Radar origin information correction method in intersection traffic scene based on high-precision map

• Main Authors: QUAN SHENSHEN, WENG YITAO, YU XIAOLU, KIM JUN-SHIN, ZHANG XIAOQIANG, WANG CHEN, SHAN TINGTING, ZHONG HUILING
• Format: Patent
• Language: Chinese; English
• Published: 02.09.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SIGNALLING; TESTING; TRAFFIC CONTROL SYSTEMS

The invention discloses a method for correcting radar origin information in an intersection traffic scene based on a high-precision map. The method comprises the following steps: acquiring radar origin information and intersection information; screening stop points, and establishing a stop point set S; determining an entrance stop line according to the stop point set S; extracting trajectory data entering the intersection based on the entrance stop line; performing clustering extraction according to the trajectory data to find a center line of the innermost lane; performing radar coordinate conversion; adjusting the course angle of the radar; adjusting the original point position of the radar; performing accuracy evaluation on a correction result after iterative optimization; according to the method, radar origin information in an intersection traffic scene is automatically restored, so that the intersection target vehicle track is matched with high-precision map positioning in a high-precision manner, and a