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

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...

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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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