Algorithm And Implementation Of ADAS Navigation Map Height Distortion Processing

Advanced Driver Assistance Systems(ADAS)are increasingly being used in automobiles to improve driving safety and comfort.ADAS is mainly composed of sensing layer,decision layer and control layer: the sensing layer mainly includes various sensors integrated in the vehicle;the decision-making layer is mainly the vehicle ADAS electronic control unit(ECU);the control layer includes the electronic components installed in the vehicle.Brake,electronic steering,electronic drive and electronic signal prompts.The ADAS system detects the surrounding environment through various sensors(infrared detectors,radars,cameras)mounted on the vehicle,and analyzes the collected environmental information in real time by the ECU to realize identification of other targets in the surrounding environment.And detection,control the surrounding environment,predict the occurrence of danger.Finally,the control layer and the human-computer interaction system make corresponding control behaviors,such as lane change,cruise,deceleration,power conversion,and emergency braking.The realization of ADAS system functions is inseparable from the accurate ADAS navigation map.The ADAS navigation map is between the ordinary navigation map and the high-precision navigation map.Compared with traditional navigation maps,ADAS navigation data has been transformed from two-dimensional road level to three-dimensional lane level,with high precision and high degree of refinement.The introduction of elevation information is the biggest change of ADAS navigation map compared with traditional navigation map.Compared with the high-precision navigation map,the ADAS navigation map is slightly insufficient in the degree and precision of the map in terms of spatial dimension,but basically has some features of high-precision map.The introduction of high-precision three-dimensional coordinate information enables the vehicle to calculate the real-time slope and curvature,which greatly improves the safety and economy of the vehicle.The navigation map data acquisition method and the later map construction method cause a large amount of distortion in the elevation information.That is,the elevation of the same name NODE point on different LINKs is inconsistent.This problem seriously affects the continuity of the LINK of the data and the elevation smoothness of the overall data,which reduces the availability of data and directly leads to security risks.In this paper,a set of ADAS elevation distortion correction algorithm based on leveling network adjustment is proposed,which is mainly from the optimal combination of ADAS elevation data fields,EDGE abstract method in data preprocessing,improvement of minimum independent closed loop search algorithm,and independence of graphs.A lot of experiments and verifications have been done with redundant graph stripping algorithm,optimal estimation and optimal allocation method of EDGE correction number,ADAS navigation data data reconstruction and return library.The work done in this paper completely eliminates the elevation in ADAS navigation map.Distortion,after extracting the calculation results of Beijing area for data analysis,the error of the EDGE high-difference correction number is0.221 m,and the error of the minimum data element shape point elevation correction number is 2.019 m.Fully meet the objective requirements of ADAS navigation map elevation data smoothness optimization.It provides technical support for the integrity and accuracy of the three-dimensional information of the ADAS navigation map,improves the quality of the ADAS navigation map data,has the advantages of good overall conformity,small change to the original data,and overall reasonableness.