Vehicle integrated positioning method for advanced automatic driving V2X and laser point cloud registration

Abstract

The invention discloses a vehicle integrated positioning method for advanced automatic driving V2X and single vehicle laser radar point cloud feature matching and integration. The method comprises thesteps: enabling an unmanned vehicle to obtain the surrounding environment information in real time through a laser radar, and carrying out feature matching with an existing high-precision map, thereby achieving the local positioning of the vehicle on a lane; positioning the vehicle between the vehicle and a roadside LTE signal base station through an LTEV2X vehicle networking technology and a wireless positioning technology; by fully fusing the two positioning modes, achieving more accurate vehicle-road cooperative positioning. The technical characteristics of laser radar high-precision map feature matching and positioning in single-vehicle intelligence and the advantages of vehicle-road wireless communication positioning are fully utilized, the positioning problem of the unmanned vehiclein a weak satellite signal coverage area can be effectively solved, and the purpose of advanced automatic driving is achieved.

Description

technical field [0001] The patent of the present invention relates to an unmanned vehicle positioning system and a fusion positioning method in the field of vehicle-road wireless communication technology, which is used to solve the problem of local relative positioning of vehicles in weak signal areas, and to promote the development of advanced automatic driving. Background technique [0002] Unmanned driving technology is an important frontier field in the development of intelligent transportation in recent years, which includes perception positioning, path planning, decision-making control and other components. Unmanned vehicles need to provide accurate positioning information to achieve safe and correct driving. The driverless positioning technology mainly obtains the centimeter-level position information of the vehicle by integrating GNSS, IMU, on-board camera, ultrasonic radar, laser radar and other sensors. The current mainstream unmanned driving positioning technolog...

AI Technical Summary

Problems solved by technology

[0006] Under normal circumstances, the intelligent vehicle networking system can determine the real position of vehicles in the road network through GNSS satellite signals, but in mountainous areas or high-rise buildings, the GNSS signals will be blocked, resulting in poor GNSS signals in this area, which is very important for the road network. The positioning of the vehicle has a more serious impact

Unmanned driving relies on high-precision positioning to meet safety requirements. When unmanned vehicles drive in this area, the safety of vehicles and pedestrians will be reduced. Therefore, it is necessary to find an effective solution to enable unmanned vehicles to operate in weak GNSS signal areas. Guaranteed effective positioning accuracy within

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