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Map positioning method and device of vehicle and electronic equipment

A positioning method and vehicle technology, applied in the direction of measuring devices, navigation, instruments, etc., can solve the problems of map and vehicle projection error increase, map positioning cannot adapt to intelligent driving, and path planning cannot be provided, etc., to reduce projection errors and improve The effect of real-time accuracy

Active Publication Date: 2022-06-24
苏州挚途科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, this projection method also has some disadvantages. The map positioning in the above projection method cannot adapt to large-scale and long-distance intelligent driving.
Because as the driving distance (compared to the projection origin) increases, the projection errors of the map and the vehicle will increase accordingly. At this time, the attitude and position of the vehicle projected on the plane will be accompanied by a large error, which cannot be used for the path. planning to provide accurate information

Method used

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  • Map positioning method and device of vehicle and electronic equipment
  • Map positioning method and device of vehicle and electronic equipment
  • Map positioning method and device of vehicle and electronic equipment

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Embodiment 1

[0034] An embodiment of the present invention provides a map positioning method for a vehicle, see figure 1 The flow chart of a map positioning method of a vehicle shown, the map positioning method of the vehicle includes the following steps:

[0035] Step S102, acquiring map data and vehicle positioning data.

[0036] In this embodiment, map data and vehicle positioning data can be acquired. The acquisition frequency of vehicle positioning data is generally greater than the acquisition frequency of map data, for example, the acquisition frequency of vehicle positioning data may be 100 Hz, and the acquisition frequency of map data may be 1 Hz.

[0037] Among them, the map data can represent the environment of the surrounding area of ​​the driving path of the vehicle, and the map data bureau can contain various terrains, the location and length, width and height information of the landforms. Positioning data of the vehicle Position information of the positioning data of the v...

Embodiment 2

[0051] This embodiment provides another method for locating a vehicle on a map, which is implemented on the basis of the above-mentioned embodiment. figure 2 The flow chart of another vehicle map positioning method shown, the vehicle map positioning method includes the following steps:

[0052] Step S202: Acquire map data based on a preset first frequency; acquire vehicle positioning data based on a preset second frequency; wherein the second frequency is greater than the first frequency.

[0053] The embodiments of the present invention aim to solve the problem of projection errors in large-scale and long-distance map positioning, and provide an accurate two-dimensional plane map positioning information. The embodiment of the present invention can be adapted to a large-scale and long-distance map positioning projection scheme, and of course, can also be adapted to a small-scale map positioning projection scheme. Among them, the acquisition frequency of vehicle positioning d...

Embodiment 3

[0072] Corresponding to the above method embodiments, an embodiment of the present invention provides a map positioning device for a vehicle, see Figure 5 Shown is a schematic structural diagram of a map positioning device for a vehicle, the map positioning device for the vehicle includes:

[0073] A data acquisition module 51 is used to acquire map data and vehicle positioning data;

[0074] The initial coordinate system determination module 52 is used to determine the initial coordinate system of the vehicle based on the positioning data at the time when the vehicle is powered on;

[0075] The projection coordinate system determination module 53 is used to adjust the initial coordinate system based on the positioning data of the vehicle at the current moment to obtain the projection coordinate system;

[0076] The projection coordinate determination module 54 is used for determining the projection coordinates of the vehicle in the projection coordinate system based on the ...

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Abstract

The invention provides a map positioning method and device of a vehicle and electronic equipment. The method comprises the following steps: acquiring map data and positioning data of a vehicle; determining an initial coordinate system of the vehicle based on the positioning data at the power-on moment of the vehicle; adjusting the initial coordinate system based on the positioning data of the vehicle at the current moment to obtain a projection coordinate system; determining projection coordinates of the vehicle in a projection coordinate system based on the positioning data of the vehicle at the current moment; and projecting map information included in the map data in the projection coordinate system. In the mode, by adjusting the initial coordinate system, the planar motion information amount in the vehicle running process can be reserved to the maximum extent, the projection error of the map and the vehicle is reduced, and the real-time accuracy of vehicle map positioning is improved, so that accurate map positioning information of a two-dimensional plane is provided.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, and in particular, to a map positioning method, device and electronic device for a vehicle. Background technique [0002] In the intelligent driving perception system, vehicle positioning and map projection play an important role. The positioning data of the vehicle can output the precise position information of the vehicle, and the map data can give the information of the map elements around the vehicle. Among them, vehicle positioning and map projection together determine the path planning of autonomous vehicles. [0003] Due to the complexity of real scenes, route planning often needs to project vehicle information and map information together into a two-dimensional space for display. Generally speaking, you can choose the ENU coordinate system (east-north-sky coordinate system) with a certain point as the origin, and projecting the vehicle's positioning and real-time map ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32G01C21/00
CPCG01C21/32G01C21/3815
Inventor 王慧韩志华管守奎
Owner 苏州挚途科技有限公司
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