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A method and system for estimating vehicle trajectory based on multi-line laser radar

A motion trajectory and multi-line laser technology, which is applied in the field of vehicle trajectory estimation based on multi-line laser radar, achieves the effects of wide application range, reduced calculation amount and calculation time, and strong environmental applicability

Active Publication Date: 2021-10-01
CHANGAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the technical problem of estimating the trajectory of vehicles outside of high-precision maps or in unknown environments in the prior art, this application provides a method and system for estimating vehicle trajectory based on multi-line laser radar

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  • A method and system for estimating vehicle trajectory based on multi-line laser radar
  • A method and system for estimating vehicle trajectory based on multi-line laser radar
  • A method and system for estimating vehicle trajectory based on multi-line laser radar

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Embodiment 1

[0040] This embodiment provides a vehicle motion trajectory estimation method based on multi-line laser radar, such as figure 1 This method includes:

[0041] Step 101, obtain the measured value of the initial bit posture and the current time of the vehicle, according to the initial position and measurement value to the coarse selective movement trajectory of the vehicle;

[0042] Step 102, obtain the three-dimensional point cloud data at different time at different times of the multi-line laser radar, and the three-dimensional point cloud data of the different time is obtained, respectively, the corresponding time, the corresponding gray graph containing a plurality of feature points;

[0043] Step 103, the coarse-selective movement trajectory is used as a coarse selection, and the feature points between the two frames of the adjacent time are characterized by the characteristic point of the two frames of the adjacent time, and the feature matching point pair is obtained; the cha...

Embodiment 2

[0071] This embodiment provides a vehicle motion trajectory estimation system based on multi-line laser radar, which is disposed on a vehicle or other vehicle monitoring platform for real-time acquisition of vehicle position and motion trajectory, such as figure 2 , Includes a coarse-selective trajectory acquisition module 201, a grid processing module 202, an initial registration module 203, a precise motion trajectory acquisition module 204.

[0072] Among them, the coarse-selective trajectory acquisition module 201 is used to obtain the measured value of the initial bit posture and inertial sensor of the vehicle, and the coarse selective trajectory of the vehicle is obtained according to the initial position and measurement.

[0073] The gridization processing module 202 is used to obtain three-dimensional dot cloud data at different times of multi-line laser radar, and the three-dimensional point cloud data of different times is correspondingly, the corresponding time, respect...

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Abstract

The invention belongs to the technical field of intelligent vehicle positioning, and in particular relates to a method and system for estimating vehicle motion trajectory based on multi-line laser radar, wherein the method includes obtaining a roughly selected motion trajectory according to the initial pose of the vehicle and the output values ​​of inertial sensors at different times ; Obtain the three-dimensional point cloud data of the multi-line lidar at different times and perform rasterization processing to obtain a grayscale image; perform feature matching on the feature points between two frames of grayscale images at adjacent moments to obtain feature matching point pairs; The feature matching point pair obtains the transformation relationship between the point cloud data at adjacent moments; according to the transformation relationship, the precise motion trajectory of the vehicle is obtained, and the SURF matching within a specific range is performed based on the roughly selected trajectory, which reduces the SURF feature matching. amount of computation and computation time. The vehicle trajectory estimation method does not need to rely on high-precision maps, GPS and UWB and other auxiliary positioning technologies, and has strong environmental applicability and wide application range.

Description

Technical field [0001] The present invention belongs to the field of smart vehicle positioning, and in particular, the present invention relates to a vehicle motion trajectory estimation method and system for multi-line laser radar. Background technique [0002] With the comprehensive development of the global economy, the urbanization process has been further promoted, and it has brought a high degree of convenience to the public, education, medical, leisure, etc. However, the current status of intensive urbanization also brings a series of traffic congestion, high traffic accidents, increased travel costs, environmental pollution, and so on. In order to solve the above problems, enhance the passivity of the road and reduce costs, and many research institutions and automotive manufacturers have gradually increased research on smart vehicles. [0003] Smart Cars use the cutting edge positioning and navigation technology, environmental perception technology, intelligent decision t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G01S7/48G01C21/16
CPCG01C21/16G01S7/4802G06T2207/10028G06T2207/30241G06T7/246
Inventor 赵祥模徐志刚王振王润民杨澜闵海根孙朋朋魏涛胡常英张凯帆王文威王由道
Owner CHANGAN UNIV