Curve vehicle location device and method
A technology for vehicle positioning and curves, applied in the computer field
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Example Embodiment
[0092] Example 1
[0093] figure 2 It is a schematic structural diagram of a vehicle positioning device on a curve provided by Embodiment 1 of the present invention, such as 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 mounting pole 2 and is located at a preset distance from the inner circle center point of the curve or the extension line outside the curve radius from the lane boundary line, and is used for real-time acquisition of the curve area ranging waveform. Among them, when the laser scanning unit 1 is located at the center point on the inner side of 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 and the boundary line of the lane, such as Figure 4 Shown.
[0095] The central processing unit 2 is connected to the laser scanning unit 1, and is used to receive t...
Example Embodiment
[0102] Example 2
[0103] Figure 5 It is a schematic flow chart of a vehicle positioning method on a curve provided by the present invention, such as Figure 5 As shown, the method for positioning a vehicle on a curve includes the following steps:
[0104] S1: The laser scanning unit collects real-time ranging waveforms in the curve area.
[0105] For example, the ranging waveform in the curve area is Image 6 Shown.
[0106] S2: The central processing unit receives the curve area ranging waveform sent by the laser scanning unit, and performs coordinate conversion, interference elimination and area search on the current frame ranging waveform, and determines the scan point location information corresponding to the vehicle area in the current frame;
[0107] S3: The central processing unit performs area matching between 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 corresponds to a new ve...
Example Embodiment
[0162] Example 3
[0163] In this embodiment, such as Picture 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 is R 1 =10000mm, the radius of the arc segment of the far center boundary of the curve R 2 = 14000mm, the angle Q between the starting point of the curve and the center of the inner circle of the curve and the radius of the ox axis 1 = -45°, the angle Q between the end point of the curve and the center of the inner circle of the curve and the radius of the ox axis 2 = 45°.
[0164] Among them, the curve 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 at a distance from the extension line outside the radius of the curve to the lane At ...
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