A Method for Generating Autonomous-Driving Guidance Lines at Urban Intersections Based on Vehicle-Side Crowdsourced Trajectories [Patent]
Published:
This invention provides a method, device, driving device, and medium for generating guidance data for intersection paths. It includes: determining, based on an HD map and the driving information of each driving device, a first driving trajectory for each pass of each driving device through the intersection; performing association detection between the M entry-exit lane pairing structures corresponding to the intersection and the first driving trajectories to obtain, for each of the M entry-exit lane pairing structures, a corresponding intersection trajectory fusion unit; and if an i-th driving trajectory exists in the i-th intersection trajectory fusion unit, obtaining the guidance data for the i-th entry-exit lane pairing structure according to the second driving trajectory in the i-th intersection trajectory fusion unit and the trajectory fitting curve corresponding to the intersection trajectory fusion unit. In this way, a vehicle can be guided from one main road through the intersection to switch onto another main road, reducing traffic accidents and improving driving safety and traffic performance.
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