresenting the speed of the current vehicle when the detection module acquires the detected position information of the current vehicle;L 0 representing that the detection module acquires the detected position information of the current vehicle;V 0 indicating the preset standard speed variation amount,V 0 the range of the value of (2) is 0.1V-0.4V。
The technical scheme has the effects that: because the system module processes the data and has theoretical delay, and the vehicle is in the process of continuously travelling, if the theoretical delay of the system module processing the data is not considered, the problem of larger judgment error of the vehicle position information is easy to occur. By the method, the theoretical delay existing in the processing of the data by the system module and the speed change condition existing in the position analysis of the vehicle in the system module can be comprehensively considered, so that the position of the current vehicle can be obtained.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (10)
1. An automatic compensation and verification system for generating navigation electronic map data, which is characterized by comprising:
the positioning acquisition unit is used for determining the position data of the current vehicle, acquiring the surrounding environment data of the current vehicle in real time, integrating the position data positioned by the current vehicle and the acquired surrounding environment data into the current vehicle data and transmitting the current vehicle data and the acquired surrounding environment data to the data processing unit;
the data processing unit is used for receiving the current vehicle data transmitted by the positioning acquisition unit, processing the received current vehicle data and generating a target map and a guide path;
the verification compensation unit is used for acquiring the real-time position information of the current vehicle in real time, comparing the real-time position information of the current vehicle with the generated guide path, and determining whether the current vehicle runs according to the generated guide path so as to compensate the running track of the current vehicle;
the display unit is used for displaying the generated target map and the guide path in the current vehicle display in real time;
and the storage unit is used for storing the generated target map, the guide path and the guide path subjected to verification and compensation.
2. The navigation electronic map data generation automatic compensation verification system of claim 1, wherein said positioning acquisition unit comprises:
the positioning module is used for acquiring the position information of the current vehicle in real time, wherein the position information of the current vehicle comprises the longitude and latitude of the current vehicle, and the running speed and the running direction of the current vehicle;
the acquisition module is used for acquiring image data of a road scene in front of the current vehicle in real time and acquiring surrounding environment data of the current vehicle in real time;
and the integration module is used for integrating the position data positioned by the positioning module and the surrounding environment data acquired by the acquisition module into current vehicle data and transmitting the current vehicle data to the data processing unit.
3. The system for generating and automatically compensating and checking navigation electronic map data according to claim 1, wherein said positioning and collecting unit performs the steps of:
the positioning module receives GPS signals through a global positioning system, realizes the positioning of the current vehicle, obtains the longitude and latitude where the current vehicle is located, the running speed and the running direction of the current vehicle, acquires the image data of the road scene in front of the current vehicle in real time through the acquisition module, acquires the surrounding environment data of the current vehicle through cameras arranged around the current vehicle, and the positioning module integrates the position information and the surrounding environment data into the integration module.
4. The navigation electronic map data generation automatic compensation verification system of claim 1, wherein said data processing unit comprises:
the image processing module is used for processing the collected surrounding environment data of the current vehicle, identifying a road static target according to the collected surrounding environment data of the current vehicle, and comparing the identified road static target with map information so as to determine the target position in the map;
the manufacturing module is used for determining the current vehicle on the target position of the map according to the current vehicle position, obtaining road data containing the current vehicle, overlapping and checking the road data of the current vehicle with the existing road data, and manufacturing new road data;
and the generation module is used for generating navigation electronic map data according to the new road data so as to generate a target map, and generating a corresponding guide path according to the target map.
5. The navigational electronic map data generation automatic compensation verification system of claim 4, wherein the ambient data of the current vehicle comprises:
road static targets, including lanes around the current vehicle, lane middle lines, lane side lines, road boundaries, pavement markers, signal lights, sidewalks, road perimeter objects, raised markers, steep slopes, grade crossings and parallel roads.
6. The system for automatically compensating for and verifying navigation electronic map data generation of claim 4, wherein the data processing unit performs the steps of:
the data processing unit receives the current vehicle data transmitted by the positioning acquisition unit, the image processing module processes the surrounding environment data in the current vehicle data, recognizes a road static target in the surrounding environment data, compares the recognized road static target with the existing map information so as to determine a target position in the map, the manufacturing module processes the position information in the current vehicle data, determines the current vehicle on the target position of the map through the position information, obtains the road data containing the current vehicle, superimposes and checks the road data of the current vehicle and the existing road data, determines the unmatched targets in the two road data, manufactures new road data, and finally generates navigation electronic map data according to the manufactured new road data through the generating module, and generates a target map and a corresponding guiding path.
7. The navigation electronic map data generation automatic compensation verification system of claim 1, wherein the verification compensation unit comprises:
the detection module is used for acquiring the position information of the vehicle at the moment in real time according to the positioning acquisition unit;
the comparison module is used for comparing the current vehicle position information obtained in real time by the detection module with the guide path generated by the data processing unit, checking the current vehicle running track with the guide path running track, and analyzing whether the vehicle runs according to the guide path track generated by the data processing unit at the moment to obtain a comparison result of the current vehicle running track and the guide path;
and the resetting module is used for compensating the running track of the current vehicle according to whether the comparison result of the comparison module re-plans the guiding path.
8. The system for automatically compensating for generating navigation electronic map data according to claim 7, wherein said calibration compensation unit performs the steps of:
the detection module utilizes the positioning acquisition unit to position the current vehicle, acquires the position information of the current vehicle in real time, transmits the position information of the current vehicle acquired in real time to the comparison module, simultaneously the comparison module acquires the generated guide path from the data processing unit, compares the position information of the current vehicle with the generated guide path, analyzes whether the running track of the current vehicle is consistent with the running track of the generated guide path, checks the running track of the current vehicle with the running track of the guide path, analyzes whether the current vehicle runs according to the track of the guide path generated by the data processing unit, obtains a comparison result through comparison between the two, analyzes the comparison result according to the comparison result, and re-plans a new guide path if the current vehicle with the comparison result deviates from the guide path, so as to compensate the running track of the current vehicle, and can keep the original guide path without generating the new guide path.
9. The system for automatically compensating for generating navigation electronic map data according to claim 7 or 8, wherein said comparison module comprises:
the position information acquisition module is used for acquiring the position information of the current vehicle sent by the detection module;
the compensation position information acquisition module is used for acquiring the compensation position quantity of the current vehicle position information according to the detection response delay time of the detection module and the information transmission response time of the comparison module for receiving the current vehicle position information;
wherein the compensation position quantity is obtained by the following formula:
；
wherein,,Lrepresenting the compensation position quantity;Vrepresenting the current vehicle speed in units of: m/s; Δt represents the time compensation amount in units of: second, wherein the second is;T 1 the theoretical detection response delay time of the detection module is represented;T 2 information transmission response time representing a theory that a comparison module receives the position information of the current vehicle;T 0 representing a unit time, wherein the unit time is 1s;
the combining module is used for combining the compensation position quantity with the position information of the current vehicle to acquire the position information of the current vehicle as target position information;
and the comparison analysis module is used for comparing the target position information with the generated guide path, analyzing whether the running track of the current vehicle is consistent with the running track of the generated guide path, checking the running track of the current vehicle with the running track of the guide path, and analyzing whether the vehicle runs according to the track of the guide path generated by the data processing unit at the moment, and obtaining a comparison result through comparison between the two.
10. The navigational electronic map data generation automatic compensation and verification system of claim 9, wherein said combining module comprises:
acquiring the compensation position quantity and detecting the acquired position information by a detection module;
combining the compensation position quantity with the position information detected and acquired by the detection module according to a combination model to acquire the current position information of the current vehicle;
wherein the binding model is as follows:
；
wherein,,L s current position information indicating a current vehicle;V s representing the speed of the current vehicle in the compensation analysis process by the comparison module;Vrepresenting the speed of the current vehicle when the detection module acquires the detected position information of the current vehicle;L 0 representing that the detection module acquires the detected position information of the current vehicle;V 0 indicating the preset standard speed variation amount,V 0 the range of the value of (2) is 0.1V-0.4V。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116719070A (en) * | 2023-08-02 | 2023-09-08 | 北京金银建科技发展有限公司 | Taxi intelligent positioning system based on man-machine information interaction |
| CN118168566A (en) * | 2024-05-14 | 2024-06-11 | 合众新能源汽车股份有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116719070A (en) * | 2023-08-02 | 2023-09-08 | 北京金银建科技发展有限公司 | Taxi intelligent positioning system based on man-machine information interaction |
| CN116719070B (en) * | 2023-08-02 | 2023-11-14 | 北京金银建科技发展有限公司 | Taxi intelligent positioning system based on man-machine information interaction |
| CN118168566A (en) * | 2024-05-14 | 2024-06-11 | 合众新能源汽车股份有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
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