A laser radar-based positioning system and its positioning method in tunnels
A laser radar and technology in tunnels, applied in the field of tunnel positioning system based on vehicle laser radar, can solve the problems of low vehicle positioning accuracy and poor relocation, and achieve excellent anti-environmental interference ability, reduce complexity, and meet Effect of Minimum Needs
Active Publication Date: 2021-11-16
BEIHANG UNIV
View PDF14 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0008] Aiming at the problems of low vehicle positioning accuracy and poor relocation performance in the tunnel environment, the present invention provides a laser radar-based tunnel positioning system and its positioning method
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0031] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be further described in detail and in-depth below in conjunction with the accompanying drawings.
[0032] The invention provides a laser radar-based tunnel positioning system and its positioning method. By cleverly arranging road signs on both sides of the tunnel, the differentiation of road signs can be realized and the complexity of the project can be reduced. The invention can automatically identify whether the prior map is Existence, and intelligently select different positioning algorithms to achieve accurate vehicle positioning in tunnels with large contrast between light and dark. This positioning system has the advantage of strong anti-environmental interference ability.
[0033] A laser radar-based positioning system in a tunnel provided by the present invention, such as figure 1 and figure 2As shown, it includes: laser radar...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a laser radar-based tunnel positioning system and a positioning method thereof, which belong to the field of automatic driving of automobiles. The system includes: road signs arranged on both sides of the tunnel, lidar installed on the roof, and a graphics processor GPU computing platform installed in the trunk of the vehicle; the method includes: Step 1, laying road signs on both sides of the tunnel, using the laser The radar vehicle passes through the tunnel, collects point cloud data, and combines the mileage information in the tunnel to generate a point cloud probability map; step 2, when the vehicle enters the tunnel entrance, it is judged whether there is a point cloud probability map of the vehicle entering the tunnel locally, if If exists, register the locally stored point cloud probability map, otherwise locate the vehicle according to the landmark database. The present invention realizes the differentiation of road signs by ingeniously arranging road signs on both sides of the tunnel; adopts different positioning algorithms to realize accurate vehicle positioning in tunnels with large contrast between light and dark, and has the advantage of strong anti-environmental interference ability.
Description
technical field [0001] The invention belongs to the field of automobile automatic driving, and in particular relates to a tunnel positioning system and method based on vehicle laser radar. Background technique [0002] For self-driving vehicles, the position of the vehicle itself is one of the basic information of the entire self-driving system, and its centimeter-accurate input is the guarantee for the realization of functions such as path planning. [0003] At present, in open areas, the vast majority of self-driving vehicles rely on the Global Navigation Satellite System (Global Navigation Satellite System, GNSS) to obtain current location information, and rely on carrier phase difference (Real-time kinematic, RTK) technology to improve the accuracy of the GNSS system to At the centimeter level; when satellite signals such as tall buildings or tree-lined roads are blocked, most self-driving vehicles use lidar to collect environmental feature information, and use feature m...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/931
Inventor 徐国艳聂志鹏熊绎维遇茜牛欢
Owner BEIHANG UNIV