Method and system for achieving autonomous positioning and map building of pilotless automobile

A self-driving car and autonomous positioning technology, which is applied to road network navigators and other directions, can solve the problems of unmanned car autonomous positioning and map construction, multi-sensor fusion, low positioning and map construction accuracy, etc.

Inactive Publication Date: 2017-10-13
中北锂能(淮北)科技有限责任公司
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Problems solved by technology

[0005] However, most of today's driverless cars still exist in the assisted driving stage, lacking the ability of autonomous positioning and map construction
At the same time, fewer unmanned vehicles use a single sensor for autonomous positioning and map construction. The accuracy of positioning and map construction is low, and it cannot effectively fuse multiple sensors, or can fuse multiple sensor data, but cannot Unmanned vehicles perform stable and effective autonomous positioning and map construction, and cannot be popularized on a large scale

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  • Method and system for achieving autonomous positioning and map building of pilotless automobile
  • Method and system for achieving autonomous positioning and map building of pilotless automobile
  • Method and system for achieving autonomous positioning and map building of pilotless automobile

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Embodiment Construction

[0038] The present invention will be further explained below in conjunction with the drawings.

[0039] Such as figure 1 , A method for autonomous positioning and map construction of unmanned vehicles, including the following steps:

[0040] Step 1: Initialize the pose of the driverless car to x 0 , The trajectory of the driverless car is X 1:t ={x 1 ,x 2 ...x t }, to calibrate the time of driverless car wheel odometer, IMU inertial measurement unit, panoramic camera, and 3D lidar to keep the time of driverless car wheel odometer, IMU inertial measurement unit, panoramic camera, and 3D lidar consistent Sex

[0041] Step 2: Collect driverless car wheel odometer data U 1:t ={u 1 ,u 2 ...u t }, IMU inertial measurement unit data I 1:t ={i 1 ,i 2 ...i t }, panoramic camera data C 1:t ={c 1 ,c 2 ...c t }, three-dimensional lidar data R 1:t ={r 1 ,r 2 ...r t }, the car brain uses the panoramic camera and three-dimensional lidar data to calculate that all the road signs around the driverle...

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Abstract

The invention discloses a method and system for achieving autonomous positioning and map building of a pilotless automobile. An SLAM technology is utilized to fuse multiple sensor data, and a stable and effective frame is built by using a novel algorithm structure; the data of a three-dimensional laser radar is optimized by using a particle filter, the data of the three-dimensional laser radar is transformed to a vision model, a bag-of-word model is used for closed-loop detection, and the stable and effective autonomous positioning and map building are conducted on the pilotless automobile. The operation efficiency is improved, the running speed is increased, and the method and system can be used in pilotless automobile systems on a large scale.

Description

Technical field [0001] The invention relates to the field of robots and control, in particular to a method for autonomous positioning and map construction of an unmanned car. Background technique [0002] In recent years, the rapid development of Internet technology has brought opportunities for revolutionary changes to the automobile manufacturing industry. At the same time, automobile intelligent technology is gradually being widely used, which simplifies the driving operation of automobiles and improves driving safety. The most typical and hottest future application is driverless cars. With the blessing of artificial intelligence technology, the rapid development of unmanned driving is changing the way humans travel, which in turn will change the pattern of related industries on a large scale. [0003] For driverless cars driving in unknown areas, due to reasons such as buildings, trees, etc., the car is often in a state of no signal or weak signal, unable to provide effective...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 陈常李猛钢张亚斌马域人汪雷
Owner 中北锂能(淮北)科技有限责任公司
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