Environmental map generation method and device based on ultrasonic waves

An environmental map and ultrasonic technology, applied in the direction of sound wave re-radiation, measuring devices, radio wave measurement systems, etc., can solve the problem of low accuracy of environmental maps and achieve the effect of improving accuracy

Pending Publication Date: 2021-11-19
BEIJING JINGWEI HIRAIN TECH CO INC
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, there may be interference between the ultrasonic signals measured multiple times by the same ultrasonic sensor, or between multiple ultrasonic signals measured by different ultrasonic sensors, which will lead to low accuracy of the generated environment map

Method used

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  • Environmental map generation method and device based on ultrasonic waves
  • Environmental map generation method and device based on ultrasonic waves
  • Environmental map generation method and device based on ultrasonic waves

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Embodiment Construction

[0096] 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.

[0097] 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 invention discloses an environment map generation method and device based on ultrasonic waves. The method comprises the following steps: judging whether a plurality of ultrasonic measurement values have conflicts or not; if so, forming a conflict sequence by at least two ultrasonic measurement values with conflicts, and initializing the confidence coefficient of each ultrasonic measurement value in the conflict sequence; according to the initialization confidence of the current ultrasonic measurement value in the conflict sequence and the initialization confidence of the ultrasonic measurement value conflicting with the current ultrasonic measurement value, updating the confidence of the current ultrasonic measurement value to obtain the target confidence of the current ultrasonic measurement value; removing the ultrasonic measurement value with the minimum target confidence in the conflict sequence; executing the above process circularly until no conflict exists in the remaining ultrasonic measurement values, and obtaining a target ultrasonic measurement value; and updating the historical environment map according to the current pose information determined by the pose information of the vehicle at the previous moment and the current running state of the vehicle and the target ultrasonic measurement value.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to an ultrasonic-based environment map generation method and device. Background technique [0002] Autonomous driving, also known as unmanned driving, relies on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems, allowing computers to automatically and safely operate motor vehicles without any active human operation. Path planning technology is one of the core technologies of self-driving vehicles. To plan a better path, it is necessary to combine the environment map to judge the obstacle information around the vehicle. [0003] Among the related technologies, the technologies used to create the environment map mainly include ultrasonic technology, visual sensor technology, and laser radar technology. Due to the high cost of both visual sensor technology and laser radar technology, ultrasonic tech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S15/89
CPCG01C21/3837G01S15/89
Inventor 盛愈欢樊晓谦刘祥万国强
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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