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Intelligent automobile high-precision positioning and space-time situation safety method based on multi-sensor fusion

A multi-sensor fusion and smart car technology, which is applied in the direction of navigation through speed/acceleration measurement, can solve the problems of characterization of driving safety risks, poor accuracy, and poor real-time performance

Active Publication Date: 2021-03-12
JILIN UNIV
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Problems solved by technology

[0016] The purpose of the present invention is to solve the problems of high cost, poor precision, poor real-time performance and characterizing driving safety risks in the existing smart car positioning technology. Multi-sensor fusion intelligent vehicle high-precision positioning and space-time situation security method

Method used

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  • Intelligent automobile high-precision positioning and space-time situation safety method based on multi-sensor fusion
  • Intelligent automobile high-precision positioning and space-time situation safety method based on multi-sensor fusion
  • Intelligent automobile high-precision positioning and space-time situation safety method based on multi-sensor fusion

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Embodiment Construction

[0144] see Figure 1 to Figure 14 Shown:

[0145] The high-precision positioning and space-time situation security strategy for smart cars based on multi-sensor fusion provided by the present invention includes two strategies: a high-precision positioning strategy and a space-time situation security strategy. The high-precision positioning strategy includes four parts: preprocessing, visual-inertial odometry front-end and initialization, visual-inertial odometry back-end optimization, and global pose graph optimization.

[0146] 1. Preprocessing is as follows:

[0147] 1. Camera calibration

[0148] Using a plane black and white checkerboard of known size as a calibration reference, a series of pixel points are extracted by adjusting the distance and angle between the camera and the checkerboard, so that the coordinates of the corresponding pixel points in the image at the intersection of the black and white lines can be found. Assume that the world coordinates of the inter...

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Abstract

The invention discloses an intelligent automobile high-precision positioning and space-time situation safety method based on multi-sensor fusion. The method comprises a high-precision positioning method which comprises the steps of: firstly, preprocessing; secondly, initializing the front end of a visual inertia odometer; thirdly, optimizing the rear end of the visual inertia odometer; and fourthly, optimizing a global pose graph; and a space-time situation safety method. The method has the beneficial effect that the method can well adapt to a working scene and a developed fusion strategy. According to the invention, a key frame selection algorithm is realized, the algorithm can reasonably select different numbers of key frames according to different working conditions and can process theworking conditions where feature tracking loss is likely to occur, the space-time situation safety strategy fully considers the safety and traffic efficiency of roads, static obstacles and dynamic objects and the like, and the method has the advantages of high safety, high efficiency, small calculated amount, high real-time performance, low technical difficulty and the like.

Description

technical field [0001] The invention relates to a method for high-precision positioning and space-time situation security of an intelligent vehicle, in particular to a method for high-precision positioning and space-time situation security of an intelligent vehicle based on multi-sensor fusion. Background technique [0002] At present, with the rapid development of smart cars, the demand for high-precision positioning technology is getting stronger and stronger. Intelligent vehicle positioning technology is the core technology to solve the "where" problem. It is of great significance in both global path planning and local path planning. It is the basis of decision-making planning and motion control, and is also a core component of intelligent transportation systems. The breakthrough of high-precision positioning technology is conducive to improving traffic efficiency, reducing environmental pollution, and improving driving safety and comfort. At the same time, the three-dim...

Claims

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Application Information

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IPC IPC(8): G01C21/18
CPCG01C21/18Y02T10/40
Inventor 朱冰陶晓文赵健李雅欣姜泓屹刘彦辰王常态吕恬刘宇翔孔德成
Owner JILIN UNIV
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