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A low-cost sensor combination localization method for autonomous driving

A technology of automatic driving and combined positioning, which is applied in the direction of road network navigators, etc., can solve the problems of expensive sensors and inability to realize the marketization of automatic driving technology, and achieve the effect of reducing hardware costs

Active Publication Date: 2020-06-26
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Commonly used integrated navigation equipment cannot realize the marketization of automatic driving technology due to the high price of sensors

Method used

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  • A low-cost sensor combination localization method for autonomous driving
  • A low-cost sensor combination localization method for autonomous driving
  • A low-cost sensor combination localization method for autonomous driving

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Embodiment Construction

[0027] 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.

[0028] Such as figure 1 As shown, the present invention provides a navigation combined positioning system for automatic driving, including a vehicle speed information collection unit, a vehicle heading information collection unit, a vehicle position information collection unit and a vehicle position positioning unit, wherein the vehicle speed information collection unit, The vehicle heading information acquisition unit and the vehicle position informa...

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Abstract

The invention discloses a low-cost sensor combination positioning method for automatic driving. A low-cost GPS sensor and an IMU sensor are adopted, vehicle information is collected and input into anextended Kalman filter to position a vehicle, and a speed scale factor and course angle deviation are added into parameters of the Kalman filter to correct the vehicle speed and the course angle in real time; meanwhile, when the vehicle speed is high and the GPS positioning is stable, the course information of the IMU is corrected by using the course information of the GPS. According to the invention, the hardware cost of the positioning suite is reduced, and automatic driving marketization is facilitated; and finally, the positioning precision of the whole system can reach a sub-meter level.

Description

technical field [0001] The invention belongs to the field of automatic driving, in particular to a low-cost sensor combination positioning method for automatic driving. Background technique [0002] Integrated navigation is an important research topic in the field of automatic driving. At present, high-precision GPS and IMU are commonly used. The price of RTK (high-precision GPS) kit equipment is tens of thousands of yuan; in addition, its mobile terminal processes satellite signals through communication modules, base stations and data processing centers, which cannot work effectively in places with harsh communication environments. The high-precision IMU is composed of a magnetometer, a gyroscope, and an accelerometer, which can obtain the attitude information of the current vehicle. The price of an industrial-grade IMU ranges from thousands to tens of thousands of yuan. Commonly used integrated navigation equipment cannot realize the marketization of automatic driving te...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/28
CPCG01C21/28
Inventor 李赵袁瑞廷刘心刚陈诚张旸刘洁
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD