Vehicle transverse positioning method, device and system
A technology for lateral positioning and vehicles, which is applied in the field of vehicle positioning, can solve problems such as inaccurate lateral positioning of vehicles, and achieve the effect of simple algorithm, strong robustness, and strong real-time performance
Pending Publication Date: 2021-10-12
GUANGZHOU AUTOMOBILE GROUP CO LTD
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Problems solved by technology
[0005] The technical problem to be solved by the present invention is to provide a vehicle lateral positioning method, device and system to solve the problem of inaccurate vehicle lateral positioning in the prior art when the vehicle is driving in a tunnel
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[0086] The following descriptions of the various embodiments refer to the accompanying drawings to illustrate specific embodiments in which the invention may be practiced.
[0087] Refer to the following figure 1 As shown, the first embodiment of the present invention provides a vehicle lateral positioning method, which includes the following steps:
[0088] S1. When the vehicle is driving in the tunnel road, obtain the lane line information of the lane where the vehicle is currently located, the position information of the passable area and the first environment point cloud data of the tunnel road.
[0089] Specifically, the self-driving car is equipped with Mobileye's EPM system. The EPM system obtains image information of the road where the vehicle is currently located through the on-board camera. The EPM system processes the image information and outputs the lane line information of the lane where the vehicle is currently traveling and the location information of the passa...
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The invention provides a vehicle transverse positioning method, device and system, and the method comprises the steps of obtaining the lane line information of a current lane where a vehicle is located, the position information of a passable region, and the first environment point cloud data of a tunnel road when the vehicle runs in a tunnel road; calculating the center line position information and the lane width information of the lane according to the lane line information; determining the boundary information of the tunnel road according to the center line position information, the passable area position information and the first environment point cloud data; and determining the transverse position information of the vehicle in the tunnel road according to the center line position information, the width information and the boundary information. According to the method, through the fusion of visual detection and laser radar, the transverse positioning of the vehicle is achieved, the manufacturing of a high-precision map with complex high-dimensional features and a database of environment feature values is avoided, in addition, the algorithm adopted by the method is simple and efficient, has high real-time performance, and has higher robustness compared with a complex feature matching algorithm.
Description
technical field [0001] The present invention relates to the technical field of vehicle positioning, and in particular, to a vehicle lateral positioning method, device and system. Background technique [0002] With the development of smart cars, technologies related to autonomous driving have received widespread attention in the industry. The software modules of autonomous driving mainly include perception module, navigation and positioning module, decision planning module, motion control module, etc. Among them, the positioning module provides centimeter-level positioning for smart cars in real time to ensure safe and automatic driving of vehicles on the road. [0003] When smart cars drive autonomously in tunnels, precise positioning is a difficult problem for autonomous driving technology. Usually, the vehicle can drive normally in the longitudinal direction by relying on information such as lane lines and passing areas, so the longitudinal positioning accuracy is usuall...
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IPC IPC(8): G01C21/28G01S17/86
CPCG01C21/28G01S17/86
Inventor 张三林许松枝刘前飞
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD