The invention provides an unmanned container truck intersection identification method based on map data, and the method comprises the steps: 1, adding the longitudes and latitudes of four vertexes of an electronic fence on an unmanned platform, and constructing an intersection electronic fence; step 2, performing one-to-one correspondence on the intersection electronic fences and intersection areas in the map data of the unmanned container truck operation area; 3, the unmanned container truck sends the vehicle message to the unmanned driving platform in real time; step 4, selecting lane lines associated with the intersection area in the vehicle path planning lane line set; step 5, judging whether the current lane line of the vehicle is a lane line associated with the intersection area or not, and if so, judging whether the distance between the unmanned container truck and the intersection electronic fence corresponding to the intersection area is smaller than a threshold value or not according to the real-time latitude and longitude information of the vehicle; and step 6, if yes, determining that the current driving vehicle arrives at the intersection. The technical problems that the prior art cannot be suitable for scene migration and the implementation cost is high are effectively solved.
本发明提供一种基于地图数据的无人集卡路口识别的方法,所述方法包括:步骤1,在无人驾驶平台添加电子围栏四个顶点的经纬度,构建路口电子围栏;步骤2,将路口电子围栏与无人集卡运行区域的地图数据中的路口区域进行一一对应;步骤3,无人集卡将车辆报文实时发送至无人驾驶平台;步骤4,选取车辆路径规划车道线集合中与路口区域相关联的车道线;步骤5,判断车辆当前所在车道线是否是与路口区域相关联的车道线,若是,则根据车辆实时经纬度信息,判断无人集卡与该路口区域对应的路口电子围栏的距离是否小于阈值;步骤6,若小于阈值,则确定当前行驶车辆到达路口。本发明有效解决现有技术无法适用于场景迁移,且实施成本高等技术问题。
Unmanned container truck intersection identification method and system based on map data
一种基于地图数据的无人集卡路口识别的方法及系统
2025-04-25
Patent
Electronic Resource
Chinese
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