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Vehicle positioning method and device, computer equipment and storage medium

A vehicle positioning and vehicle technology, applied in the field of vehicle positioning methods, computer equipment and storage media, and devices, can solve the problems of single tunnel scene environment, integrated navigation system positioning accuracy that cannot meet the requirements of intelligent driving, and intelligent driving that cannot provide positioning results, etc.

Pending Publication Date: 2022-02-18
CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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AI Technical Summary

Problems solved by technology

However, in the tunnel scene, due to the inability to receive satellite signals normally, the positioning accuracy of the integrated navigation system cannot meet the requirements of intelligent driving
Lidar positioning is also one of the commonly used high-precision positioning methods. However, due to the single environment and inconspicuous longitudinal features in the tunnel scene, the positioning algorithm based on LiDAR is prone to failure, and cannot provide reliable positioning results for intelligent driving.

Method used

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  • Vehicle positioning method and device, computer equipment and storage medium
  • Vehicle positioning method and device, computer equipment and storage medium
  • Vehicle positioning method and device, computer equipment and storage medium

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Embodiment Construction

[0029] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0030] The vehicle positioning method provided by this application can be applied to the vehicle intelligent driving system. The vehicle intelligent driving system includes a vehicle controller, an inertial navigation device, a chassis sensor and a laser radar. During the driving process of the vehicle, the vehicle controller can obtain the inertial navigation The data collected by the device, chassis sensor and lidar are processed separately, and these data are fused to realize real-time positioning of the vehicle.

[0031] In one embodiment, such as figure 1 As shown, a...

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Abstract

The invention relates to a vehicle positioning method and device, computer equipment and a storage medium. The method comprises the steps of acquiring vehicle positioning related data at the current moment, wherein the vehicle positioning related data comprises inertial navigation system data, vehicle chassis data and point cloud data; calculating a vehicle pose at the current moment according to the inertial navigation system data to obtain a vehicle calculated pose at the current moment; correcting the vehicle calculated pose by using the vehicle chassis data to obtain a first vehicle corrected pose at the current moment; and determining a vehicle positioning pose at the current moment according to the first vehicle corrected pose and the point cloud data. By adopting the method, the positioning precision can be improved.

Description

technical field [0001] The present application relates to the technical field of intelligent driving, in particular to a vehicle positioning method, device, computer equipment and storage medium. Background technique [0002] In intelligent driving technology, precise positioning is the basis of perception, planning and control. In open scenes, high-precision positioning mainly relies on the GNSS (Global Navigate Satellite System, Global Navigation Satellite System) / INS (Inertial Navigation System, Inertial Navigation System) integrated navigation system. However, in the tunnel scene, due to the inability to receive satellite signals normally, the positioning accuracy of the integrated navigation system cannot meet the requirements of intelligent driving. LiDAR positioning is also one of the commonly used high-precision positioning methods. However, due to the single environment and inconspicuous longitudinal features in the tunnel scene, the positioning algorithm based on ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/28
CPCG01C21/165G01C21/28
Inventor 李大林吴晓桐高梁
Owner CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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