L3-level and above automatic driving positioning system based on 5G intelligent vehicle-mounted terminal

Abstract

The invention relates to an L3-level and above automatic driving positioning system based on a 5G intelligent vehicle-mounted terminal. The system comprises a 5G communication module, a GNSS-RTK module, a six-axis IMU module, a sensor module, a camera module, a high-precision fusion positioning algorithm module and an EHP module, and is characterized in that the 5G communication module is responsible for providing high-speed network communication, the GNSS-RTK module is responsible for receiving and outputting original observation data of a satellite and resolving vehicle position information, the six-axis IMU module is responsible for outputting motion information of a vehicle, a wheel speed sensor is responsible for outputting the movement speed of the vehicle, the camera module is responsible for collecting and outputting image information, performing mismatching with high-precision map prior information data, and outputting position information in a combined manner, the above information is uniformly input to the high-precision fusion positioning algorithm module, final positioning result resolving is carried out, and a resolving result is output through the EHP module and is input to an automatic driving path planning control module and other modules needing to use high-precision map information through a CAN bus or an ETH Ethernet and the like.

Description

technical field [0001] The invention relates to the technical field of automobile automatic driving, in particular to an L3 level and above automatic driving positioning system based on a 5G intelligent vehicle-mounted terminal. Background technique [0002] At present, the automatic driving that has been widely used in mass production can only be called an intelligent driving assistance system, because most of the functions are still at the level of L1 to L2+. In fact, the driver is still the main body of responsibility, but through sensors and controllers To drive steering and braking to achieve some assisted driving functions, but starting from L3 automatic driving, there will be a handover process between the driver and the vehicle. When the L3 automatic driving function is turned on, the vehicle needs to Fully autonomous driving, only when the function opening conditions are not met, the control is returned to the driver. L4-level automatic driving requires the vehicle...

AI Technical Summary

Problems solved by technology

But the problem is that it does not conform to the development trend of automotive electronic and electrical architecture. At the same time, the cost is high. Both the GNSS antenna and the receiving chip need two sets, and a control box is added.

More importantly, the network speed and stability of 4G TBox is not good, and it is separated into two modules from the strongly related positioning module. This requires time synchronization to ensure signal consistency, which increases the complexity of the positioning system. In the end, it is difficult to guarantee the positioning accuracy and accuracy. The final result is that the L3 function often exits, requiring the driver to take over, or cannot be opened directly, which seriously affects the actual user experience.

Images