Structure sharing multi-sensor fusion positioning system for automatic driving vehicle

A multi-sensor fusion and positioning system technology, which is applied in the field of structure-sharing multi-sensor fusion positioning system for self-driving vehicles, can solve vehicle optimization pose deviation, does not consider the influence of lidar constraints, and is difficult to meet the positioning accuracy requirements of self-driving vehicles To achieve the effect of improving accuracy and robustness, improving positioning accuracy and robustness, and benefiting accuracy

Active Publication Date: 2020-12-15
HUNAN UNIV
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AI Technical Summary

Problems solved by technology

In most cases, the self-driving vehicle mainly moves in a plane, and the SLAM algorithm does not consider the influence of the lidar on the installation platform, which leads to deviations in the optimal pose of the vehicle.
In summary, it is difficult to use a single sensor for positioning to meet the positioning accuracy requirements of autonomous vehicles

Method used

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  • Structure sharing multi-sensor fusion positioning system for automatic driving vehicle
  • Structure sharing multi-sensor fusion positioning system for automatic driving vehicle
  • Structure sharing multi-sensor fusion positioning system for automatic driving vehicle

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Embodiment Construction

[0052] The present invention will be described in further detail below in conjunction with the embodiments given in the accompanying drawings.

[0053] Such as figure 1 As shown, the structure-sharing multi-sensor fusion positioning algorithm architecture diagram for autonomous vehicles contains three modules: vehicle kinematics model module, laser SLAM algorithm module and extended Kalman filter module.

[0054] The input of this positioning system consists of three sensors: multi-line lidar, wheel speed sensor and steering wheel angle sensor. Based on the optimized pose of the vehicle provided by the extended Kalman filter module at the previous moment, the pose of the autonomous driving vehicle is optimized by using the laser point cloud data and the data of the wheel speed sensor and the steering wheel angle sensor between the corresponding moments of the two frame point clouds. At time j, the state quantity of the system to be optimized is defined as follows:

[0055] ...

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Abstract

The invention discloses a structure sharing multi-sensor fusion positioning system for an automatic driving vehicle. The system comprises a vehicle kinematics model module which predicts the motion state of the vehicle according to a vehicle kinematics model; a laser SLAM algorithm module; and an extended Kalman filtering module used for fusing the vehicle prediction pose provided by the vehicle kinematics model and the vehicle optimization pose provided by the laser SLAM algorithm by utilizing the extended Kalman filtering technology so as to obtain accurate vehicle pose information. According to the structure sharing multi-sensor fusion positioning system for the automatic driving vehicle, positioning can be effectively achieved through the arrangement of the vehicle kinematics model module, the laser SLAM algorithm module and the extended Kalman filtering module.

Description

technical field [0001] The invention relates to an automatic driving vehicle positioning method, in particular to a structure sharing multi-sensor fusion positioning system for automatic driving vehicles. Background technique [0002] In recent years, research on autonomous driving technology has become a hot spot and trend. Autonomous driving technology includes environment perception, positioning and navigation, path planning and decision-making control, among which positioning and navigation is the key to automatic driving. Accurate and robust real-time positioning is the basis for safe driving of autonomous vehicles. Determining the position information of the vehicle in the global coordinate system provides a basis for planning and control modules. The self-driving vehicle obtains its own motion state and surrounding terrain environment information through sensors, so as to realize accurate estimation of vehicle pose. [0003] At present, the commonly used positioning...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0268
Inventor 秦晓辉庞涛徐彪谢国涛胡满江秦兆博秦洪懋王晓伟边有钢丁荣军常灯祥王哲文
Owner HUNAN UNIV
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