Vehicle self-positioning and map construction method in parking lot based on top view

Abstract

A method for self-positioning and map construction of parking lot vehicles based on top view, including real-time mapping and self-positioning. This method directly detects parking lot features in the top view formed by splicing four fisheye camera projections. There is no need to detect parking spaces on the original fisheye camera image or the corrected image. It has low computational cost and can meet real-time requirements; it uses enhanced Parking space information is used as a feature description, combined with wheel speedometers, to handle parking space tracking problems in various scenarios, which is universal; position relationship constraints between parking spaces are introduced to ensure that the boundaries of parking spaces of the same type and close locations remain parallel, enhancing Optimize constraints and improve mapping effects. This method is universally applicable to indoor and outdoor parking lots, and can realize vehicle self-positioning and map construction in real time with a low-cost sensor system and a low-power on-board processor. The present disclosure also provides a construction device, a construction system, an autonomous 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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