Vehicle self-positioning method, vehicle self-positioning apparatus, equipment and storage medium

A self-positioning and vehicle technology, applied in the direction of measuring devices, satellite radio beacon positioning systems, instruments, etc., can solve the problems of unsatisfactory automatic driving, high price, and poor positioning accuracy, and achieve simple, reliable, low-cost, The effect of meeting the precision requirements and real-time performance

Inactive Publication Date: 2017-11-10
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the accuracy of the commonly used navigation GPS is about 10 meters, which cannot meet the needs of automatic driving.
The accuracy of differential GPS equipment is relatively high, which can reach the centimeter level, but it is expensive, and if it is to be commercial

Method used

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  • Vehicle self-positioning method, vehicle self-positioning apparatus, equipment and storage medium
  • Vehicle self-positioning method, vehicle self-positioning apparatus, equipment and storage medium
  • Vehicle self-positioning method, vehicle self-positioning apparatus, equipment and storage medium

Examples

Experimental program
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Example Embodiment

[0028] Example one

[0029] figure 1 This is a flowchart of the vehicle self-positioning method provided in the first embodiment of the present invention. This embodiment can be applied to the situation where an autonomous vehicle performs self-positioning. The method can be executed by a vehicle self-positioning device, which can be installed in an autonomous vehicle on. Such as figure 1 As shown, the method specifically includes the following steps:

[0030] Step 110: Collect images around the vehicle in real time, and extract the first road feature in the image.

[0031] Among them, the first road feature refers to road surface features and landmarks near the road. Specifically, the first road feature can include at least one of the following: lane line, road surface arrow, road surface prompt text, road shape, sign, signal light , Street lights, etc. For example, lane lines that prompt vehicles to drive, such as lane boundaries, turn lines, stop lines, sidewalk lines, etc., ar...

Example Embodiment

[0042] Example two

[0043] figure 2 It is a flowchart of the vehicle self-positioning method provided in the second embodiment of the present invention. This embodiment adds an electronic map update step on the basis of the above embodiment 1. This embodiment does not perform the relevant steps in the first embodiment Repeat the explanation, please refer to Example 1 for details. Such as figure 2 As shown, the method of this embodiment includes the following steps:

[0044] Step 210: Collect images around the vehicle in real time, and extract the first road feature in the image.

[0045] Step 220: Determine whether there is a road feature corresponding to the location in the electronic map according to the basic location information of the vehicle. If there is no road feature corresponding to the location in the electronic map, perform step 230; if there is a road feature corresponding to the location in the electronic map, then Go to step 240.

[0046] Where there is no road fea...

Example Embodiment

[0055] Example three

[0056] image 3 It is a flowchart of the vehicle self-positioning method provided in the third embodiment of the present invention, and the method is implemented on the basis of the first embodiment. Such as image 3 As shown, the method includes the following steps:

[0057] Step 310: Collect images around the vehicle in real time, and extract the first road feature in the image. If there are no road features in the image, that is, no road features are extracted in the image, step 360 is executed. If the road feature is extracted, step 330 is executed.

[0058] Step 320: Extract the second road feature around the vehicle from the electronic map according to the basic position information of the vehicle.

[0059] Step 330: Filter out at least one effective feature matching the second road feature from the first road feature. If there is no valid feature matching the second road feature in the first road feature, step 360 is executed. If there is a matching v...

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Abstract

The embodiments of the present invention disclose a vehicle self-positioning method, a vehicle self-positioning apparatus, equipment and a storage medium. The vehicle self-positioning method comprises: real-timely acquiring the image around a vehicle, and extracting a first road feature in the image; extracting a second road feature around the vehicle from an electronic map according to the base position information of the vehicle; and according to the first road feature and the second road feature, calculating the precise position information of the vehicle. According to the present invention, based on the electronic map with the stored road feature and the real-timely acquired road feature image, the precise position information of the vehicle is calculated, such that the high-precision vehicle self-positioning can be achieved, the precision requirement and the real-time property of the automatic driving system can be met, the self-positioning can be simply and reliably achieved, and the cost is low.

Description

technical field [0001] Embodiments of the present invention relate to automatic driving technology, and in particular to a vehicle self-positioning method, device, equipment and storage medium. Background technique [0002] In recent years, the autonomous driving technology has developed rapidly, and the automatic driving system usually includes several modules including self-localization, environment perception, decision planning and motion control. Among them, self-positioning technology is the basis of all automatic driving systems. The automatic driving system has relatively high requirements for self-positioning, requiring the horizontal positioning accuracy to be within 20 cm and the vertical positioning accuracy to be within 2 meters. [0003] However, the commonly used navigation GPS has an accuracy of about 10 meters, which cannot meet the needs of automatic driving. The accuracy of differential GPS equipment is relatively high, which can reach the centimeter leve...

Claims

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Application Information

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IPC IPC(8): G01C21/30G01S19/42
Inventor 刘勃
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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