A positioning method and system based on the combination of map and multi-sensor detection
A multi-sensor, positioning method technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., can solve the problem of low positioning accuracy of intelligent driving vehicles, and achieve the effect of improving positioning accuracy
Active Publication Date: 2021-11-05
ZHENGZHOU YUTONG BUS CO LTD
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[0005] The purpose of the present invention is to provide a positioning method and system based on the combination of map and multi-sensor detection, which is used to solve the problem of low positioning accuracy for intelligent driving vehicles
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[0026] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:
[0027] An embodiment of a positioning method based on the combination of map and multi-sensor detection of the present invention:
[0028] A positioning method based on the combination of map and multi-sensor detection, such as figure 1 shown, including the following steps:
[0029] 1. Select a road traffic marking near the vehicle as a reference marking, and use the visual sensor to identify the type of road traffic marking, that is, identify the shape, color and other characteristics of the road traffic marking through the visual sensor, so as to distinguish the road traffic marking The category of the line, the visual sensor of this embodiment adopts a monocular camera or a binocular camera. Distinguishing the types of road traffic markings refers to using deep learning methods to collect the shapes and colors of various road traffic markings...
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The invention provides a positioning method and system based on the combination of map and multi-sensor detection, selects a road traffic marking near the vehicle as a reference marking, and identifies the type of the reference marking; taking the current position of the vehicle as the perspective Identify the morphological information of the reference markings; determine the area where the vehicle is located in the high-precision map according to the positioning information of the vehicle, search for the road traffic markings in this area, and find the information stored in the high-precision map according to the type of the reference markings Road traffic markings corresponding to the type of reference markings; and according to the one-to-one relationship between the shape information of the road traffic markings and the location, find the position corresponding to the shape information, and use this position as the vehicle to be determined Location. The present invention simultaneously adopts the advantages of the vision sensor being able to accurately identify the target type and the laser radar having high detection precision for the target position, which greatly improves the positioning precision of the vehicle and satisfies the requirements of the intelligent driving vehicle.
Description
technical field [0001] The invention belongs to the technical field of intelligent driving, and in particular relates to a positioning method and system based on the combination of map and multi-sensor detection. Background technique [0002] With the development of computer science and robotics, intelligent driving vehicles have been widely used in military, civil and scientific research, etc., and it has concentrated the latest research results of multiple disciplines such as structure, electronics, cybernetics and artificial intelligence. ,with broadly application foreground. [0003] The positioning system is an indispensable part of the intelligent driving system. The positioning system usually relies on satellite signals for positioning. When the positioning system is blocked by tunnels, viaducts, etc., the satellite signals cannot be received, resulting in the positioning signal output by the positioning system. Deviation and drift occur, and accurate positioning can...
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IPC IPC(8): G06K9/00G01S19/48
CPCG01S19/48G06V20/588
Inventor 路晓静张磊
Owner ZHENGZHOU YUTONG BUS CO LTD