Environment modeling method applicable to navigation of automatic piloting vehicles

Abstract

The invention provides an environment modeling method applicable to navigation of automatic piloting vehicles. One of the key problems needing to be overcome for the navigation of automatic piloting vehicles is to modeling an environment in which a vehicle pilots, to distinguish sceneries in the environment and to convert environmental information into parameterized information which can be used for intelligent obstacle avoidance and path planning of an automatic piloting vehicle. According to the invention, a laser sensor is provided at the front of the automatic piloting vehicle; a series of steps like measurement of spatial distance between the center of the laser sensor and the center of the vehicle are carried out; the whole environment is modeled by utilizing laser point sequences acquired in the driving process of the vehicle. Displacement and course angles of the vehicle are calculated by registering observation of the laser sensor at adjacent sampling time, which is a self-contained scheme and can effectively avoid the problem of LOS (lost of signals) in extreme environments in similar methods which employ a scheme bases on a constellation system; in the method provided in the invention, the laser point sequences in laser beams are processed with a method of inference based on a probabilistic graph model, which enables geometrical characteristics of scenery contours to be utilized and managed intelligently, and therefore, higher accuracy in environment modeling is obtained in the invention.

Description

technical field

[0001] The invention relates to the field of vehicle navigation, in particular to an environment modeling method suitable for automatic driving vehicle navigation. Background technique

[0002] Autonomous driving vehicle navigation technology is widely used in safety assisted driving, alien planet exploration, defense automation and other fields. One of the key problems to be solved in the navigation of autonomous driving vehicles is how to model the environment in which the vehicle is driving and identify the scenery in it. Transform environmental information into parametric information that can be used in intelligent obstacle avoidance and path planning tasks for autonomous vehicles. Among the parametric information of this kind, the utilization efficiency of the outline orientation of the environment scene is the highest. To obtain this information, similar methods use visual, infrared, and ultrasonic sensors. However, these sensors are more easily affe...

Images