Method and device for correcting vehicle pose
A vehicle and pose technology, applied in the field of automatic driving, can solve problems such as the inability to automatically drive vehicle positioning, and achieve the effect of improving robustness
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Embodiment 1
[0070] see Figure 1a , Figure 1a It is a schematic flowchart of a vehicle pose correction method provided by an embodiment of the present invention. This method is applied to automatic driving, and is typically applied to scenarios where the automatic driving vehicle cannot be positioned due to lack of perception model information. The method can be performed by a method device for correcting vehicle pose, which can be realized by means of software and / or hardware, and can generally be integrated in vehicle-mounted terminals such as a vehicle-mounted computer and a vehicle-mounted industrial personal computer (IPC). The present invention implements Examples are not limited. like Figure 1a As shown, the pose correction process provided by the embodiment of the present invention occurs after the high-precision map is initialized, from the vehicle entering the map positioning algorithm to leaving the map positioning algorithm. , pitch angle, roll angle and heading correction r...
Embodiment 2
[0085] see Figure 2a , Figure 2a It is a schematic flow chart of a method for correcting vehicle heading provided by an embodiment of the present invention. This embodiment is optimized on the basis of the above embodiments, and further corrects the heading of the vehicle. like Figure 2a As shown, the method includes:
[0086] 210. According to the current position of the vehicle provided by the preset positioning device, filter out the first lane line in the lane where the vehicle is currently located and the current position within a set distance range.
[0087] 220 . Select a second lane line whose direction is consistent with the driving direction of the vehicle from the first lane line.
[0088] In this embodiment, when the vehicle is driving on a road section of the high-precision map, it usually travels along the lane line, so the track direction of the lane line can be used to correct the heading of the vehicle. Generally, when the vehicle is turning or changin...
Embodiment 3
[0098] Figure 3a A schematic flow chart of a vehicle body elevation correction method provided by an embodiment of the present invention, as Figure 3a As shown, the correction methods for the height of the vehicle body include:
[0099] 310. According to the current position of the vehicle provided by the preset positioning device, filter out the first lane line in the lane in which the vehicle is currently located and the current position within a set distance range.
[0100] When the vehicle passes through the main and auxiliary roads, elevated roads and other special circumstances, there may be multiple layers of road sections at the same location, so it needs to be distinguished, the current road section where the vehicle is located is filtered out, and the first lane within a certain range of the current location of the vehicle is cut out Wire.
[0101] 320. Based on the preset navigation map, determine the average value of the elevation of the first lane line.
[01...
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