Vision positioning method and system based on low-precision GPS in automatic driving

A visual positioning and automatic driving technology, applied in satellite radio beacon positioning system, radio wave measurement system, measuring device, etc., can solve problems such as positioning drift and high cost of high-precision inertial navigation

Active Publication Date: 2018-02-16
WUHAN KOTEI TECH CORP
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Problems solved by technology

If high-precision inertial navigation (INS) and global satellite navigation system (GNSS) are combined, higher-precision positioning can be achieved, but high-precision inertial navigation is expensive and typical traffic scenes often have some interference, such as vegetation and building blockage Or reflective effects, resulting in positioning drift

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  • Vision positioning method and system based on low-precision GPS in automatic driving
  • Vision positioning method and system based on low-precision GPS in automatic driving
  • Vision positioning method and system based on low-precision GPS in automatic driving

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Embodiment Construction

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the invention.

[0019] Embodiments of the present invention provide a visual positioning method combined with low-precision GPS in automatic driving, such as figure 1 As shown, the visual positioning method combined with low-precision GPS in the described automatic driving comprises the following steps:

[0020] S1. Detect road lane lines, perform extended Kalman filter on the edge points of the lane lines to obtain the curve of the lane line, obtain the lateral distance from the vehicle to the left and right lane lines, and combine high-precision maps and GPS to correct the lateral position of the ve...

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Abstract

The invention discloses a vision positioning method and system based on low-precision GPS in automatic driving. Road surface lane lines are detected, extended Kalman filtering is performed on edge points of the lane lines to obtain curves of the lane lines, transverse distance between a vehicle and left and right lane lines is obtained, and based on a high-precision map and GPS, transverse position correction of the vehicle is obtained; road surface traffic signs are detected and identified, longitudinal distance between a vehicle-mounted camera of the vehicle and a target object at a currentmoment is calculated, and based on the high-precision map and GPS, longitudinal position correction of the vehicle is obtained; and finally, accurate vehicle positioning information is obtained basedon the transverse position correction and longitudinal position correction. Thus, by adoption of cooperation of the low-cost low-precision GPS and high-precision map, a high-precision vision auxiliarypositioning function is realized, the positioning is stable, the robustness is high and the cost is low, influence by shielding and reflection by barriers such as city buildings and viaducts does notexist, transverse positioning precision can be within 20 cm, and the vision positioning method and system are suitable for commercial popularization and application.

Description

technical field [0001] The invention relates to the technical field of automatic driving vehicle positioning, in particular to a visual positioning method and system combined with low-precision GPS in automatic driving. Background technique [0002] In the field of autonomous driving and assisted driving, high-precision and robust localization in real traffic scenes is particularly important. In urban traffic, the positioning error is as high as 10 meters or even greater through the global satellite navigation system (GNSS). If high-precision inertial navigation (INS) and global satellite navigation system (GNSS) are combined, higher-precision positioning can be achieved, but high-precision inertial navigation is expensive and typical traffic scenes often have some interference, such as vegetation and building blockage Or reflection effects, resulting in positioning drift. Therefore, it is urgent to provide a low-cost, stable and robust visual positioning method and system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/45
CPCG01S19/45
Inventor 苏晓聪朱敦尧陶靖琦
Owner WUHAN KOTEI TECH CORP
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