Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Vehicle positioning method and device, vehicle and readable storage medium

A vehicle positioning and vehicle technology, applied in the direction of measuring devices, satellite radio beacon positioning systems, instruments, etc., can solve the problems of trajectory jump, positioning error, and error accumulation, and achieve the effect of good positioning accuracy and robustness

Pending Publication Date: 2022-02-01
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, common positioning methods include integrated navigation positioning based on GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit, inertial measurement unit), wheel speedometer, and dead reckoning positioning based on IMU and wheel speedometer. , Fusion positioning based on camera vision and high-precision maps, etc., but these methods have problems that the positioning accuracy is not robust enough, for example, they are easily affected by the quality of GNSS signals and the trajectory suddenly jumps, there is error accumulation, and when the map is updated If it is not timely, it is easy to make positioning errors, etc.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Vehicle positioning method and device, vehicle and readable storage medium
  • Vehicle positioning method and device, vehicle and readable storage medium
  • Vehicle positioning method and device, vehicle and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0054] figure 1 It is a schematic flowchart of the vehicle positioning method according to the first embodiment of the present application. Such as figure 1 As shown, the vehicle positioning method of the present application includes the following steps:

[0055] S1: During the driving process of the vehicle, obtain the current data of the target data source at time t. The target data source includes the vehicle's dead reckoning pose, lane line perception data, and integrated navigation pose based on satellite positioning data;

[0056] Optionally, the moment t is a certain moment during the driving of the vehicle, for example, it may be the moment when the vehicle has traveled 100 meters or one minute. It should be noted that after the vehicle starts to drive, the vehicle’s dead reckoning pose, lane line perception data, and integrated navigation pose based on satellite positioning data can be calculated. Acquiring the current data at time t indicates that the pose is start...

no. 2 example

[0103] Figure 6 It is a schematic flowchart of the vehicle positioning method according to the second embodiment of the present application. Such as Figure 6 As shown, the vehicle positioning method of the present application includes the following steps:

[0104] S1: During the driving process of the vehicle, obtain the current data of the target data source at time t. The target data source includes the vehicle's dead reckoning pose, lane line perception data, and integrated navigation pose based on satellite positioning data;

[0105] S2: Use the current data at time t to initialize the first window of the data sliding window, and determine an initial pose as the fusion pose of the first window according to the current data, and the maximum number of windows of the data sliding window is greater than 1;

[0106] S3: The current window composed of the latest acquired current data enters the data sliding window, and predicts the fusion pose of the current window according...

no. 3 example

[0117] The difference between this embodiment and the first embodiment and the second embodiment is that if the window number of the data sliding window meets the preset condition, then output the positioning result of the vehicle according to the fusion pose of the current window predicted in step S3, and, Outputting the positioning result of the vehicle according to the updated fusion pose in step S40. That is to say, the pose prediction result and update result can be output together for the user's reference at the same time.

[0118] Other steps of this embodiment are the same as those of the first embodiment or the second embodiment, and will not be repeated here.

[0119] As mentioned above, the vehicle positioning method provided by this application uses the current data of the target data source to initialize the first window of the data sliding window and determine the fusion pose of the first window. The target data source includes the combined navigation pose of the...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a vehicle positioning method and device, a vehicle and a readable storage medium, and the method comprises the steps: employing current data of a target data source to initialize a first window of a data sliding window, and determining a fusion pose of the first window, wherein the target data source comprises a combined navigation pose, a dead reckoning pose and lane line sensing data of the vehicle; enabling that the current window with the latest target data source enters a data sliding window, and the fusion pose of the current window is predicted according to the fusion pose of the previous window; and based on each target data source in the data sliding window, updating a fusion pose of each window in the data sliding window, and when the number of the windows of the data sliding window meets a preset condition, outputting a positioning result of the vehicle according to the fusion pose in the data sliding window. The sliding window is combined with history and current data of multiple data sources to update the pose for multiple times, and the positioning precision robustness is good.

Description

technical field [0001] The present application relates to the technical field of vehicle positioning, in particular to a vehicle positioning method, device, vehicle and readable storage medium. Background technique [0002] Robust lane-level positioning has always been the goal of high-precision positioning for autonomous driving subsystems. At present, common positioning methods include integrated navigation positioning based on GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit, inertial measurement unit), wheel speedometer, and dead reckoning positioning based on IMU and wheel speedometer. , Fusion positioning based on camera vision and high-precision maps, etc., but these methods have problems that the positioning accuracy is not robust enough, for example, they are easily affected by the quality of GNSS signals and the trajectory suddenly jumps, there is error accumulation, and when the map is updated In the case of not being timely, it is easy t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/28G01S19/48
CPCG01C21/28G01S19/48
Inventor 高峻
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com