US 12,135,552 B2
Road feature point extraction method and system
Lin He, Hebei (CN); Longbao Zhen, Hebei (CN); Kai Zhang, Hebei (CN); Junpeng Zhao, Hebei (CN); Wei Li, Hebei (CN); Tianpei Wang, Hebei (CN); Hongliang Liu, Hebei (CN); Ronglin Zeng, Hebei (CN); and Weifeng Deng, Hebei (CN)
Assigned to GREAT WALL MOTOR COMPANY LIMITED, Hebei (CN)
Appl. No. 17/281,558
Filed by GREAT WALL MOTOR COMPANY LIMITED, Hebei (CN)
PCT Filed Sep. 27, 2019, PCT No. PCT/CN2019/108401
§ 371(c)(1), (2) Date Mar. 30, 2021,
PCT Pub. No. WO2020/063815, PCT Pub. Date Apr. 2, 2020.
Claims priority of application No. 201811153737.1 (CN), filed on Sep. 30, 2018.
Prior Publication US 2021/0365027 A1, Nov. 25, 2021
Int. Cl. G05D 1/02 (2020.01); G01C 21/30 (2006.01); G05D 1/00 (2006.01); G06K 9/00 (2022.01); G06V 20/56 (2022.01)
CPC G05D 1/0212 (2013.01) [G01C 21/30 (2013.01); G05D 1/0274 (2013.01); G06V 20/588 (2022.01)] 9 Claims
OG exemplary drawing
 
1. A road feature point extraction method, wherein the method comprises:
acquiring map information for a current position of a vehicle, wherein the map information comprises road attributes of a current road and road attributes of a next road, wherein each of the road attributes of the current road and the road attributes of the next road comprise a corresponding exchange area attribute, lane line attribute and/or tunnel attribute, wherein the exchange area attribute is information indicating whether there is a change in a number of lanes on the corresponding road, the lane line attribute is information indicating a number of lane lines of the corresponding road, and the tunnel attribute is information indicating whether there is a tunnel in the corresponding road;
comparing, by a processor, the road attributes of the current road with the road attributes of the next road to determine a road type of the next road;
extracting a road feature point representing a road scene on the next road by combining the road type of the next road and map information corresponding to the next road, wherein the extracting comprises: extracting corresponding lane feature points when it is determined that the next road comprises any one of an acceleration lane, a deceleration lane, a main road widening lane, a main road narrowing lane, a main road bifurcation lane, a ramp bifurcation lane, a ramp widening lane, a ramp narrowing lane, a ramp merging lane, a ramp joining lane and a road tunnel;
outputting a name of the extracted road feature point and relative distance information between the road feature point and the vehicle, wherein the outputting the name of the extracted road feature point comprises: outputting a lane start point and a lane end point both corresponding to the lane feature points, and wherein the outputting the relative distance information comprises: outputting a relative position from each of the lane start point and the lane end point to the vehicle; and
controlling, by the processor, the vehicle to perform specific operations based on the outputted name of the extracted road feature point and the outputted relative distance information, wherein the specific operations include acceleration, deceleration and lane changing.