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Positioning method and system for automatic driving vehicle and computer readable medium

A technology of automatic driving and positioning method, which is applied in the direction of radio wave measurement system, utilization of re-radiation, re-radiation of electromagnetic waves, etc. It can solve the problems of large amount of calculation, low robustness, and high computing power requirements of the computing platform, and achieve the reduction of computing power. High pressure, strong robustness, and wide range of effects

Active Publication Date: 2021-03-16
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in places with dense point clouds, this method has a large amount of calculation, and there is a system delay. Automatic driving requires high positioning frequency. The NDT positioning frequency is consistent with the radar output frequency, which cannot meet the frequency requirements of automatic driving for positioning, and there is a lag. It cannot satisfy the high-speed driving of vehicles; in places where the point cloud is sparse and where the map needs to be updated due to changes in the local road environment, there will be positioning errors; moreover, this method requires high computing power on the computing platform; Computations go wrong and are hard to recover from; moreover, it requires a reference position as input to the algorithm

Method used

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  • Positioning method and system for automatic driving vehicle and computer readable medium
  • Positioning method and system for automatic driving vehicle and computer readable medium
  • Positioning method and system for automatic driving vehicle and computer readable medium

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Embodiment 1

[0035] Such as figure 1 As shown, the present embodiment provides a positioning method for an autonomous vehicle, comprising the following steps:

[0036] The point cloud information collected by the point cloud map and lidar is input to the NDT module, and the NDT module obtains the pose information of the vehicle in the point cloud map according to the point cloud information provided by the lidar; the pose information is the three-dimensional coordinate value of the vehicle ( x, y, z), the heading angle of the vehicle, the pitch angle and roll angle of the vehicle; the observed pose information includes the vehicle’s abscissa x, the ordinate y and the vehicle’s heading angle; the positioning pose information includes the vehicle’s height coordinate z , the pitch angle and roll angle of the vehicle; the observed pose information is used as the observed value in the infinite Kalman filter module.

[0037] The initialization judgment conditions are set in the NDT module, incl...

Embodiment 2

[0056] Such as figure 2 As shown, the present embodiment provides a positioning method for an autonomous vehicle, comprising the following steps:

[0057] The point cloud information collected by the point cloud map and lidar is input to the NDT module, and the NDT module obtains the pose information of the vehicle in the point cloud map according to the point cloud information provided by the lidar; the pose information is the three-dimensional coordinate value of the vehicle ( x, y, z), the heading angle of the vehicle, the pitch angle and roll angle of the vehicle; the observed pose information includes the vehicle’s abscissa x, the ordinate y and the vehicle’s heading angle; the positioning pose information includes the vehicle’s height coordinate z , the pitch angle and roll angle of the vehicle; the observed pose information is used as the observed value in the infinite Kalman filter module. In this embodiment, the pose information output by the NDT module is: the absc...

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Abstract

The invention discloses a positioning method for an automatic driving vehicle, and the method mainly comprises the steps: carrying out the data fusion of positioning information outputted by an NDT module and speed information outputted by a vehicle ODOM in a 2D space through an infinite Kalman filtering algorithm, substituting the data outputted by the ODOM into a prediction model to calculate the pose information of the vehicle, and carrying out the state updating of the pose information and the NDT positioning information; combining the result with other pose information of the NDT to obtain 3D information, and finally realizing vehicle positioning. The invention further provides a positioning system for the automatic driving vehicle and a computer readable medium. The method can outputhigh-frequency and high-precision positioning information, has the advantages of high robustness, wide universality and the like, and is suitable for a vehicle automatic driving technology; and meanwhile, the stability of the whole system is high.

Description

technical field [0001] The invention belongs to the field of automatic driving control, and in particular relates to a positioning method, system and computer readable medium for automatic driving vehicles. Background technique [0002] High-precision positioning is a key technology in the field of autonomous driving. At present, sensors such as high-precision integrated navigation, multi-line laser radar, and Camera are commonly used in combination with high-precision maps to achieve vehicle positioning. Algorithms such as Kalman filter and SLAM are mainly used. At present, it is mainly divided into absolute positioning and relative positioning. Among them, absolute positioning needs to rely on expensive GPS and IMU equipment. In places where the GPS signal and magnetic field environment are unstable such as tunnels for a long time, the positioning deviation is relatively large. Relative positioning is to realize vehicle positioning on the prior map that has been constructe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/42G01S17/931
CPCG01S17/42G01S17/931
Inventor 李赵刘心刚张旸陈诚刘洁
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD