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Method, device and storage medium for lane position determination based on autonomous vehicle

A technology for automatic driving and lanes, applied in the field of equipment and storage media, and lane position determination methods, can solve the problems of multiple historical data and unsuitable real-time data fusion, etc., and achieve the effect of simple calculation and simple system

Active Publication Date: 2022-08-02
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In the process of proposing the present disclosure, the inventors found that in the prior art, Kalman filter technology is usually used to fuse the position information of the smart car obtained by various sensors to obtain an accurate position estimate of the smart car. Vehicle positioning does not involve the relationship between the lane and the vehicle, and the lane is not modeled and positioned, and conventional Kalman filtering or Bayesian estimation is used for sensor data fusion, which requires more historical data to obtain the prior experimental information, not suitable for real-time data fusion

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  • Method, device and storage medium for lane position determination based on autonomous vehicle
  • Method, device and storage medium for lane position determination based on autonomous vehicle
  • Method, device and storage medium for lane position determination based on autonomous vehicle

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Embodiment Construction

[0058] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts unrelated to describing the exemplary embodiments are omitted from the drawings.

[0059] In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts, or combinations thereof disclosed in this specification, and are not intended to exclude a or multiple other features, numbers, steps, acts, components, parts, or combinations thereof may exist or be added.

[0060] In addition, it should be noted that the embodiments of the present disclosure and the features of the embodiments may be combined with each other under the condition of no conflict. The present disclosure will be described in detail below with reference to th...

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Abstract

Embodiments of the present disclosure disclose a method, device, and storage medium for determining a lane position based on an automatic driving vehicle. The method includes: acquiring measurement data for positioning a lane; determining a lane positioning vector according to the measurement data; The positioning vector is used as the identification framework of the D-S evidence theory to determine the trust allocation parameter of the lane positioning vector; the lane positioning position is determined according to the trust allocation parameter of the lane positioning vector and the lane positioning vector. The technical solution adopts the method of evidence theory, which uses all sensor measurement data as a recognition frame, and converts it into evidence for fusion. This method is different from the conventional Kalman filter and Bayesian estimation. It does not need more historical data to obtain the prior information of the sensor, and the calculation is relatively simple, the system is simple, and it is suitable for real-time data fusion.

Description

technical field [0001] The present disclosure relates to the technical field of automatic driving, and in particular, to a method, device and storage medium for determining a lane position based on an automatic driving vehicle. Background technique [0002] With the development of intelligent vehicle technology, intelligent vehicles can realize autonomous driving. In autonomous driving technology, knowing the lane information of the road the vehicle is traveling on (such as the position of the lane line, the distance between the vehicle and the lane line, the position of the vehicle in the lane, etc.) Driving safety of the vehicle. [0003] Due to the complex and changeable driving environment of autonomous vehicles, autonomous vehicles often install a variety of sensors to perceive the surrounding environment, and positioning services are the main target of various sensors. The current positioning services mainly use RTK technology, IMU, lidar and vision for positioning, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06N5/04G01D21/02
CPCG06N5/04G01D21/02
Inventor 温向明孟宛玉路兆铭王鲁晗傅彬王刚
Owner BEIJING UNIV OF POSTS & TELECOMM
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