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Double-filter fusion positioning system for park automatic driving

A self-driving, dual-filter technology, applied in control/adjustment systems, two-dimensional position/lane control, instruments, etc., can solve the problem that the laser SLAM module does not adopt a better optimization method and does not consider the vehicle plane motion constraints And other issues

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

Problems solved by technology

This method also does not consider the plane motion constraints of the vehicle
In addition, the laser SLAM module does not use a better optimization method

Method used

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  • Double-filter fusion positioning system for park automatic driving
  • Double-filter fusion positioning system for park automatic driving
  • Double-filter fusion positioning system for park automatic driving

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Embodiment Construction

[0070] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0071] Such as figure 1 As shown, the architecture diagram of the dual-filter fusion positioning algorithm for autonomous driving in the park consists of five modules: vehicle kinematics model module, IMU integration module, extended Kalman filter module, laser odometer module and particle filter module.

[0072] The input to this localization system consists of four sensors: lidar, IMU, wheel speed sensor and steering wheel angle sensor. The extended Kalman filter technology is used to fuse the vehicle kinematics model and the IMU integral, the vehicle kinematics model provides the predicted value, and the IMU integral provides the measured value, so as to obtain the predicted pose of the vehicle. The optimal pose of the vehicle is obtained through the laser odometer and used as the measurement value of the particle filter, and the predicted pose of the vehicle pro...

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Abstract

The invention discloses a double-filter fusion positioning method and system for park automatic driving, and aims to design the double-filter fusion positioning method and system for park automatic driving, so that by fusing a vehicle kinematics model and IMU integration through an extended Kalman filtering technology, a predicted pose of a vehicle is obtained. A particle filtering technology is used to fuse a vehicle prediction pose and a laser odometer so as to improve positioning precision and robustness of an automatic driving vehicle in a park environment.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a dual-filter fusion positioning system for park automatic driving. Background technique [0002] In recent years, research on autonomous driving technology has become a hot spot and trend. Autonomous driving companies are trying to promote the commercialization of autonomous driving technology in park scenarios. Accurate and robust real-time positioning is the basis for safe driving of autonomous vehicles. Determining the position information of vehicles in the global coordinate system provides a basis for planning and control modules . [0003] Commonly used positioning technologies for autonomous vehicles are divided into two categories: 1) Positioning based on global satellite navigation systems. 2) Positioning based on autonomous sensors. The positioning accuracy of the global satellite navigation system is high, but it is easily invalidated by the shadowing effect of the...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/027
Inventor 胡满江庞涛秦晓辉谢国涛秦兆博秦洪懋王晓伟边有钢徐彪丁荣军
Owner HUNAN UNIV
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