Vehicle self-positioning method, device and system

A self-positioning, vehicle technology, applied in vehicle position/route/altitude control, control/regulation system, two-dimensional position/channel control, etc., can solve the problem of high production cost, high hardware equipment requirements, and unfavorable large-scale promotion use, etc.

Pending Publication Date: 2020-10-27
NAVINFO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, this method has high requirements for hardware equipment, and requires the vehicle to be equipped with a binocular camera or a laser radar. The production cost is high, and it is not conducive to the large-scale promotion and use of self-driving vehicles.

Method used

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  • Vehicle self-positioning method, device and system
  • Vehicle self-positioning method, device and system
  • Vehicle self-positioning method, device and system

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Embodiment Construction

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. 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.

[0035] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily Describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances ...

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PUM

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Abstract

The invention provides a vehicle self-positioning method, device and system. The method comprises the steps of: obtaining a road image around a vehicle, and the initial position of the vehicle and theposture information of the vehicle corresponding to a road image collection moment; obtaining a reference object of the vehicle in a forward preset distance range in a high-precision map; matching the projection of a target object recognized from the road image with the projection of the reference object on the road image; and resolving the coordinates of a vehicle camera according to a matchingresult, wherein the coordinates of the vehicle camera are used for representing the position of the vehicle, and the vehicle camera is installed at a preset position of the vehicle. According to the method, the perception of the environment can be completed by only depending on a monocular camera, and the perceived target object is directly matched with the mapping point of the reference object inthe high-precision map from 3D to 2D, so that the self-positioning of the vehicle is quickly realized, and the hardware cost is greatly reduced on the premise of ensuring the positioning precision.

Description

technical field [0001] The invention relates to the technical field of electronic maps, in particular to a vehicle self-positioning method, device and system. Background technique [0002] In recent years, autopilot technology has developed rapidly, and autopilot systems usually include several modules including self-localization, environment perception, decision-making planning, and motion control. Among them, self-positioning technology is the basis of all automatic driving systems. The automatic driving system has relatively high requirements for self-positioning, requiring the horizontal positioning accuracy to be within 20 cm and the vertical positioning accuracy to be within 2 meters. [0003] At present, self-positioning technology generally uses visual perception to identify various reference objects, such as traffic signs, ground arrows and text, and then based on fuzzy Global Positioning System (Global Positioning System, GPS) and inertial measurement unit (Inerti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 马海军
Owner NAVINFO
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