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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

Active Publication Date: 2019-06-28
ZHEJIANG LEAPMOTOR TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The present invention aims to overcome the problems in the prior art that the existing vehicle-mounted system has a single positioning method and low precision, is only suitable for vehicle-mounted navigation applications, and cannot be used in scenarios such as tunnels and underground garages, and cannot meet the application requirements of typical scenarios of automatic driving. , providing a multi-sensor fusion positioning method for low-speed parking driving scenarios that can control system cost, improve system feasibility and high positioning accuracy

Method used

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  • Multi-sensor fusion positioning method for low-speed parking and driving scene
  • Multi-sensor fusion positioning method for low-speed parking and driving scene
  • Multi-sensor fusion positioning method for low-speed parking and driving scene

Examples

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Embodiment

[0056] Example: such as figure 1 A multi-sensor fusion positioning method for a low-speed parking driving scene is shown, including the following steps:

[0057] (1-1) Semantic map definition:

[0058] The parking lot semantic structured data is defined as shown in figure 2 As shown, it mainly includes parking space information, lane information and positioning landmark information, which can be abstracted from the parking lot design drawing. Among them, the parking space information mainly includes but not limited to attributes such as parking space id, length and width, orientation, and the lane to which it belongs; the lane information mainly includes but not limited to attributes such as lane id, length, curvature, boundary type, front and rear associated lanes, and the floor to which it belongs; positioning road signs The information mainly includes but not limited to parking space id, road guidance signs and aerial suspension guidance signs, etc.; all kinds of informa...

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Abstract

The invention discloses a multi-sensor fusion positioning method for a low-speed parking and driving scene. The method comprises the following steps: 1, semantic map definition, namely defining an offline map data format for parking application scenarios based on positioning algorithm capabilities and interfaces, wherein the offline map data format mainly comprises road data required for global routing and road sign data required for positioning; 2, multi-perceptual fusion odometer, which mainly comprises visual and wheel speedometer or inertial navigation sensor data fusion, and vehicle mileage estimation based on kinematic Kalman filtering; 3, visual road sign detection and matching, which mainly comprises steps of extracting priori landmark information contained in an offline semantic map, and constructing corresponding scene semantic description to match the map semantic information; 4, positioning correction: performing positioning mileage correction according to the visual road sign matching information to form a closed loop correction of the mileage and positioning information. The method provided by the invention has the characteristics that system cost can be controlled, system feasibility is improved and positioning accuracy is high.

Description

technical field [0001] The invention relates to the technical field of vehicle electronics, in particular to a multi-sensing fusion positioning method for low-speed parking driving scenes that can control system cost, improve system feasibility and high positioning accuracy. Background technique [0002] At present, the research and development of autonomous driving technology and systems are mostly based on the two application scenarios of highway and parking. The system composition usually includes sub-modules such as perception, positioning, planning, and decision-making control. Compared with the assisted driving system, positioning is an indispensable component module in the high-level automatic driving system, and it is also the main barrier to distinguish the two. According to the different requirements of autonomous driving applications, the methods and devices used by the positioning module are not exactly the same. The existing vehicle system positioning method is...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/28B60W30/06
Inventor 缪其恒杜卓闫坤王江明许炜
Owner ZHEJIANG LEAPMOTOR TECH CO LTD
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