Multi-sensor fusion positioning method for low-speed parking and driving scene
A driving scene and integrated positioning technology, which is applied in the field of vehicle electronics, can solve the problems that cannot meet the application requirements of typical automatic driving scenes, and the positioning method is single and unusable, so as to improve the positioning accuracy of parking, control the system cost, and improve the The effect of positioning accuracy
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[0056] Example: such as figure 1 The shown multi-sensor fusion positioning method for low-speed parking driving scenarios includes the following steps:
[0057] (1-1) Semantic map definition:
[0058] The semantic structured data of the parking lot shown in the definition is as figure 2 As shown, it mainly includes parking space information, lane information and positioning road sign information, which can be abstracted from the parking lot design drawing. Among them, parking space information mainly includes but not limited to attributes such as parking space id, length and width, orientation, and lane to which it belongs; lane information mainly includes but not limited to attributes such as lane id, length, curvature, boundary type, front and rear associated lanes, and floor to which it belongs; positioning road signs The information mainly includes but not limited to parking space id, road guidance sign and aerial suspension guide sign, etc.; all kinds of information are store...
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