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Automatic driving vehicle positioning method based on millimeter wave radar

A millimeter-wave radar and automatic driving technology, which is applied in radio wave reflection/re-radiation, satellite radio beacon positioning system, radio wave measurement system, etc., can solve the problem of low algorithm robustness, easy dispersion of particle swarms, and single output Positioning data and other issues to achieve the effect of improving robustness, increasing robustness, and preventing particle degradation

Active Publication Date: 2020-03-17
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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Problems solved by technology

Ordinary particle filter algorithm directly weights and sums all particles, and outputs a single positioning data; in addition, in structured roads, due to the similarity of environmental information, particle swarms are easy to disperse, and the robustness of the algorithm is low

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  • Automatic driving vehicle positioning method based on millimeter wave radar
  • Automatic driving vehicle positioning method based on millimeter wave radar
  • Automatic driving vehicle positioning method based on millimeter wave radar

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Embodiment Construction

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the examples of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0039] In the vehicle positioning method provided by the present invention, millimeter-wave radar, GPS and ODOM sensors are mainly used for collecting vehicle parameters. Among them, the model used by the millimeter-wave radar is: ARS408-21; the model used by the GPS is: GN200B; ODOM is the linear velocity and angular velocity information sent by the vehicle through the can bus. Considering that the horizontal field of view of the millimeter-wave rada...

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Abstract

The invention discloses an automatic driving vehicle positioning method based on millimeter wave radar, which is mainly used for realizing vehicle lane level positioning based on vehicle information fed back by sensors such as millimeter wave radar, GPS and the like in combination with an improved particle filtering algorithm. According to the method, the linear velocity and the angular velocity of a vehicle in a vehicle ODOM are inputted into a prediction model of a filtering algorithm, point cloud data preprocessed by a millimeter-wave radar and a constructed occupied grid map are subjectedto data matching and a new particle weight is calculated. In addition, in order to improve the robustness of the positioning algorithm, the traditional algorithm is improved, and positioning results and corresponding confidence coefficients are calculated according to different weight sums of particles; and in the resampling stage, part of new particles calculated according to GPS position information are added into the particle swarm. The cost of the whole positioning system is effectively reduced while the vehicle positioning precision is ensured and the popularization of the automatic driving technology is facilitated.

Description

technical field [0001] The invention belongs to the field of automatic driving, in particular to a positioning method for automatic driving vehicles based on millimeter wave radar. Background technique [0002] High-precision positioning is an important research topic in the field of autonomous driving. At present, sensors such as high-precision integrated navigation, multi-line laser radar, and Camera are commonly used in combination with high-precision maps to achieve lane-level positioning. Algorithms such as Kalman filter, particle filter, and SLAM are mainly used. Among them, the conventional Kalman filter algorithm requires expensive high-precision RTK and IMU, and its positioning accuracy is low in viaducts, tunnels and other places where GPS signals are unstable; the SLAM algorithm is less robust on expressways where vehicles are running fast. In addition, it requires a high-performance computing platform. [0003] Compared with Camera, millimeter-wave radar can obt...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86G01S19/45
CPCG01S13/86G01S19/45
Inventor 李赵刘心刚袁瑞廷张旸陈诚刘洁
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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