Visual positioning hardware-in-the-loop simulation platform and simulation method

A visual positioning and simulation platform technology, applied in the direction of instruments, control/adjustment systems, simulators, etc., can solve problems such as the inability to evaluate the impact of the visual positioning system
CN112987593AActive Publication Date: 2021-06-18CHINA FIRST AUTOMOBILE
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
CHINA FIRST AUTOMOBILE
Publication Date
2021-06-18

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Abstract

The invention discloses a visual positioning hardware-in-the-loop simulation platform and simulation method. The visual positioning hardware-in-the-loop simulation platform comprises an automatic driving simulation system, a darkroom scene system and a visual positioning system, the visual positioning system comprises a visual positioning calculation platform and a camera, and the visual positioning calculation platform is in communication connection with the automatic driving simulation system; the visual positioning calculation platform obtains virtual sensor data and a virtual scene high-precision map from the automatic driving simulation system; and the darkroom scene system comprises a darkroom, a high-definition display screen and a camera in the visual positioning system are placed in the darkroom, the high-definition display screen is connected with the automatic driving simulation system through a video line, the camera is placed in front of the high-definition display screen, and the camera collects videos displayed on the high-definition display screen by the automatic driving simulation system in real time. The visual positioning computing platform and the camera are connected into the system, hardware-in-the-loop simulation is achieved, and the real drive test condition is simulated to the maximum extent.
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Description

technical field

[0001] The invention specifically relates to a visual positioning hardware-in-the-loop simulation platform and a simulation method, belonging to the technical field of automatic driving visual positioning. Background technique

[0002] The positioning system is the basic module of autonomous driving. The perception, planning, and control of autonomous driving all rely on positioning information. Previously, high-precision inertial navigation, RTK GNSS, and high-beam laser radar were widely used in positioning systems for high-level autonomous driving. However, the cost of these sensors The high cost hinders the popularization of self-driving vehicles to a certain extent, so it has become a trend to use low-cost camera visual information for self-driving positioning.

[0003] There are generally two methods for traditional methods of visual positioning verification. One is to use a large number of data collection vehicles to collect a large number of videos an...

Claims

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