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A method and system for autonomous positioning and map construction of unmanned vehicles

A self-driving car and autonomous positioning technology, which is applied to road network navigators and other directions, can solve the problems of inability to integrate multiple sensors, large-scale popularization, and low accuracy of positioning and map construction.

Inactive Publication Date: 2020-07-07
中北锂能(淮北)科技有限责任公司
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AI Technical Summary

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

Method used

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  • A method and system for autonomous positioning and map construction of unmanned vehicles
  • A method and system for autonomous positioning and map construction of unmanned vehicles
  • A method and system for autonomous positioning and map construction of unmanned vehicles

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Embodiment Construction

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

[0039] Such as figure 1 , a method for autonomous positioning and map construction of an unmanned vehicle, comprising the following steps:

[0040] Step 1. Initialize the pose of the driverless car as x 0 , the trajectory of the driverless car is X 1:t ={x 1 ,x 2 ...x t}, correct the time of the driverless car wheel odometer, IMU inertial measurement unit, panoramic camera, and 3D lidar, so that the data of the driverless car wheel odometer, IMU inertial measurement unit, panoramic camera, and 3D lidar are time consistent sex;

[0041] Step 2. Collect the wheel odometer data U of the unmanned vehicle 1:t ={u 1 , u 2 ... u t}, the data I of the IMU inertial measurement unit 1:t ={i 1 ,i 2 ...i t}, panoramic camera data C 1:t ={c 1 ,c 2 ... c t}, 3D lidar data R 1:t ={r 1 ,r 2 ...r t}, the car brain calculates all environmental road signs around the d...

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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 vehicle. Background technique [0002] In recent years, the rapid development of Internet technology has brought opportunities for revolutionary changes in the automobile manufacturing industry. At the same time, automotive intelligence technology is gradually being widely used, which simplifies the driving operation of the car and improves driving safety. One of the most typical and popular future applications is driverless cars. With the blessing of artificial intelligence technology, the rapid development of unmanned driving is changing the way people travel, which in turn will change the structure of related industries on a large scale. [0003] For driverless cars driving in unknown areas, due to buildings, trees and other reasons, the car is often in a state of no signal or weak signal, unable to pro...

Claims

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Application Information

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Patent Type & Authority Patents(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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