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High-precision positioning method for vehicle in vehicle networking environment

A positioning method and Internet of Vehicles technology, applied in satellite radio beacon positioning systems, measuring devices, instruments, etc., can solve problems such as limited application range and insufficient positioning accuracy

Inactive Publication Date: 2019-09-06
CHANGAN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the patent requires the use of offline maps and there are deviations in the map information, the application range is limited and the positioning accuracy is insufficient

Method used

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  • High-precision positioning method for vehicle in vehicle networking environment
  • High-precision positioning method for vehicle in vehicle networking environment
  • High-precision positioning method for vehicle in vehicle networking environment

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Embodiment Construction

[0046] The invention discloses a vehicle high-precision positioning method in a vehicle networking environment. The modules used in the method include: a GPS-IMU module, a laser radar-radar module, a wireless transmission module and a coordinate system conversion module:

[0047] The GPS-IMU module obtains the current location information of the vehicle through the on-board GPS and IMU equipment;

[0048] Lidar-radar module, which uses radar and lidar to collect environmental information around the vehicle for correction and improvement of positioning;

[0049] The wireless transmission module uses the dedicated short-distance communication technology DSRC to realize real-time information interaction between vehicles through wireless communication; among them, the on-board unit OBU communicates the vehicle position information collected by GPS with the OBU of other vehicles through the wireless transmission module. GPS data sharing;

[0050] The coordinate system conversion m...

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Abstract

The present invention discloses a high-precision positioning method for a vehicle in a vehicle networking environment. The method is characterized in that: a to-be-positioned vehicle is equipped withtwo types of sensors of a laser radar and a radar, two kinds of measurement data are integrated by using extended Kalman filtering, the V2V communication is performed between the to-be-positioned vehicle and the surrounding vehicle equipped with the GPS+IMU-combined navigation system, and the self-positioning result is improved to obtain relatively accurate positioning. According to the method provided by the present invention, original GPS data shared by other vehicles is used for autonomous vehicle positioning, so that relatively accurate positioning for the vehicles in the areas with no signal or with weak signals can be realized; and by using the combination of the multi-sensor and the V2V communication, the positioning scheme for the autonomous vehicle can be more cost effective thanthe method only by using a high quality sensor.

Description

technical field [0001] The invention belongs to the technical field of unmanned vehicles, and specifically designs a high-precision positioning method for vehicles in an Internet of Vehicles environment. Background technique [0002] An unmanned vehicle is a smart vehicle that perceives the road environment through an on-board sensor system, automatically plans a driving route, and controls the vehicle to reach a predetermined target. It controls the driving of the vehicle based on the perceived road, vehicle position and obstacle information, so that the vehicle can drive safely and reliably on the road. Unmanned vehicles integrate many technologies such as automatic control, architecture, artificial intelligence, and visual computing. They are the product of highly developed computer science, pattern recognition, and intelligent control technologies. They are also an important indicator of a country's scientific research strength and industrial level. , has broad applicat...

Claims

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Application Information

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IPC IPC(8): G01S19/48
CPCG01S19/48
Inventor 赵祥模程超轶闵海根任大凯曾锋徐志刚王润民肖韵秋孙朋朋刘佳琳程婕高赢周文帅任强
Owner CHANGAN UNIV