Vehicle lane-level positioning method and electronic equipment in a vehicle-road collaborative environment
A technology of vehicle-road coordination and positioning method, applied in satellite radio beacon positioning systems, road network navigators, radio wave measurement systems, etc., can solve the problems of safety risks, low positioning accuracy and accuracy, and achieve real-time performance Good, high-precision results
Active Publication Date: 2022-03-18
SHENZHEN URBAN TRANSPORT PLANNING CENT
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Problems solved by technology
[0004] The problem solved by the present invention is that the lane positioning method of unmanned self-driving vehicles in the prior art has low positioning accuracy and accuracy, and there are safety risks
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[0048] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0049] see figure 1 As shown, the embodiment of the present invention provides a vehicle lane-level positioning method in a vehicle-road collaborative environment, including:
[0050] Step S1, obtaining the road data information of the pre-stored map and the real-time GPS coordinates of the vehicle, wherein the road data information includes the lane centerline and lane-level control points of each road section, and the lane-level control points are located on the lane centerline;
[0051] Step S2, according to the geometric relationship between the connection line between two adjacent lane-level control points on each road section and the real-time GPS coordinates of the vehicle, the road section is positioned to obtain the driving sectio...
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The invention provides a vehicle lane-level positioning method and electronic equipment in a vehicle-road collaborative environment. The positioning method includes: obtaining the center line of the lane and the lane-level control points of each road section of the pre-stored map and the real-time GPS coordinates of the vehicle; positioning the road section according to the GPS coordinates and the lane-level control points to obtain the driving road section; The road section is rasterized to obtain the grid area; according to the GPS coordinates, it is judged whether the vehicle is in the grid area, when the vehicle is in the grid area, according to the connection between the lane-level control points of each lane in the grid area The geometric relationship between the line and the GPS coordinates determines the driving lane information of the vehicle; when the vehicle is outside the grid area, the vehicle driving direction angle is added on the basis of the original distance judgment to determine the lane information. The positioning method of the present invention not only has high positioning accuracy and good real-time performance, but also can handle complex situations such as road bifurcations, junctions and ramps.
Description
technical field [0001] The invention relates to the technical field of intelligent vehicles, in particular to a vehicle lane-level positioning method and electronic equipment in a vehicle-road collaborative environment. Background technique [0002] In scenarios such as navigation, assisted driving, and unmanned driving, the vehicle needs to know the specific lane in which the vehicle is located in order to effectively remind the user, such as changing lanes, entrances and exits, turning, etc., especially for unmanned driving. The next step of driving planning can be carried out only when the lane is known. [0003] In the prior art, the positioning method of the driving path of the unmanned vehicle is generally to directly use the lane line detected by the driving environment perception unit for positioning. However, this method relies heavily on the recognition of lane lines by the perception system. Once the perception system cannot detect the lane line due to the orient...
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IPC IPC(8): G01C21/36G01S19/42G06F16/29
CPCG01C21/3658G01S19/42G06F16/29
Inventor 李朋周勇谢楚昊陈振武钱宇清王宇彭亚红尹绍杰廖明松王熙正
Owner SHENZHEN URBAN TRANSPORT PLANNING CENT