Method and system for performing accurate positioning by adopting hybrid sampling filter by intelligent vehicle

A hybrid sampling and precise positioning technology, applied in radio wave measurement systems, measurement devices, instruments, etc., can solve the problems of LiDAR positioning failure, large cumulative error, unknown vehicle heading, etc., to reduce costs, wide range of applications and scenarios, The effect of high-precision real-time positioning

Active Publication Date: 2019-01-11
北京奥特贝睿科技有限公司
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Problems solved by technology

For example, in a tunnel, the occlusion of the tunnel will lead to the failure of satellite positioning, and the single feature in the longitudinal direction of the tunnel will lead to the failure of LiDAR positioning. Only dead reckoning can be used for relative positioning. Vehicles drive in this environment for a certain distance and time Finally, a large cumulative error will be generated. At this time

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  • Method and system for performing accurate positioning by adopting hybrid sampling filter by intelligent vehicle
  • Method and system for performing accurate positioning by adopting hybrid sampling filter by intelligent vehicle
  • Method and system for performing accurate positioning by adopting hybrid sampling filter by intelligent vehicle

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[0047] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0048] It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict.

[0049] In this example, velodyne HDL-64E lidar is used to collect point cloud data. The algorithm runs on a 4-core industrial computer with a main frequency of 2.40GHz, the memory is 8GB, and the system uses ubuntu 16.04.

[0050] This example uses a Gaussian model with two components to model the reflectivity and height distribution of each grid separately. For height information, two Gaussian components are used to describe the height distribution of the ground and obstacles; for reflectivity information, two components are used to desc...

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Abstract

The invention discloses a method and system for performing accurate positioning by adopting hybrid sampling filter by an intelligent vehicle. The accurate positioning of a vehicle in an environment without/with a weak satellite signal can be realized by utilizing the hybrid sampling filter and combining pre-constructed high-precision map data or real-time point cloud data collected by a laser radar or a camera, the method and system can be used for aided driving and unmanned driving of the vehicle; a new probability positioning framework is adopted, and a random sampling consistency algorithmand a particle filter/histogram filter algorithm are efficiently integrated by using a nuclear density estimation method, the disadvantages of the opposite parties are remedied by sufficiently utilizing the respective advantages, and then more robust, accurate and quick positioning is performed by using a probability grid map based on a Gaussian hybrid model.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving, and in particular relates to a method and system for precise positioning of an intelligent vehicle by using hybrid sampling filtering. Background technique [0002] Intelligent driving technology involves cognitive engineering, vehicle engineering, electrical and electronic engineering, control science and engineering, artificial intelligence and many other disciplines. Intelligent vehicles are an important symbol to measure a country's scientific research strength and industrial level. The emergence of unmanned vehicles has fundamentally changed the vehicle driving mode in the traditional "human-vehicle-road" closed-loop system, liberating the driver from fatigue driving, using advanced sensors and information technology to control vehicle driving, Automating routine, long-lasting, low-level, and repetitive operations in driving activities can greatly improve the efficiency and safet...

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Application Information

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IPC IPC(8): G01C21/34G01S7/48
CPCG01C21/3446G01S7/4802
Inventor 李明喜
Owner 北京奥特贝睿科技有限公司
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