Multilayer parking lot positioning method based on high-precision map data

A technology of map data and positioning method, which is applied to geographic information databases, services based on specific environments, and directions such as indicating the various open spaces of parking lots. Insufficient positioning accuracy and the effect of improving positioning accuracy
CN110517531AActive Publication Date: 2019-11-29WUHAN ZHONGHAITING DATA TECH CO LTD
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
WUHAN ZHONGHAITING DATA TECH CO LTD
Publication Date
2019-11-29

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Abstract

The invention relates to a multilayer parking lot positioning method and device based on high-precision map data. The method comprises the steps of firstly receiving a GPS coordinate signal, acquiringmap data around a vehicle from the high-precision map data according to the GPS coordinate signal, and generating a LocationMap; then acquiring external sensor data, fusing the external sensor data with the LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information; and finally, correcting the longitude and latitude informationand the altitude information of the GPS by using the denoised LocationMap to obtain the current position and the hierarchy of the vehicle. According to the multilayer parking lot positioning method and device, the external sensor data, the GPS data and the high-precision map data are subjected to fusion processing, so that the problem of insufficient positioning precision caused by single-mode sensing is avoided, and the positioning precision of the vehicle in automatic driving is improved.
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Description

technical field

[0001] The invention relates to the technical field of automatic driving, in particular to a multi-storey parking lot positioning method based on high-precision map data. Background technique

[0002] With the rise of autonomous driving technology, lane-level safe driving maps have entered everyone's field of vision and received more and more attention. Therefore, the safety of autonomous driving is put on the agenda, such as how to make decisions when encountering obstacles and still reach the destination, anti-collision and so on. However, the hardware perception in the automatic driving system, such as ultrasonic radar, binocular camera, etc., has limited perception conditions and a limited range of perception, and the map can well make up for these hardware perception deficiencies, so the map It is reasonable and economical as a sensor in an automatic driving system.

[0003] At present, high-precision maps can make up for the lack of hardware perceptio...

Claims

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