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A lane-level localization method based on fusion of multiple ground signs

A positioning method and ground marking technology, applied in the directions of instruments, calculations, character and pattern recognition, etc., can solve the problem that the vehicle position cannot be estimated continuously

Active Publication Date: 2020-02-07
BEIJING UNION UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Previously, most positioning methods relied on GNSS and INS, but when GPS loses signal under certain circumstances, they cannot continue to estimate the position of the vehicle

Method used

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  • A lane-level localization method based on fusion of multiple ground signs
  • A lane-level localization method based on fusion of multiple ground signs
  • A lane-level localization method based on fusion of multiple ground signs

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Embodiment Construction

[0044] The embodiment of the present invention provides a lane-level positioning method based on the fusion of multiple ground signs, using the images collected by the AVT camera installed directly under the rearview mirror of the smart car to provide the lateral deviation distance of the vehicle and the longitudinal distance at the intersection in real time information, and then know the real-time position of the vehicle in the lane, such as figure 1 Shown, the present invention has taken following technical scheme:

[0045] Step 1: Sensor Installation and Calibration

[0046] Install the camera directly below the rearview mirror of the smart vehicle and parallel to the longitudinal coordinate axis of the vehicle body. When installing the camera, ensure that clear lane line images on both sides of the vehicle can be collected; calibrate the camera, and the calibrated field of view is : Width 1500cm, far 2000cm.

[0047] Step 2: Image preprocessing

[0048] According to the...

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Abstract

The invention discloses a lane-level positioning method based on the fusion of multiple ground signs, comprising: step 1, acquiring vehicle road images; step 2, performing grayscale processing and filtering processing on the road images; step 3, processing in step 2 Carry out lane line detection on the road image after; Step 4, carry out stop line detection to road image; Step 5, carry out zebra crossing detection to road image; Step 6, locate the position of vehicle in the lane in real time according to lane line, zebra crossing and stop line. The present invention fuses the information of multiple marking lines on the road surface to accurately locate road lanes. It is not only applicable to the driving safety warning function of vehicles, but also can be integrated into the pure vision system in unmanned driving to perform lane inspection and turn at intersections.

Description

technical field [0001] The invention belongs to the field of intelligent assisted driving technology and automatic driving technology, and in particular relates to a lane-level positioning method based on fusion of multiple ground signs. Background technique [0002] In recent years, advancements in autonomous driving technology have attracted the attention and interest of researchers, the media, and the general public. In 2015, Google's self-driving car officially drove on the roads of California, USA for testing. Other major automakers and companies have generally acknowledged that it is only a matter of time before self-driving cars enter people's lives and profoundly affect people's living conditions. Vehicle localization plays a fundamental and critical role in intelligent transportation systems as it is a higher level pre-mission operation. Previously, most positioning methods relied on GNSS and inertial navigation systems, but when GPS loses signal under certain cir...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06F18/253
Inventor 刘宏哲袁家政李超宣寒宇牛小宁
Owner BEIJING UNION UNIVERSITY
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