Road-level global environment map generation method for unmanned driving

Abstract

The invention discloses a road-level global environment map generation method for unmanned driving. The method comprises the steps of acquiring current data of the driverless vehicle, calculating the current motion state of the unmanned driving vehicle, extracting an image feature matrix, screening a similar visual template, adding a new visual template, performing empirical point matching, performing lane line detection, performing lane line and global empirical map fusion and the like to finally generate an unmanned driving road-level global environment map. The unmanned driving car utilizes the vehicle-mounted sensor to sense the surrounding environment of the car. The road, the vehicle position and the obstacle information are obtained through perception; therefore, the aim of unmanned driving is fulfilled; the problem that the traditional method is susceptible to terrain, weather conditions and precision is not accurate enough is solved; according to the road-level global environment map generation method for unmanned driving, environment information is continuously captured in the vehicle driving process to generate a global experience map, and then in combination with multi-lane line detection, the road-level global environment map with high accuracy is obtained.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to a method for generating a road-level global environment map for unmanned driving. Background technique [0002] With the vigorous development of communication technology, machine intelligence technology, computer network technology and geographic information system technology, unmanned driving has gained wide attention in many aspects such as military, civilian and scientific research. Interdisciplinary research in many fields, such as electronics, artificial intelligence, etc., has a very broad application prospect. Driverless car is a kind of smart car, which can also be called a wheeled mobile robot. Since the 1970s, developed countries such as the United States, Britain, and Germany have begun to conduct research on driverless cars. Over the years, in the feasibility Significant breakthroughs have been made in terms of practicality and practicality. [0003...

AI Technical Summary

Problems solved by technology

Many traditional unmanned vehicles use GPS for map drawing. However, as mentioned above, this existing technical solution has great problems and shortcomings, that is, it is vulnerable to terrain, weather conditions and lack of accuracy. exact question

Moreover, the production cost is not low. It is obviously very disadvantageous to use the map produced by this method to promote driverless cars.

Images