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A method and device for updating the matching relationship between a navigation map and a perception image

A technology of navigation map and matching relationship, which is applied to road network navigators, traffic control systems, traffic control systems of road vehicles, etc., can solve the problem of low positioning accuracy of consumer-grade preset positioning devices

Active Publication Date: 2021-09-21
BEIJING MOMENTA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiment of the present invention discloses a method and device for updating the matching relationship between a navigation map and a perception image, which solves the problem of low positioning accuracy when using a consumer-grade preset positioning device, and realizes that the consumer-grade preset positioning device can also perform high-precision positioning technical effect

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  • A method and device for updating the matching relationship between a navigation map and a perception image
  • A method and device for updating the matching relationship between a navigation map and a perception image

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Embodiment 1

[0084] see Figure 1a , Figure 1a It is a schematic flowchart of a method for updating the matching relationship between a navigation map and a perception image provided by an embodiment of the present invention. This method is typically applied to the scene where an unmanned vehicle enters an outdoor high-precision map for the first time, and can be executed by a device for updating the matching relationship between the navigation map and the perception image. The device can be implemented by means of software and / or hardware. Generally, it can be integrated in a vehicle-mounted terminal such as a vehicle-mounted computer, a vehicle-mounted industrial personal computer (IPC), etc., which is not limited in the embodiment of the present invention. Such as Figure 1a As shown, the method provided in this embodiment specifically includes:

[0085] 110. Obtain the current position of the vehicle provided by the preset positioning device, and correct the elevation of the vehicle p...

Embodiment 2

[0106] see Figure 2a , Figure 2a It is a schematic flowchart of a method for updating the matching relationship between a navigation map and a perception image provided by an embodiment of the present invention. On the basis of the above-mentioned embodiments, this embodiment optimizes the process of updating the matching relationship between the navigation map and the perception image based on the corrected elevation and pose of the vehicle, and verifies the matching relationship when outputting the matching relationship. Is it a reasonable operation. Such as Figure 2a As shown, the method includes:

[0107] 210. Obtain the current position of the vehicle provided by the preset positioning device, and correct the elevation of the vehicle provided by the preset positioning device based on the lane line information corresponding to the current position in the navigation map.

[0108] Figure 2b It is a schematic diagram of an elevation correction for a vehicle provided ...

Embodiment 3

[0132] see image 3 , image 3 It is a structural schematic diagram of a device for updating the matching relationship between a navigation map and a perception image provided by an embodiment of the present invention. Such as image 3 As shown, the device includes: an elevation correction module 310 , a target traffic sign determination module 320 and a matching relationship update module 330 .

[0133] Wherein, the elevation correction module 310 is configured to obtain the current position of the vehicle provided by the preset positioning device, and based on the lane line information corresponding to the current position in the navigation map, perform amend;

[0134] The target traffic sign determination module 320 is configured to respectively arrange and combine the traffic sign groups in the navigation map and the perception images collected by the camera and satisfy the set distance requirement with the current position, so as to obtain the information from the navi...

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Abstract

The embodiment of the present invention discloses a method and device for updating the matching relationship between a navigation map and a perception image. The method includes: acquiring the current position of the vehicle provided by the preset positioning device, and based on the lane line information corresponding to the current position in the navigation map, Correct the elevation of the vehicle provided by the preset positioning device; respectively arrange and combine the navigation map and the traffic sign group in the perception image collected by the camera and the current position to meet the set distance requirement, so as to obtain the distance from the navigation map and the perception image Determine the target traffic sign whose position matches; correct the pose of the vehicle in the navigation map according to the position of the target traffic sign, and update the matching relationship between the navigation map and the perception image based on the corrected elevation and pose of the vehicle. By adopting the above technical solution, the problem of low positioning accuracy of the consumer-grade preset positioning device is solved, and the consumer-grade preset positioning device can also perform high-precision positioning.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for updating the matching relationship between a navigation map and a perception image. Background technique [0002] In the field of autonomous driving, high-precision positioning is crucial. In recent years, the achievements of deep learning and other technologies have greatly promoted the development of image semantic segmentation and image recognition, which provides a solid foundation for high-precision maps and high-precision positioning. [0003] In the positioning scheme based on high-precision maps, when an unmanned vehicle enters the high-precision map for the first time, it needs to obtain a global and accurate location information for initialization, and then use the high-precision map for precise positioning, that is, absolute position accuracy up to centimeter level. However, in consumer-grade equipment, such as single-point GPS (Glob...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/30G08G1/0969
CPCG01C21/30G08G1/0969
Inventor 李江龙侯政华
Owner BEIJING MOMENTA TECH CO LTD
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