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Method and device for correcting vehicle poses during initialization of navigation map

A navigation map and initialization technology, applied in navigation, surveying devices, surveying and navigation, etc., can solve the problem of low positioning accuracy

Active Publication Date: 2020-10-09
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 correcting the vehicle pose when the navigation map is initialized, which solves the problem of unmanned vehicles using consumer-level presets in the normal road section with comprehensive traffic signs and traffic marking information. The problem of low positioning accuracy of the positioning device has achieved the technical effect of using consumer-grade preset positioning devices to perform high-precision positioning

Method used

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  • Method and device for correcting vehicle poses during initialization of navigation map
  • Method and device for correcting vehicle poses during initialization of navigation map
  • Method and device for correcting vehicle poses during initialization of navigation map

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Embodiment 1

[0086] see figure 1 , figure 1 It is a schematic flow chart of a method for correcting vehicle pose during initialization of a navigation map provided by an embodiment of the present invention. This method is typically applied to the scene where the unmanned vehicle enters the outdoor high-precision map for the first time on a normal road section with relatively comprehensive information such as traffic signs. This method can be performed by the vehicle pose correction device when the navigation map is initialized , the device can be realized by means of software and / or hardware, and generally can be integrated into a vehicle-mounted terminal such as a vehicle-mounted computer, a vehicle-mounted industrial personal computer (Industrial personal Computer, IPC), and the embodiment of the present invention does not limit it. Such as figure 1 As shown, the method provided in this embodiment specifically includes:

[0087] 110. Obtain the current position of the vehicle provided...

Embodiment 2

[0112] see Figure 2a , Figure 2a It is a schematic flow chart of a method for correcting vehicle pose during initialization of a navigation map provided by an embodiment of the present invention. This embodiment optimizes the vehicle pose correction process on the basis of the above embodiments. Such as Figure 2a As shown, the method includes:

[0113] 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.

[0114] Figure 2b It is a schematic projection diagram of a vehicle before height correction is provided by an embodiment of the present invention. Figure 2c It is a schematic diagram of projection of a vehicle after height correction is provided by an embodiment of the present invention. Among them, 1 represents the street light pole in the perception...

Embodiment 3

[0129] see image 3 , image 3 It is a schematic structural diagram of a device for correcting vehicle pose during initialization of a navigation map provided by an embodiment of the present invention. Such as image 3 As shown, the device includes an elevation correction module 310, a target indicator mark determination module 320, a first correction module 330, a second indicator mark determination module 340, and a second correction module 330; wherein,

[0130] The elevation correction module 310 is configured to acquire 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;

[0131] The target indicator determining module 320 is configured to select a target indicator that matches each first indicator in the perception image from the first indicators on the navigation ma...

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Abstract

The embodiment of the invention discloses a method and a device for correcting the pose of a vehicle during initialization of a navigation map, the method is applied to a normal road section with comprehensive indication signs, and the method comprises the following steps: correcting the elevation of the vehicle provided by a preset positioning device based on lane line information corresponding to the current position of the vehicle in the navigation map; selecting a target indication sign matched with the perception image from a navigation map; performing first correction processing on the current pose of the vehicle based on the position of the target indication sign; according to the pose and elevation of the vehicle after the first correction processing, determining other types of second indication signs except the first indication sign in the navigation map and the image; and carrying out second correction processing on the first corrected vehicle pose based on the target indication sign and the position of the matched second indication sign. By adopting the technical scheme, the technical effect that high-precision positioning can be carried out by using the consumption-level preset positioning device in a normal road section with comprehensive indication signs is achieved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and a device for correcting vehicle poses when a navigation map is initialized. Background technique [0002] In the field of autonomous driving, navigation and positioning are 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 navigation maps and navigation positioning. [0003] In the positioning scheme based on high-precision maps, when an unmanned vehicle is driving on a normal road section with comprehensive information such as traffic signs and traffic markings, if the vehicle enters the high-precision map for the first time, it needs to obtain a global and accurate The position information is initialized, and then the high-precision map can be used for precise positioning, that is, the absolute...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446G01C21/34
Inventor 侯政华杜志颖管守奎
Owner BEIJING MOMENTA TECH CO LTD
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