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Automatic driving-orientated vehicle longitudinal positioning system and method using variable grid-based image feature detection

A technology of automatic driving and image features, which is applied in satellite radio beacon positioning systems, radio wave measurement systems, image enhancement and other directions, and can solve the problems of low output frequency of positioning information, inability to output high frequency, and low frame rate of image processing. , to achieve the effect of improving the positioning accuracy of the self-vehicle, correcting the longitudinal error, and reducing the computational complexity

Active Publication Date: 2017-09-15
WUHAN KOTEI TECH CORP
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Problems solved by technology

However, the visual odometer based on the binocular camera needs to perform real-time correction, registration, and calculation of the disparity map of the left and right images, and cannot output at a high frequency. For images with a size of 1600×1200 pixels, the depth calculation frame of the binocular image is performed. The rate is less than 10FPS(Frames Per Second)
The frame rate of image processing is low, and the output frequency of positioning information calculated by the camera is also low. When it is fused with other positioning information such as GNSS+IMU, more issues such as time synchronization and linear / nonlinear interpolation need to be considered. Affect the reliability, real-time, and accuracy of high-precision positioning information

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  • Automatic driving-orientated vehicle longitudinal positioning system and method using variable grid-based image feature detection
  • Automatic driving-orientated vehicle longitudinal positioning system and method using variable grid-based image feature detection
  • Automatic driving-orientated vehicle longitudinal positioning system and method using variable grid-based image feature detection

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Embodiment Construction

[0033] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0034] The invention provides an image feature detection algorithm based on a variable grid, by installing the camera in the automatic driving system to collect the surrounding images of the vehicle, and inputting the information about the specific scene target and the high-level information given by the high-precision navigation system The target distance calculated by the road in precision navigation, by applying a feature extraction algorithm based on variable grid area size (carrying scale information), can retrieve a specific front target in the vehicle binocular vision system, and output the vision system to The distance to the target ahead. According to this distance information and the physical location where the binocular syst...

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Abstract

The present invention provides an automatic driving-orientated vehicle longitudinal positioning system and method using variable grid-based image feature detection. According to a forward target obtained from data outputted from a high-precision navigation system and the distance of the target calculated by a road in high-precision navigation, an ORB (Oriented Brief) feature extraction algorithm based on a variable grid region which carries scale information is adopted to search the specific forward target in a vehicle-mounted binocular vision system and output the distance from the vision system to the forward target; and according to the distance and the installation position of the binocular system in a vehicle, a vehicle trajectory in the high-precision navigation can be corrected, and therefore, vehicle longitudinal positioning accuracy in the automatic driving can be improved.

Description

technical field [0001] The invention belongs to the technical field of automobile automatic driving, and relates to a system and method for self-positioning of an automatic driving vehicle, in particular to a system and method for longitudinal positioning of a vehicle in automatic driving based on variable grid image feature detection . Background technique [0002] The automatic driving system of intelligent vehicles needs to rely on high-precision map data. According to the specified destination information, it can dynamically and economically complete global and local path planning to form its own navigation trajectory, and complete various control actions of unmanned vehicles safely and conveniently. In the implementation process of this system, it is necessary to know the high-precision positioning information of the vehicle itself in real time and accurately, so as to make a decision-making judgment on the current driving state control. [0003] The conventional posit...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/40G01C25/00G01S19/47G01S19/45G01C21/30G01C21/34G06T7/80G06T5/00
CPCG06T7/80G01C21/30G01C21/343G01C25/00G01S19/40G01S19/45G01S19/47G06T2207/30252G06T5/80
Inventor 苏晓聪朱敦尧陶靖琦
Owner WUHAN KOTEI TECH CORP
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