Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF9 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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] ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com