摘要
在智能驾驶场景中,对高精地图的实时动态信息和静态数据的协同调用可以支持智能驾驶系统准确地重构道路行驶场景,并针对复杂的道路环境和突发事件做出安全高效的决策。因此,动态数据与静态数据之间的关联和实时重构是实现智能驾驶车辆路径规划及决策的关键技术。针对目前高精地图模型中动静态数据关联原则共识不够造成耦合实时性弱的问题,提出并论述了动静态数据的关联原则,依此原则,且基于关系数据理论和高精地图的属性属地区块更新机制,进一步提出了高精地图动静态数据的关联和重构的强、弱两种关联方法。通过自动驾驶宏观、中观、微观3种场景决策支持应用分析了动静态数据关联方法对智能驾驶的影响,说明高精地图动静态数据关联关系的建立能够支持智能驾驶系统的规划决策和控制,为车辆实现安全、高效、舒适的智能驾驶奠定了基础。
Objectives:In the intelligent driving scene,the collaborative calls of real-time dynamic information and static data of high definition maps can support the intelligent driving system to accurately reconstruct the road driving scenes,and make safe and efficient decisions for complex road environment and emergencies.Therefore,the correlation between dynamic data and static data is a key technique for achieving vehicle's intelligent path planning and decision-making.Methods:To solve the problem of weak real-time coupling of dynamic and static data in current high definition map model,we propose an association method of dynamic and static data within high definition map based on the association principles of dynamic and static data,and this association method depends and can be triggered by update mechanism upon custom attributes and specific geographic locations.Results:We propose a high definition map dynamic and static data correlation method and analyze the impacts on intelligent driving through different macro-,meso-and microscales driving levels to verify the method's validity.Conclusions:The establishment of the dynamic and static data association relationship of the high definition map not only supports the planning,decision-making and control of the auto-driving system,but also lays the foundation for the realization of safe,efficient and comfortable intelligent driving of vehicles.
作者
王舒曼
应申
蒋跃文
张闯
李霖
刘经南
WANG Shuman;YING Shen;JIANG Yuewen;ZHANG Chuang;LI Lin;LIU Jingnan(School of Resource and Environmental Sciences,Wuhan University,Wuhan 430079,China;Key Laboratory of Geographic Information System,Ministry of Education,Wuhan University,Wuhan 430079,China;Key Laboratory of Digital Mapping and Land Information Application,Ministry of Natural Resources,Wuhan University,Wuhan 430079,China;GNSS Research Center,Wuhan University,Wuhan 430079,China;Collaborative Innovation Center of Geospatial Technology,Wuhan 430079,China;Hubei Luojia Laboratory,Wuhan 430079,China)
出处
《武汉大学学报（信息科学版）》
EI
CAS
CSCD
北大核心
2024年第4期640-650,共11页
Geomatics and Information Science of Wuhan University
基金
国家重点研发计划(2021YFB2501101)。
关键词
高精地图动静态数据关联
数据存储模型
智能驾驶决策支持
high definition map dynamic and static data association
data storage model
intelligent driving decision support
