Network-connected vehicle positioning method based on 3D laser radar and V2X

Abstract

The invention discloses a network-connected vehicle positioning method based on a 3D laser radar and V2X. The method comprises the following steps of using a laser radar installed on a network-connected vehicle to scan an environment around a network-connected vehicle so as to obtain radar data; preprocessing the radar data, acquiring preprocessed laser point cloud data, converting the point clouddata to a network-connected vehicle coordinate system, and then, according to the density change characteristic of a radar point in the point cloud data, using a raster map to carry out point cloud segmentation so as to realize the separation of a pavement and barriers; carrying out the clustering of the barriers, acquiring a radar point set corresponding to each barrier, and then obtaining the contour of the barrier, then carrying out linear fitting to obtain the shape of the barrier, and combining the size of the barrier to realize barrier identification; and finally, realizing the exchangeof barrier information among other network-connected vehicles through a V2X module. In the invention, a problem that an existing vehicle positioning method has low accuracy and poor reliability is solved, and simultaneously problems that a requirement to the speed of a mobile communication network is high and cost is high are alleviated.

Description

technical field [0001] The present invention relates to the technical field of networked vehicle location detection, in particular to a networked vehicle location detection method based on 3D laser radar and V2X. Background technique [0002] At present, the accuracy and reliability of the Internet-connected vehicle positioning method determine the accuracy of the user's real-time acquisition of the location information of the Internet-connected driving vehicle. Highly accurate and reliable vehicle positioning information can accurately determine the distance between networked vehicles and avoid accidents such as vehicle collisions, thereby realizing intelligent networked transportation. [0003] The current commonly used vehicle positioning method is GPS (Global Positioning System). However, the existing system is affected by satellite signals in the sky, and various factors such as high-rise buildings, viaducts, and radio waves will affect satellite positioning signals. Th...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a networked vehicle positioning detection method and device based on 3D laser radar and V2X, so as to solve the problems of low accuracy and poor reliability of existing vehicle positioning methods, and at the same time alleviate the high speed requirements of mobile communication networks , an expensive problem

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