Unmanned vehicle, and unmanned vehicle positioning method, device and system

An unmanned vehicle and positioning technology, applied in the field of unmanned vehicles and vehicle engineering, can solve the problems of inability to provide high-precision and high-stability positioning results, large positioning errors, etc., and achieve the effect of avoiding large positioning errors and accurate positioning.

Active Publication Date: 2016-10-12
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Application Information

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Problems solved by technology

[0005] However, the existing real-time differential positioning method will generate large positioning errors when the GPS satellite signal is

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  • Unmanned vehicle, and unmanned vehicle positioning method, device and system
  • Unmanned vehicle, and unmanned vehicle positioning method, device and system
  • Unmanned vehicle, and unmanned vehicle positioning method, device and system

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[0021] The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for ease of description, only the parts related to the relevant invention are shown in the drawings.

[0022] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present application will be described in detail with reference to the drawings and in conjunction with embodiments.

[0023] figure 1 Shows an exemplary system architecture 100 that can apply the embodiment of the unmanned vehicle positioning method based on laser point cloud reflection value matching or the unmanned vehicle positioning device based on laser point cloud reflection value matching of the present appli...

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Abstract

The invention discloses an unmanned vehicle and an unmanned vehicle positioning method, device and system. The method comprises that first laser point-cloud reflection value data which matches the present position of the unmanned vehicle is obtained, and the first laser point cloud reflection value data comprises first coordinates of laser points and laser reflection intensity values corresponding to the laser points; the first laser point cloud reflection value data is converted to laser point cloud projection data in a horizontal plane; a first matching probability of the laser point cloud projection data within a predetermined range in the laser point cloud reflection value map is determined by taking the pre-determined position of a prior positioning position in a laser point cloud reflection value map as an initial position; and the position of the unmanned vehicle in the laser point cloud reflection value map is determined on the basis of the first matching probability. Thus, the present position of the unmanned vehicle can be positioned accurately.

Description

technical field [0001] The present application relates to the technical field of vehicle engineering, specifically to the field of unmanned vehicles, especially to unmanned vehicles, unmanned vehicle positioning methods, devices and systems. Background technique [0002] Unmanned vehicle (hereinafter referred to as unmanned vehicle) is a modern vehicle that can perceive its surrounding environment, make decisions and judge the scene, and control it without manual control. [0003] The positioning system plays a pivotal role in the process of autonomous driving of unmanned vehicles. Other modules, such as perception and path planning, perform corresponding operations based on the positioning results generated by the positioning system to varying degrees. The accuracy of positioning is one of the keys that directly affects the success or failure of unmanned vehicles. [0004] In the prior art, the position of the unmanned vehicle is mainly determined by GPS (Global Positioni...

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Application Information

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IPC IPC(8): G06T7/00G06T3/00G01S17/89
CPCG06T3/0031G06T2207/10028G05D1/024G01S7/4808G01S17/89G05D1/0274G05D2201/0213G05D1/0231
Inventor 宋适宇李文博张天雷
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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