Positioning method and device and vehicle
A positioning method and vehicle technology, applied in the field of perception, can solve problems such as vehicle safety hazards and satellite signal loss
Pending Publication Date: 2021-05-28
HUAWEI TECH CO LTD
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Problems solved by technology
The existing positioning technology applied to vehicles is based on the global navigation satellite system (GNSS) for positioning. However, vehicles using GNSS technology for positioning are prone to satellite signals when passing bridges, tunnels and other areas that are easily blocked. Lost situation, which makes the vehicle a safety hazard
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[0042] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
[0043] In order to solve the problem of vehicle positioning signal loss, a positioning scheme is currently being studied. While building a map of the surrounding environment through the sensor's perception of the environment, the simultaneous localization and mapping (SLAM) technology is used to monitor the vehicle during the movement. The surrounding environment is modeled and its own pose is estimated to realize the localization of the vehicle itself. At present, according to the different sensors used, SLAM technology is mainly divided into two categories: laser SLAM based on lidar and visual SLAM based on camera. In the process of vehicle movement, since the front-end pose estimation and back-end optimization are based on some adjacent data, the errors generated in it will inevitably accumulate ...
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The invention provides a positioning method and device and a vehicle, and relates to the technical field of perception. The method comprises the following steps: detecting that a vehicle passes through a loopback road; constructing a first map of the loopback road according to the three-dimensional point cloud; translating and / or rotating the position of the vehicle on the first map; performing similarity comparison on the translated and / or rotated first map and a stored map of roads passed by the vehicle in history to determine a second map; and determining position information of the vehicle before translation and / or rotation according to the second map. In the positioning process by using the SLAM technology, translation search and rotation search are provided in consideration of possible position and course angle changes when the vehicle runs to the same environment, and the position and the yaw angle of the vehicle are changed when the image is compared with the stored image of the reference frame, so that the image obtained by comparison is more accurate, and the positioning accuracy is improved. Therefore, the positioning is more accurate.
Description
technical field [0001] The present invention relates to the field of perception technology, in particular to a positioning method, device and vehicle. Background technique [0002] For the automatic driving system or advanced assisted driving system applied to the vehicle, accurate and real-time positioning is the prerequisite for the safety and stability of the vehicle. The existing positioning technology applied to vehicles is based on the global navigation satellite system (GNSS) for positioning. However, vehicles using GNSS technology for positioning are prone to satellite signals when passing bridges, tunnels and other areas that are easily blocked. Lost situation, which makes the vehicle a safety hazard. Contents of the invention [0003] In order to solve the above positioning defects in the prior art, embodiments of the present application provide a positioning method, device and vehicle. [0004] In the first aspect, the present application provides a positionin...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0242G05D1/0251G05D1/0223G05D1/0221G05D1/0276G05D1/0274G05D1/0272G01C21/30G01C21/3602G01C21/1652
Inventor 李军
Owner HUAWEI TECH CO LTD