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Lane-level map creation system based on 3D laser and GPS inertial navigation system

An inertial navigation system and three-dimensional laser technology, applied in the field of lane-level map creation system, can solve the problems of lack of promotion

Active Publication Date: 2021-09-07
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the lane marking method based on laser data is mainly carried out with a relatively simple algorithm, which does not have the promotion in technology research and development and application.

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  • Lane-level map creation system based on 3D laser and GPS inertial navigation system
  • Lane-level map creation system based on 3D laser and GPS inertial navigation system
  • Lane-level map creation system based on 3D laser and GPS inertial navigation system

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Embodiment Construction

[0034] The present invention is further described below in conjunction with accompanying drawing:

[0035] see Figure 1-Figure 7 , a lane-level map creation system based on 3D laser and GPS inertial navigation system, including data acquisition module, global point cloud map generation module and lane line parameterization module; data acquisition module, global point cloud map generation module and lane line parameterization module connected in sequence; the data acquisition module includes a global pose data acquisition device, a laser data acquisition device and a laser data preprocessing device;

[0036] The global point cloud map generation module includes laser data road segmentation, road sign detection and extraction, and global map generation. The laser data is segmented and extracted through the Gaussian process regression model, and the road points are segmented from a single frame of laser data; The reflectivity of different materials is different to detect and e...

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Abstract

The invention discloses a lane-level map creation system based on a three-dimensional laser and GPS inertial navigation system. The system creates a lane-level high-precision map offline through data collection, laser road surface segmentation, lane line parameterization, etc., and provides a structured urban environment. Download accurate lane-level map information. The lane-level high-precision map creation system can be adapted to structured scenes such as urban areas and expressways, and plays an important role in assisting the positioning and navigation of unmanned vehicles in the actual environment. Since the system adopts high-precision and high-robust data acquisition equipment and computing platform, it can be widely used in the fields of driverless vehicle positioning and navigation, advanced assisted driving technology, etc.

Description

technical field [0001] The invention belongs to the field of map creation and intelligent transportation, in particular to a lane-level map creation system based on a three-dimensional laser and a GPS inertial navigation system. Background technique [0002] High-precision maps are a very critical and basic technology in autonomous driving systems, and how to efficiently create high-precision maps has become a hot research field. High-precision maps are widely used in autonomous driving technology and advanced assisted driving technology, and play a key role in vehicle autonomous positioning, behavior decision-making, and trajectory planning. As a kind of high-precision map, the lane-level high-precision map contains complete road geometric information and related traffic rule information, and has centimeter-level map accuracy. Therefore, lane-level high-precision maps can meet the needs of autonomous vehicles. [0003] Current high-resolution map creation systems are clas...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/32G06T17/05
CPCG01C21/32G06T17/05
Inventor 薛建儒钟阳王迪崔迪潇杜少毅
Owner XI AN JIAOTONG UNIV