CN109144052A - Navigation system and its method for automatic driving vehicle - Google Patents
Navigation system and its method for automatic driving vehicle Download PDFInfo
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- CN109144052A CN109144052A CN201810745627.8A CN201810745627A CN109144052A CN 109144052 A CN109144052 A CN 109144052A CN 201810745627 A CN201810745627 A CN 201810745627A CN 109144052 A CN109144052 A CN 109144052A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The present invention provides a kind of for providing the system and method for navigation by the information for capturing and analyzing global scene and local objects around automatic driving vehicle (ADV) for the ADV.The system comprises merge the sensor module on the ADV and the computing device with the RFID reader communicative.The sensor module is configured to collect the environmental data around the ADV.The computing device includes processor and the memory cell for storing predefined scene module and environmental data.The computing device is configured to handle the environmental data to identify mobile and stationary object mobile object and stationary object.The computing device is configured to observe the environment scene around the ADV.It will be observed that environment scene be compared with predefined scene module.In addition, adjusting the predefined scene module using processed environmental data.The computing device provides the instruction for controlling the vehicle based on scene module adjusted.
Description
Cross reference to related applications
This application claims No. 62/529,941 U.S. Provisional Patent Applications submitted on July 7th, 2017 " for based on certainly
System and method (the Systems and Methods for Navigation Maps based of the dynamic navigation map driven
Autonomous Driving) " equity, the content of the U.S. Provisional Patent Application is incorporated herein by reference.
Technical field
The present invention provides a kind of navigation system and method being related to for automatic driving vehicle.More specifically, this hair
The bright information being related to by capturing and analyzing global scene and local objects around automatic driving vehicle is come for automatic Pilot vehicle
(Autonomous Driving Vehicle, ADV) provides the system and method for navigation.
Background technique
Traditional automatic Pilot (Autonomous Driving Vehicle, ADV) method and system depends critically upon elder generation
The preceding readable 3D map of traditional computer recorded using external system.These drive manners include semi-automatic driving system, height
Automated driving system and full-automatic driving system.Semi-automatic driving system needs driver's continuous monitoring system, semi-automatic driving
System needs driver persistently to the monitoring of system, while needing driver voluntarily to handle lane holding in special applications case
And lane changing.Full-automatic driving system requirements driver can take over when needed, even if driver is not required to continue prison
Control system.Full-automatic driving system does not need driver in special applications, but usually there is still a need for use pre-recorded (High
Definition, HD) 3D map and laser radar (LiDAR) system creation point cloud.
One of these traditional automated driving systems the disadvantage is that, due to above-mentioned control loop, hereinafter referred to as they, highly according to
Rely in high definition 3D map, the data stored on the map that they are surveyed by predefined physical parameter and previously are limited.This
A little physical parameters and data include close label, traffic lights, lane and terrestrial reference details.Due to construction, accident or
Landscape dynamics, compared with reality, map may be out-of-date or inaccurate.Therefore, because they are with depending on the HD 3D of real world
Figure, above-mentioned traditional automated driving system usually require connectivity, cloud and crowdsourcing content.In view of existing solution, preparation
HD 3D map usually requires that there is one or more automobiles the true map function of superfinishing to record perfect Centimeter Level map.In order to
Realize fully automated driving, these data need just to integrate before the practical autonomous driving vehicle on road is sent.In addition to
Except high cost, the limitation of this method and this autonomous driving vehicle also includes that cannot change its course, because automobile cannot not have
It is travelled on the route for having pre-rendered Centimeter Level map.Vehicle can not also identify temporary traffic signal or be driving through parking lot.
The US7831433B1 of Robert Belvin et al. discloses a kind of for using context in navigation dialog box
System and method.Navigation system includes route planning module and route guidance module.Route guidance module is configured to receive road
Line and route and current location based on user, conversation history and geography and map knowledge, system provide a user position
Specific instruction.Position specific instruction includes the reference to the specific visible oBject near user.However, this route of system is advised
It draws module and still relies on map to provide a user position specific instruction.
The US9286520B1 of Wan-Yen Lo et al. discloses a kind of Real-time Road using template and appropriate color space
Dazzle detection.The computing device of vehicle receives the image of vehicle environmental.Computing device can be configured to identify in multiple pixels
Given pixel.Then, computing device to by image given pixel indicate object shape one or more features with
The corresponding one or more features of the predetermined shape of road dazzle are compared；And determine that object represents the possibility of road dazzle
Property.Computing device correspondingly modifies the control strategy of the driving behavior of vehicle.However, this device is restricted in use, only
For determining the road dazzle on road and correspondingly modifying route.
It would therefore be highly desirable to the navigation system and method for a kind of automatic driving vehicle provide fully-automatic vehicle, it can be in office
It is travelled with not having any problems on what road, and preferably not depends on pre-recorded high definition 3D map.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of navigation system for automatic driving vehicle
And its method.
The one kind provided according to the present invention is used for by capturing and analyzing the global scene around automatic driving vehicle (ADV)
The system and method for navigation are provided for automatic driving vehicle with the information of local objects, without using any existing high definition
The physical map of 360/3D map or precedence record.
The navigation system for automatic driving vehicle include merge sensor module on ADV and with sensor group
The computing device of part communication.Sensor module includes one or more sensors, and the sensor is configured to collect automatic Pilot
The environmental data of vehicle periphery.Computing device includes processor and memory cell.Processor be configured to processing environment data with
Identify the movement around automatic driving vehicle and stationary object mobile object and stationary object, and memory cell configurations are at depositing
Store up predefined scene module and environmental data.Computing device is configured to the environment scene around observation ADV.The ring that will be observed that
Border scene is compared with predefined scene module.In addition, adjusting predefined scene mould using processed environmental data
Block, to create scene module adjusted.Then, computing device provides the instruction of control ADV based on scene module adjusted.
In one embodiment, sensor includes ultrasonic sensor, laser radar sensor, radar cell, accelerometer
At least one of sensor, gyro sensor, compass detector, camera and stereoptics sensor.In one embodiment
In, scene module adjusted includes the data with the path-dependent in travelable region, pavement marker and manipulation ADV.At one
In embodiment, computer vision and Algorithm of Scene processing environment data are utilized.In one embodiment, environment scene is
The 3D scene of environment around ADV.In one embodiment, predefined scene module is 3D scene module.
In one embodiment, the present invention provides a kind of air navigation aids for automatic driving vehicle.In a step
In, it provides and merges the sensor module on ADV and the computing device with RFID reader communicative.Sensor module is configured to
Collect the environmental data of automatic Pilot vehicle periphery.The computing device includes: processor, be configured to processing environment data with
Movement and stationary object mobile object and stationary object around identification automatic driving vehicle；And memory cell, configuration
At the predefined scene module of storage and environmental data.In a further step, the environment scene of ADV is observed.In a further step,
It will be observed that environment scene be compared with predefined scene module.In a further step, using processed environment number
According to predefined scene module is adjusted, to create scene module adjusted.In a further step, after computing device is based on adjustment
Scene module provide control ADV instruction.
From below in conjunction with attached drawing description of preferred embodiments, other feature and advantage be will become obvious.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, it is used for provided by the present invention for the navigation system of automatic driving vehicle and its method through capture and analyzes certainly
The information of the dynamic global scene driven around vehicle (ADV) and local objects come provided for automatic driving vehicle navigation system and
Method；
2, provided by the present invention for the navigation system of automatic driving vehicle and its method without using any existing height
The physical map of clear 360/3D map or precedence record.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the environment schematic of the navigation system for automatic driving vehicle (ADV) of the embodiment of the present invention.
Fig. 2 is the block diagram of the navigation procedure for automatic driving vehicle of the embodiment of the present invention.
Fig. 3 is screen circle of the system that the local objects around ADV are distinguished using 3D bounding box of the embodiment of the present invention
Face figure.
Fig. 4 is the screen interface figure of the system of the positioning and position of terrestrial reference in the identification scene of the embodiment of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
The description to the embodiment of the present invention will be provided in conjunction with attached drawing now.It is of the invention spiritual or substantially special not departing from
In the case where sign, it is contemplated that the present invention can be implemented in other specific forms.Described embodiment is all answered in all respects
It is considered as merely illustrative and not restrictive.Therefore, the scope of the present invention by the appended claims rather than front
Description indicates.All changes in the meaning and equivalent scope of claims are included within the scope of its.
The present invention provides a kind of for by analyzing come the global scene and local objects around automatic driving vehicle ADV
Information for automatic driving vehicle provide the system and method for navigation.System configuration of the invention is at overcoming to perfect Centimeter Level
The limitation of the dependence of HD 3D map, the perfection Centimeter Level HD 3D map needs are constantly updated according to real world.
Provided by the present invention for automatic driving vehicle guidance system configuration at by the field 3D of the environment around ADV observed in real time
Scape is compared with predefined 3D scene module, then pushes away to the presence and position of each object in 3D scene module
By.This enables a system to capture global scene and local object information simultaneously.The system configuration is at dependent on providing by finger
The standard navigation map of order.
As shown in Figure 1, being hereinafter referred to as provided by the present invention for the navigation system and its method of automatic driving vehicle
System, provides the environment 100 of the navigation system for automatic driving vehicle ADV of embodiment according to the present invention.The system
Including the computing device 106 for being merged into the sensor module 102 of ADV and being communicated with sensor module 102.In one embodiment
In, sensor module 102 includes one or more sensors, and the sensor is configured to collect the ring of automatic Pilot vehicle periphery
Border data.In one embodiment, sensor includes ultrasonic sensor, laser radar sensor, radar cell, accelerometer biography
At least one of sensor, gyro sensor, compass detector, camera and stereoptics sensor.In one embodiment,
Environmental data includes the information about barrier, mobile object or stationary object etc..
In one embodiment, computing device 106 includes processor 104 and memory cell 108.Processor 104 configures
At processing environment data to identify the mobile object and stationary object around automatic driving vehicle.Memory cell 108 is configured to
Store predefined scene module or standard navigation map and environmental data.The present invention utilizes computer vision algorithms make and scene point
Cut algorithm and environmental data identify vehicle, pedestrian, cyclist, animal, object, mark, pavement marker, traffic lights and
Other barriers.In addition, the system configuration at simultaneously by from analysis generate data model be fed to automatic driving vehicle with
Automatic Pilot.
As shown in Fig. 2, showing the block diagram 200 of the navigation for automatic driving vehicle of embodiment according to the present invention.
Computing device 106 is configured to the environment scene around observation ADV.It will be observed that environment scene and predefined scene module into
Row compares.In addition, predefined scene module is adjusted using processed environmental data, to create scene module adjusted.
Then, computing device 106 provides the instruction of control ADV based on scene module adjusted.Scene module adjusted include with
It can travel region 204 and the related data of pavement marker 206.Computing device 106 is obtained and be can travel using semantic segmentation 202
Region 204 and the related real time data of pavement marker 206 are further used for coordinates measurement 208 to allow ADV automatic Pilot.
Fig. 3, which is schematically illustrated by using real-time 3D object identification, differently marks the local objects in scene
Distinguish their screenshot capture 300.Automobile and pedestrian are labeled as possible mobile local objects using 3D bounding box 302.Entirely
Other objects in office's scene, such as trees and house 304, through the invention positioning in real time.Global scene drawn game is captured simultaneously
The information of portion's object.It is checked immediately by the camera system captured image of ADV by the processor 104 of computing device 106.Fig. 4 shows
Positioning and the position of the terrestrial reference in identification scene are shown to example property, and is also marked using real-time analysis to enhance lane 402
Screenshot capture 400.For example, mark, with fuchsin color marker, the lines for separating lane are enhanced.The current route of vehicle includes red
Wrapping lid, it illustrates the estimated travel paths of vehicle.
In one embodiment, a kind of air navigation aid for automatic driving vehicle is disclosed.In one step, it provides
The computing device 106 for merging the sensor module 102 on ADV and being communicated with sensor module 102.Sensor module 106 is matched
It is set to the environmental data for collecting automatic Pilot vehicle periphery.Computing device 106 includes processor 104 and memory cell 108, place
Reason device 104 is configured to processing environment data to identify the mobile object and stationary object around automatic driving vehicle, memory list
Member 108 is configured to store predefined scene module and environmental data.In a further step, the environment scene of ADV is observed.Another
In one step, it will be observed that environment scene be compared with predefined scene module.In a further step, using processed
Environmental data adjust predefined scene module, to create scene module adjusted.In a further step, computing device
106 provide the instruction of control ADV based on scene module adjusted.
Advantageously, the present invention no longer needs to retain the high definition inch precision map in the expected region used ADV.A side
Face, this system provide fully automated driving vehicle and execute all safety-critical functions, such as identify temporary sign and take phase
The driver behavior answered, and detection and avoiding obstacles.
In addition, the system no longer needs driver to control ADV at any time, and do not need using HD 3D map.This system
Pavement marker, such as lane, road boundary, curb, obstacle can be identified and detected without relying on the map that superfinishing really records
Object, and traffic sign and traffic lights can be understood to help to realize real automatic Pilot.Sensor input and in real time
Understanding of the scene understanding technology-imitation mankind to scene.For example, the mankind are similar to, as long as providing instruction from standard navigation map,
The present invention can provide navigation in unfamiliar environment in the case where not using previously stored HD-3D map.Automatically
Analysis condition of road surface is simultaneously classified as one group of predefined template road conditions.The parameter of road is including but not limited to road class
Type and road width carry out real-time estimation to it to adjust predefined template to match natural environment based on sensor input.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and to include in it can also for realizing the device of various functions, module, unit
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (14)
1. a kind of navigation system for automatic driving vehicle, comprising:
Merge the sensor module on the automatic driving vehicle comprising one or more sensors, the sensor are matched
It is set to the environmental data collected around the automatic driving vehicle；With
With the computing device of the RFID reader communicative comprising processor and memory cell,
Wherein the processor is configured to handle the environmental data to identify movement around the automatic driving vehicle and quiet
Only object, and the memory cell configurations are at storing predefined scene module and environmental data, and
Wherein the computing device is configured to:
The environment scene around the automatic driving vehicle is observed,
The environment scene of capture is compared with predefined scene module,
The predefined scene module is adjusted using processed environmental data, and
Navigation is provided based on scene module adjusted for the automatic driving vehicle.
2. the navigation system according to claim 1 for automatic driving vehicle, wherein the sensor includes ultrasonic wave
Sensor, laser radar sensor, radar cell, accelerometer sensor, gyro sensor, compass detector, camera and vertical
At least one of bulk optics sensor.
3. the navigation system according to claim 1 for automatic driving vehicle, wherein the scene module adjusted
Data including the path-dependent with travelable region, pavement marker and the manipulation vehicle.
4. the navigation system according to claim 1 for automatic driving vehicle, wherein utilizing computer vision and scene
The partitioning algorithm processing environmental data.
5. the navigation system according to claim 1 for automatic driving vehicle, wherein the environment scene be it is described from
The 3D scene of the dynamic environment for driving vehicle periphery.
6. the navigation system according to claim 1 for automatic driving vehicle, wherein the predefined scene module
It is 3D scene module.
7. the navigation system according to claim 1 for automatic driving vehicle, wherein the predefined scene module
It is standard navigation map.
8. a kind of air navigation aid for automatic driving vehicle, comprising:
Automatic driving vehicle is provided, comprising:
Merge the sensor module on the automatic driving vehicle comprising one or more sensors, the sensor are matched
It is set to the environmental data collected around the automatic driving vehicle；With
With the computing device of the RFID reader communicative comprising processor and memory cell, and
Wherein the processor is configured to handle the environmental data to identify movement around the automatic driving vehicle and quiet
Only object, and the memory cell configurations are at the predefined scene module of storage and environmental data；
Observe the environment scene of the vehicle；
The environment scene of capture is compared with predefined scene module；
The predefined scene module is adjusted using processed environmental data, and
Navigation is provided based on scene module adjusted for the vehicle.
9. the air navigation aid according to claim 8 for automatic driving vehicle, wherein the sensor includes ultrasonic wave
Sensor, laser radar sensor, radar cell, accelerometer sensor, gyro sensor, compass detector, camera and vertical
At least one of bulk optics sensor.
10. the air navigation aid according to claim 8 for automatic driving vehicle, wherein the scene module adjusted
Data including the path-dependent with travelable region, pavement marker and the manipulation vehicle.
11. the air navigation aid according to claim 8 for automatic driving vehicle, wherein utilizing computer vision and scene
Environmental data described in dividing processing.
12. the air navigation aid according to claim 8 for automatic driving vehicle, wherein the environment scene be it is described from
The 3D scene of the dynamic environment for driving vehicle periphery.
13. the air navigation aid according to claim 8 for automatic driving vehicle, wherein the predefined scene module
It is 3D scene module.
14. the navigation system according to claim 8 for automatic driving vehicle, wherein the predefined scene module
It is standard navigation map.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201762529941P | 2017-07-07 | 2017-07-07 | |
| US62/529,941 | 2017-07-07 | ||
| US16/027,777 US10942519B2 (en) | 2017-07-07 | 2018-07-05 | System and method for navigating an autonomous driving vehicle |
| US16/027,777 | 2018-07-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109144052A true CN109144052A (en) | 2019-01-04 |
| CN109144052B CN109144052B (en) | 2021-12-28 |
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| CN201810745627.8A Active CN109144052B (en) | 2017-07-07 | 2018-07-09 | Navigation system for autonomous vehicle and method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111638536A (en) * | 2019-03-01 | 2020-09-08 | 通用汽车环球科技运作有限责任公司 | Method and apparatus for context-aware crowd-sourced sparse high definition maps |
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