Top view-based parking lot vehicle self-positioning and map construction method

Abstract

The invention discloses a top view-based parking lot vehicle self-positioning and map construction method. The method comprises a real-time map construction part and a self-positioning part. Accordingto the method, parking lot features are directly detected in a top view formed by splicing four fisheye camera projections, parking space detection does not need to be carried out on an original fisheye camera image or a corrected image, therefore, calculation cost is low, and the real-time requirement can be met; enhanced parking space information is used as feature description, a wheel speedometer is used to process parking space tracking problems in various scenes, and universality is achieved; the constraints of position relations between parking spaces are introduced, it is ensured thatthe boundaries of the parking spaces of which the types are identical and of which the positions are close are kept parallel, optimization constraints are enhanced, and a map construction effect is improved. The method is generally suitable for indoor and outdoor parking lots, and can realize vehicle self-positioning and map construction in real time on a low-power-consumption vehicle-mounted processor through a low-cost sensor system. The invention further provides a construction device, a construction system, an automatic driving vehicle and an autonomous parking system.

Description

technical field [0001] The present invention relates to the field of autonomous parking technology and computer vision technology in the unmanned driving industry, in particular to a method and device for driving a vehicle to construct a parking lot map and vehicle self-positioning within the range of the parking lot. Background technique [0002] In recent years, autonomous driving technology has developed rapidly, and solving the problem of difficult parking is also one of the focuses of research and development in the field of autonomous driving. From the assisted parking system represented by the reversing radar and the bilateral obstacle automatic parking technology based on the ultrasonic radar to the present, the automatic parking technology is not limited to the operation of parking and warehousing, but has expanded to include autonomous parking. An integrated parking system for low-speed cruise, parking space search, parking and call response. Among them, technolog...

AI Technical Summary

Problems solved by technology

However, the algorithm proposed in the paper independently calculates the features in each shot, which increases the amount of calculation and power consumption, and is difficult to deploy on the vehicle equipment; at the same time, in the algorithm for estimating the attitude and motion of the own vehicle, the detected The characteristics of the parking lot are dominant, it is difficult to deal with the impact of the disappearance or breakage of the parking spaces in the parking lot, and the practical application significance is affected

[0008] It can be seen that in autonomous parking, the existing methods are difficult to obtain satisfactory comprehensive results in terms of positioning accuracy, stability and real-time performance.

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