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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 commercially used on a large scale, it is necessary to lay a large number of differential base stations, and the equipment needs to be able to receive differential signals through the wireless network. If the signal is interrupted, the positioning accuracy will be sharply reduced. become worse

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

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Embodiment 1

[0029] figure 1 It is a flow chart of the vehicle self-positioning method provided by Embodiment 1 of the present invention. This embodiment is applicable to the self-positioning of the self-driving vehicle. The method can be executed by the vehicle self-positioning device, which can be installed on the self-driving vehicle superior. 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 first road features in the images.

[0031] Wherein, the first road feature refers to road surface features and landmarks near the road, etc. Specifically, the first road feature may include at least one of the following: lane lines, road arrows, road prompt text, road shape, signs, signal lights , street lamps, etc. For example, roadway boundary line, turn waiting line, stop line, sidewalk line and other lane lines to remind vehicles to drive, signs with road name, direction, distance,...

Embodiment 2

[0043] figure 2 It is a flow chart of the vehicle self-positioning method provided by Embodiment 2 of the present invention. This embodiment adds an electronic map update step on the basis of the above-mentioned Embodiment 1. In this embodiment, the relevant steps in Embodiment 1 are no longer performed. For repeated explanation, please refer to Embodiment 1 for details. Such as figure 2 As shown, the method of the present embodiment includes the following steps:

[0044] Step 210, collect images around the vehicle in real time, and extract first road features in the images.

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

[0046] Wherein, ...

Embodiment 3

[0056] image 3 It is a flow chart of the vehicle self-positioning method provided in the third embodiment of the present invention, which is realized 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 first road features in the images. If there is no road feature in the image, that is, no road feature is extracted in the image, step 360 is performed. If the road features are extracted, go to step 330 .

[0058] Step 320, extracting second road features around the vehicle from the electronic map according to the basic location information of the vehicle.

[0059] Step 330, filter out at least one valid 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 performed. If there are matching valid features, step 340 is performed...

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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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