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ArcGIS-based map building and intelligent vehicle autonomous navigation method and system

An intelligent vehicle and autonomous navigation technology, applied in the directions of surveying and mapping, navigation, road network navigator, etc., can solve the problems of increasing the number of map nodes, reducing the real-time performance of path planning, and increasing the time cost of path planning.

Active Publication Date: 2017-06-13
CENT SOUTH UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] At present, many smart car navigation systems rely on high-precision navigation equipment to achieve lane-level track following. However, at forks, some navigation systems do not have track points specially stored for turning left or right. Waypoints with large spacing will affect the smoothness and stability of the trajectory of intelligent vehicles; some navigation systems use short-distance line segments when drawing maps, which ensures the accuracy of the path although the waypoints with small spacing are obtained. However, this increases the number of nodes on the map, increases the time cost of path planning, and reduces the real-time performance of path planning.
[0004] In a complex urban environment, vehicles on complex roads such as forks, relying on the current navigation map, cannot obtain the optimal trajectory to realize the turning behavior of the vehicle

Method used

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  • ArcGIS-based map building and intelligent vehicle autonomous navigation method and system
  • ArcGIS-based map building and intelligent vehicle autonomous navigation method and system

Examples

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specific Embodiment 1

[0089] Using GPS / IMU integrated navigation equipment, according to the collection rules, drive at a constant speed in the center of the lane of the test site to collect data. First import the data text file into an Excel file, then save it in xls format, then import the data in the xls file into ArcGIS, and display it on the map, such as figure 1 As shown in , the black line (composed of very dense black dots) is the original data of the collection route.

[0090] According to the map drawing method, the test site map will go through the process of general road section > special road section > general road section > special road section > general road section. There are two special road sections, so there are 4 marker points in total; According to the direction of travel, draw the road, first draw the starting point, and then draw the end point, such as figure 2 As shown, the green dot on the left is the starting point of the line, the red dot on the right is the end point, ...

specific Embodiment 2

[0121] An ArcGIS-based map creation and intelligent vehicle autonomous navigation system, including:

[0122] The data acquisition unit, in the area to be navigated, uses the vehicle-mounted GPS acquisition device to drive along all road sections in sequence, collects the latitude and longitude of each point on the road section line, and obtains the GPS information of the corresponding point;

[0123] The map creation unit uses the ArcGIS tool based on the information obtained by the data acquisition unit to create a two-dimensional vector map of the area to be navigated along the data obtained in the same direction of the vehicle, and simultaneously constructs a road fork marking file;

[0124] The path extraction unit uses a path planning tool to obtain a target path, maps the target path to a two-dimensional vector map, and extracts path points;

[0125] The coordinate conversion unit converts the coordinates of the track point in the longitude and latitude into the coordin...

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Abstract

The invention discloses an ArcGIS-based map building and intelligent vehicle autonomous navigation method and system. The method comprises the following steps: 1, acquiring longitude and latitude information of a region to be navigated through equipment; 2, building and drawing a two-dimensional vector map and a road section text file of a fork road by using an ArcGIS tool; 3, obtaining the shortest path by using a path planning tool, and extracting a track from the path; 4, carrying out coordinate system conversion on the track, wherein during autonomous navigation, a 5-meter interpolation algorithm is used; obtained path points are very smooth; the number of the path points is increased, path precision of the road section is improved, and driving steadiness is guaranteed; furthermore, the time for path searching is not obviously prolonged. The method can supply more precise and more intensive tracking points to intelligent vehicle autonomous navigation under a condition of use of a map with the same complexity, and the tracking points are converted into coordinates under an intelligent vehicle coordinate system, so that the curve fitting difficulty is reduced.

Description

technical field [0001] The invention belongs to the field of automatic driving of intelligent vehicles, and in particular relates to an ArcGIS-based map creation and intelligent vehicle autonomous navigation method and system. Background technique [0002] In the field of smart car research, tracking latitude and longitude coordinates is the mainstream method for autonomous navigation of smart cars. In the absence of sensory data, smart cars can only confirm the current location through latitude and longitude information, and then track through the latitude and longitude coordinates of the waypoints. [0003] At present, many smart car navigation systems rely on high-precision navigation equipment to achieve lane-level track following. However, at forks, some navigation systems do not have track points specially stored for turning left or right. Waypoints with large spacing will affect the smoothness and stability of the trajectory of intelligent vehicles; some navigation sy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32G01C21/34
CPCG01C21/32G01C21/3446
Inventor 余伶俐莫斯尧尤作周开军龙子威李路邵玄雅
Owner CENT SOUTH UNIV
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