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Vehicle positioning method and system, automatic parking method and system and storage medium

A technology for vehicle positioning and preliminary positioning, applied in vehicle position/route/altitude control, control/regulation system, non-electric variable control, etc. problem, to achieve the effect of low cost, fast positioning speed and high positioning accuracy

Inactive Publication Date: 2022-05-03
ENBOTAI TIANJIN TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, there are many solutions for automatic driving parking, but there are the following technical problems: the accuracy of vehicle positioning can only reach the decimeter level. In order to solve this problem, in the existing technology: either additional sensors and high computing power control The cost of the system is too high, or the pose needs to be corrected based on the collected information. However, due to the different types of collected information and different methods of collecting information, the amount of calculation is too large, and the speed of building maps and positioning does not meet the requirements.

Method used

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  • Vehicle positioning method and system, automatic parking method and system and storage medium
  • Vehicle positioning method and system, automatic parking method and system and storage medium
  • Vehicle positioning method and system, automatic parking method and system and storage medium

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Embodiment 1

[0056] figure 1 For the flow chart of the vehicle positioning method provided in Embodiment 1 of the present invention, please refer to figure 1 , the vehicle positioning method provided in Embodiment 1 of the present invention includes:

[0057] Initialization step: Semantic matching is performed according to the perceptual semantic information provided by multiple surround-view cameras on the vehicle body and the map, and the pose is obtained by matching semantics to perform positioning initialization, and then the precise position of the corresponding car on the map is determined through initialization;

[0058] The preliminary positioning step S1 includes: S11 calculates the position update amount of the pose between the current moment and the previous moment according to the motion information of the car body, S12 obtains the current position of the car body according to the position update amount and the final positioning pose of the last moment The initial positioning ...

Embodiment 2

[0117] Embodiment 2 of the present invention further provides a vehicle positioning system, which is configured as the vehicle positioning method provided in Embodiment 1 above.

[0118] figure 2 The first principle block diagram of the vehicle positioning system provided by Embodiment 2 of the present invention; image 3 For the second functional block diagram of the vehicle positioning system provided by Embodiment 2 of the present invention, please refer to it together figure 2 and image 3 , The vehicle positioning system provided by Embodiment 2 of the present invention includes: a preliminary positioning module 200 , a pose correction module 300 and a filtering module 400 . The preliminary positioning module 200 includes a first calculation submodule and a second calculation submodule; the pose correction module 300 includes an identification submodule, a matching submodule and a correction submodule.

[0119] The first calculation submodule is used to calculate the...

Embodiment 3

[0129] The embodiment of the present invention also provides an automatic parking method, including a vehicle positioning step and a vehicle control step; the vehicle positioning step adopts the vehicle positioning method provided in the above-mentioned embodiment 1 to locate the vehicle; the vehicle control step, according to the vehicle The located position information and the target position information control the movement of the vehicle to the target position.

[0130] The automatic parking method provided by the embodiment of the present invention adopts the vehicle positioning method provided by the above-mentioned embodiment 1, so the vehicle can be positioned accurately and quickly, so that automatic parking can be realized quickly and accurately.

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Abstract

The invention provides a vehicle positioning method and system, an automatic parking method and system and a storage medium, and the method comprises the steps: carrying out the position and posture matching according to semantic information and a preset map, and achieving the positioning initialization; calculating the position update quantity of the pose between the current moment and the previous moment according to the motion information of the vehicle body; according to the position update quantity and the final positioning pose at the previous moment, obtaining the initial positioning pose of the vehicle body at the current moment; searching semantic elements correspondingly matched with the recognized semantic elements in a preset map according to the initial positioning pose at the current moment and the recognized semantic elements, and correcting the initial positioning pose according to the mutually matched semantic elements to obtain a corrected pose; and taking the initial positioning pose and the motion information at the current moment as predicted values of a filtering model, and taking the corrected pose as an observed value of the filtering model to carry out filtering processing to obtain a final positioning pose at the current moment. The cost is low, the precision is high, the speed is high, and the precision can reach centimeter-level positioning.

Description

technical field [0001] The present invention relates to the technical field of automatic parking, and more specifically relates to a vehicle positioning method and system, an automatic parking method and system, and a storage medium. Background technique [0002] With the increasing use of vehicles, car owners will encounter various inconveniences. Among them, looking for parking lots and parking spaces and parking and picking up cars is a problem that plagues many car owners. How to help the car owner park the car where he wants to park in a specific scenario, and take the car out at the designated pick-up location, and the whole process does not require the car owner to control the car in the car, has become a strong demand for car owners . [0003] At present, there are many solutions for automatic driving parking, but there are the following technical problems: the accuracy of vehicle positioning can only reach the decimeter level. In order to solve this problem, in th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0231G05D1/0274
Inventor 牛小宁王曦王若瑜邱芸
Owner ENBOTAI TIANJIN TECH CO LTD