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Multi-sensor fusion vehicle positioning method and device based on map element data

A multi-sensor fusion and vehicle positioning technology, applied in the field of multi-sensor fusion vehicle positioning based on map element data, can solve the problems of inaccurate external parameter matrix, affecting the accuracy of vehicle pose and attitude, and reducing the safety of unmanned vehicles. High pose accuracy, high accuracy, and the effect of improving pose accuracy

Pending Publication Date: 2021-03-30
BEIJING MOMENTA TECH CO LTD
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Problems solved by technology

[0003] Because sometimes the camera will be installed loosely and / or the inertial measurement unit will be installed loosely, so that the pre-calibrated extrinsic parameter matrix is ​​not accurate enough, and the inaccurate pre-calibrated extrinsic parameter matrix will seriously affect the pose accuracy of the vehicle obtained by positioning. thus reducing the safety of driverless vehicles

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  • Multi-sensor fusion vehicle positioning method and device based on map element data
  • Multi-sensor fusion vehicle positioning method and device based on map element data

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Embodiment Construction

[0059] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0060] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally further includes For other steps or units inhe...

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Abstract

The embodiment of the invention discloses a multi-sensor fusion vehicle positioning method and device based on map element data. The method comprises the following steps: estimating an external parameter matrix based on historical map element perception data recognized from historical sensing data acquired by a camera at the last moment and map element data in a vehicle-mounted electronic navigation map at the last moment, and performing vehicle positioning on a target vehicle at the current moment through the estimated external parameter matrix. Since the estimated external parameter matrix is calculated based on the data of the last moment, the accuracy of the estimated external parameter matrix is higher than that of a pre-calibrated external parameter matrix when the camera is installed loosely and / or the inertial measurement unit is installed loosely, and the accuracy of the estimated external parameter matrix is higher than that of the pre-calibrated external parameter matrix, sothat the pose precision obtained by carrying out vehicle positioning on the target vehicle at the current moment based on the estimated external parameter matrix is relatively high. By applying the scheme provided by the embodiment of the invention, the pose precision of the target vehicle obtained by positioning can be improved, and the driving safety of the target vehicle is improved.

Description

technical field [0001] The present invention relates to the technical field of vehicle positioning, in particular to a multi-sensor fusion vehicle positioning method and device based on map element data. Background technique [0002] A variety of sensors including at least cameras and inertial measurement units are installed on unmanned vehicles. In order to automatically locate the vehicle through the sensing data collected by various sensors and the map element data in the on-board electronic navigation map, it is necessary to The extrinsic parameter matrix between the coordinate system of the inertial measurement unit and the camera coordinate system of the camera is calibrated in advance. [0003] Because sometimes the camera will be installed loosely and / or the inertial measurement unit will be installed loosely, so that the pre-calibrated extrinsic parameter matrix is ​​not accurate enough, and the inaccurate pre-calibrated extrinsic parameter matrix will seriously aff...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/32G01C21/16
CPCG01C21/005G01C21/32G01C21/165
Inventor 陈更达韩永根管守奎
Owner BEIJING MOMENTA TECH CO LTD
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