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Vehicle positioning method, system and device and computer readable storage medium

A positioning method and vehicle technology, applied in the fields of equipment and computer readable storage media, vehicle positioning methods, and systems, can solve problems such as high maintenance costs, expensive hardware equipment, and poor adaptability to positioning scenarios, and meet the requirements of The effect of mass production requirements and scene adaptability

Pending Publication Date: 2022-03-01
ZONGMU TECH SHANGHAI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a vehicle positioning method, system, equipment and computer-readable storage medium, which are used to solve the problems of expensive hardware equipment and high maintenance costs in the existing positioning technology. , The disadvantages of poor adaptability to positioning scenarios have led to constraints on the application and development of autonomous valet parking technology, and the positioning accuracy does not meet the accuracy requirements of unmanned valet parking for passenger cars in the parking lot.

Method used

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  • Vehicle positioning method, system and device and computer readable storage medium
  • Vehicle positioning method, system and device and computer readable storage medium
  • Vehicle positioning method, system and device and computer readable storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0042] This embodiment provides a vehicle positioning method, including:

[0043] Obtain the current geographic information of the vehicle, and use the current geographic information of the vehicle to find and determine the map data of the parking area to be entered by the vehicle;

[0044] When the vehicle enters the parking area, obtain the panoramic image data of the parking area;

[0045] extracting feature information from the panoramic image data of the parking area, and matching and positioning the extracted feature information with the map data of the parking area, so as to obtain the pose data of the vehicle in the map data of the parking area;

[0046] The real-time calculated mileage positioning data of the vehicle is used as the prediction input, and the pose data of the vehicle in the map data of the parking area is used to update and solve the pose of the vehicle in the map coordinate system.

[0047] The vehicle positioning method provided by this embodiment wi...

Embodiment 2

[0119] This embodiment provides a vehicle positioning system, including:

[0120] The first acquiring module is used to acquire the current geographical information of the vehicle, and search and determine the map data of the parking area to be entered by the vehicle through the current geographical information of the vehicle;

[0121] The second acquisition module is used to acquire the panoramic image data of the parking area when the vehicle enters the parking area;

[0122] The matching module is used to extract feature information from the panoramic image data of the parking area, and match and position the extracted feature information with the map data of the parking area, so as to obtain the pose data of the vehicle in the map data of the parking area;

[0123] The prediction and update module is used to use the real-time estimated mileage positioning data of the vehicle as a prediction input, and use the pose data of the vehicle in the map data of the parking area to ...

Embodiment 3

[0142] This embodiment provides a positioning device for a vehicle. The positioning device for the vehicle includes: a processor, a memory, a transceiver, a communication interface or / and a system bus; the memory and the communication interface are connected to the processor and the transceiver through the system bus and The mutual communication is completed, the memory is used to store the computer program, the communication interface is used to communicate with other devices, the processor and the transceiver are used to run the computer program, so that the vehicle positioning device executes the various steps of the vehicle positioning method as described above.

[0143] The system bus mentioned above may be a Peripheral Component Interconnect (PCI for short) bus or an Extended Industry Standard Architecture (EISA for short) bus or the like. The system bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is u...

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Abstract

The invention provides a vehicle positioning method, system and device and a computer readable storage medium, and the method comprises the steps: obtaining the current geographic information of a vehicle, and searching and determining the map data of a parking area where the vehicle is to enter through the current geographic information of the vehicle; when the vehicle enters the parking area, acquiring panoramic image data of the parking area; extracting feature information from the panoramic image data of the parking area, and matching and positioning the extracted feature information with map data of the parking area to obtain pose data of the vehicle in the map data of the parking area; the mileage positioning data, calculated in real time, of the vehicle is used as prediction input, and the pose data of the vehicle in the map data of the parking area are used for updating and solving the pose of the vehicle in the map coordinate system. The method is high in scene adaptability, the positioning precision meets the precision requirement of unmanned valet parking of the passenger car in the parking lot, and the mass production requirement of an autonomous valet parking system of the passenger car is met.

Description

technical field [0001] The invention belongs to the field of automotive electronics and computer technology, and relates to a positioning method and system, in particular to a vehicle positioning method, system, equipment and computer-readable storage medium. Background technique [0002] With the development of society, the number of family passenger cars is increasing day by day, and the parking lot space is also increasing day by day. Difficult to park, difficult to find a car and other issues have become increasingly prominent. In order to solve the parking problem, intelligent valet parking technology came into being. At present, smart parking technology can be divided into automatic parking assistance (APA, Automated Parking Assist), home memory parking (Homezone Parking Pilot) and autonomous valet parking (AVP, Autonomous Valet Parking) in terms of the degree of intelligence. In AVP parking technology, the high-precision positioning function is the foundation and pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C21/32
CPCG01C21/1652G01C21/20G01C21/32
Inventor 李昂松徐鹏赵翔伍孟琪王凡
Owner ZONGMU TECH SHANGHAI CO LTD
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