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Curve vehicle location device and method

A technology for vehicle positioning and curves, applied in the computer field

Active Publication Date: 2017-01-04
BEIJING WANJI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] Aiming at the defects of the prior art, the present invention provides a curved vehicle positioning device and method with real-time positioning, high precision, and rich positioning information, which can solve the problem of safely passing the curve in assisted driving or unmanned driving

Method used

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  • Curve vehicle location device and method
  • Curve vehicle location device and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0093] figure 2 It is a schematic structural diagram of a curved vehicle positioning device provided in Embodiment 1 of the present invention, as shown in figure 2 As shown, the device includes: a laser scanning unit 1 and a central processing unit 2;

[0094] The laser scanning unit 1 is fixed on the installation pole 2, and is located at the center point inside the curve or the extension line outside the radius of the curve at a preset distance from the lane boundary line, and is used for real-time acquisition of ranging waveforms in the curve area. Wherein, when the laser scanning unit 1 is located at the center point inside the curve, such as image 3 As shown; when the laser scanning unit 1 is located at the preset distance Dis from the extension line outside the radius of the curve to the lane boundary line, as Figure 4 shown.

[0095] The central processing unit 2 is connected to the laser scanning unit 1, and is used to receive the curve area ranging waveform sen...

Embodiment 2

[0103] Figure 5 It is a schematic flow chart of a curve vehicle positioning method provided by the present invention, such as Figure 5 As shown, the curve vehicle positioning method includes the following steps:

[0104] S1: The laser scanning unit collects the ranging waveform in the curve area in real time.

[0105] For example, the ranging waveform in the curve area is as follows Image 6 shown.

[0106] S2: The central processing unit receives the ranging waveform in the curve area sent by the laser scanning unit, and performs coordinate conversion, interference elimination and area search on the ranging waveform of the current frame, and determines the position information of the scanning point corresponding to the vehicle area of ​​the current frame;

[0107] S3: The central processing unit performs area matching on the vehicle area of ​​the current frame and the vehicle area of ​​the previous frame, and determines that the vehicle area of ​​the current frame corres...

Embodiment 3

[0163] In this example, if Figure 12 As shown, the curve vehicle positioning device is installed at a preset distance from the extension line outside the curve radius to the lane boundary line. Among them, the radius of the arc segment near the center of the curve R 1 =10000mm, the radius R of the arc section of the boundary of the far center of the curve 2 =14000mm, the angle Q between the starting point of the curve and the line where the center of the inner circle of the curve is located and the radius of the ox axis 1 =-45°, the angle Q between the end point of the curve and the line where the center of the inner circle of the curve is located and the radius of the ox axis 2 = 45°.

[0164] Among them, the curved vehicle positioning device includes: a laser scanning unit 1, a central processing unit 2, a mounting pole 3 and a power supply unit 4. The laser scanning unit 1 is fixed on the mounting pole 3, and is located outside the radius of the curve. At the distance ...

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Abstract

The invention provides a curve vehicle location device and method. The device comprises a laser scanning unit and a central processing unit, wherein the laser scanning unit is used for collecting a curve area distance measurement waveform in real time, and the central processing unit is connected with the laser scanning unit and used for receiving the curve area distance measurement waveform sent by the laser scanning unit and performing coordinate transformation, interference elimination and area search on the current-frame distance measurement waveform to determine the information of the scanning point position corresponding to the current-frame vehicle area. The current-frame vehicle area is matched with a front-frame vehicle area to determine a curve new vehicle or a curve area advancing vehicle corresponding the current-frame vehicle area, and the real-time vehicle location parameters can be obtained and output according to the information of the scanning point position corresponding to the current-frame vehicle area. The method is real-time in location, high in location accuracy, rich in location information and capable of solving the problem about safe passing through the curve in auxiliary driving or unmanned driving.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a device and method for positioning a curved vehicle. Background technique [0002] Assisted driving and unmanned driving are currently key research topics in the fields of automobile manufacturing, traffic safety and intelligent transportation. As a key technology in assisted driving and unmanned driving, vehicle positioning has become the top priority. [0003] Vehicle positioning during operation can be roughly divided into straight road positioning and curve positioning. As the most common road alignment, the straight road can be easily realized through visual straight road keeping or GPS positioning. Due to the influence of its curvature, there is a certain degree of difficulty in positioning and lane keeping. When the vehicle is driving in a curve, whether it is used as an early warning reminder for assisted driving or a positioning service for unmanned driving, there ...

Claims

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Application Information

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IPC IPC(8): G01C21/26G01C3/00
CPCG01C3/00G01C21/26
Inventor 蒋难得胡攀攀房颜明
Owner BEIJING WANJI TECH
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