Fusion positioning system for automatic driving

Abstract

The invention relates to the technical field of automatic driving, in particular to a fusion positioning system for automatic driving, which comprises a first positioning unit, a second positioning unit and a positioning correction module, and is characterized in that the positioning correction module is used for comparing and correcting position information acquired by the first positioning unit and the second positioning unit; the first positioning unit comprises a satellite positioning module, a radar positioning module and a visual positioning module; the second positioning unit comprises a base station positioning module and a geofence module. The positioning information is accurately corrected by adopting multiple means so as to cope with the complex and changeable driving environment, and the adaptability of the automatic driving automobile in the complex environment is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a fusion positioning system for autonomous driving. Background Art

[0002] The importance of positioning in autonomous driving is reflected in ensuring driving safety, improving driving efficiency, and enhancing environmental adaptability. The positioning system provides accurate location information for autonomous vehicles, enabling them to accurately perceive the surrounding environment and make corresponding driving decisions. This helps avoid collisions and accidents and ensure driving safety.

[0003] The fusion positioning method of autonomous driving is a multi-dimensional and multi-level technical system that integrates multiple sensors and algorithms to cope with complex and changing driving environments.

[0004] The current fusion positioning systems mostly use satellite positioning and the vehicle's own radar or vision technology for positioning. This solution provides a fusion positioning system for autonomous driving, which will introduce more positioning information, make up for the shortcomings of existing positioning technology, and improve the adaptability of autonomous driving vehicles in complex environments. Summary of the invention

[0005] 1. Technical issues

[0006] The present invention aims to at least solve the problem in the prior art that the ways of obtaining positioning information are not diverse enough.

[0007] (II) Technical content

[0008] This solution provides a fusion positioning system for autonomous driving, which is achieved by the following specific technical means, including:

[0009] A first positioning unit, a second positioning unit and a positioning correction module, wherein the positioning correction module is used to compare and correct the position information collected by the first positioning unit and the second positioning unit;

[0010] The first positioning unit includes a satellite positioning module, a radar positioning module and a visual positioning module;

[0011] The second positioning unit includes a base station positioning module and a geo-fence module;

[0012] Satellite positioning module, providing absolute satellite positioning;

[0013] Radar positioning module: LiDAR measures the distance to surrounding objects by emitting and receiving laser pulses;

[0014] The visual positioning module uses the on-board camera to capture environmental images;

[0015] Base station positioning module, radio communication between ground fixed base stations and vehicles, provides more accurate positioning information;

[0016] The geo-fencing module, a location-based service (LBS) application, uses a virtual fence to enclose a specific geographic boundary. When a vehicle enters, leaves, or moves within this specific area, the vehicle receives automatic notification.

[0017] Preferred technical solution 1: The geo-fence module is set at important traffic nodes.

[0018] Preferred technical solution 2: The positioning correction module is also connected to an intelligent traffic management system, which can realize real-time monitoring and dispatching of vehicles.

[0019] Preferred technical solution three: The base station positioning module includes a surface base station and an underground base station. The underground base station is a base station arranged in an underground space, such as an underground parking lot. The fusion of the base station positioning module and the satellite positioning module realizes low-cost and fast regional underground space accurate positioning and navigation.

[0020] Preferred technical solution four: the satellite positioning module adopts GPS and Beidou positioning.

[0021] Preferred technical solution five: The radar positioning module uses millimeter wave radar to detect obstacles through electromagnetic wave reflection, which is suitable for positioning under severe weather conditions.

[0022] Preferred technical solution six: The visual positioning module uses a binocular camera to collect scenes.

[0023] Preferred technical solution seven: The base station positioning module is preferably a 5G signal station.

[0024] (III) Technical Effect

[0025] The above structure enables this solution to have the following beneficial effects:

[0026] 1. Accurately correct positioning information through various means to cope with complex and changing driving environments and improve the adaptability of autonomous vehicles in complex environments;

[0027] 2. Through the location information provided by the positioning system, the intelligent traffic management system can realize real-time monitoring and dispatching of vehicles, optimize traffic flow and improve road traffic efficiency;

[0028] 3. Accurate positioning can also be achieved in underground spaces where traditional satellite navigation systems can hardly provide effective positioning services. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 This is the system structure diagram of this solution.

[0031] Among them, 1. a first positioning unit; 101. a satellite positioning module; 102. a radar positioning module; 103. a visual positioning module;

[0032] 2. Second positioning unit; 201. Base station positioning module; 202. Geographic fence module;

[0033] 3. Positioning correction module. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] See also Figure 1 , a fusion positioning system for autonomous driving, including:

[0036] A first positioning unit 1, a second positioning unit 2 and a positioning correction module 3, wherein the positioning correction module 3 is used to compare and correct the position information collected by the first positioning unit 1 and the second positioning unit 2;

[0037] The first positioning unit 1 includes a satellite positioning module 101, a radar positioning module 102 and a visual positioning module 103;

[0038] The second positioning unit 2 includes a base station positioning module 201 and a geo-fence module 202;

[0039] Satellite positioning module 101, the satellite positioning module 101 uses GPS and Beidou positioning to provide absolute positioning, but its signal may be blocked or interfered, affecting the positioning accuracy;

[0040] Radar positioning module 102, laser radar measures the distance to surrounding objects by emitting and receiving laser pulses to build a high-precision environment model; the radar positioning module 102 uses millimeter wave radar to detect obstacles through electromagnetic wave reflection, and is suitable for positioning in severe weather conditions;

[0041] The millimeter wave radar includes a short-range millimeter wave radar and a long-range millimeter wave radar;

[0042] The visual positioning module 103 uses a vehicle-mounted camera to capture environmental images, detects semantic features in the images (such as lane lines, road signs, traffic lights, etc.), and matches these features with a pre-built high-precision map, thereby determining the precise position and posture of the vehicle, matching it with the high-precision map, and achieving absolute positioning; the visual positioning module 103 uses a binocular camera to collect scenes, stores different node information in layers into a visual multi-level map, and uses a monocular camera to perform map matching and posture calculation from coarse to fine, achieving fast and high-precision positioning, so that the vehicle can be accurately positioned even in areas with weak GPS signals such as tunnels and urban canyons;

[0043] The base station positioning module 201 is preferably a 5G signal station, which provides higher-precision positioning information through radio communication between a ground fixed base station and the vehicle, and the accuracy can reach the centimeter level, which is suitable for applications with high precision requirements; it is relatively reliable, especially in an environment with weak GPS signals; the base station positioning module 201 includes a surface base station and an underground base station, and the underground base station is a base station set in an underground space, such as an underground parking lot. The integration of the base station positioning module 201 and the satellite positioning module 101 realizes low-cost and fast accurate positioning and navigation of the regional underground space;

[0044] The geo-fence module 202 is a location-based service (LBS) application that uses a virtual fence to enclose a specific geographic boundary. When a vehicle enters, leaves, or moves within this specific area, the vehicle receives automatic notification.

[0045] See also Figure 1 , a fusion positioning system for autonomous driving, see Figure 1 , a fusion positioning system for autonomous driving, including:

[0046] A first positioning unit 1, a second positioning unit 2 and a positioning correction module 3, wherein the positioning correction module 3 is used to compare and correct the position information collected by the first positioning unit 1 and the second positioning unit 2;

[0047] The first positioning unit 1 includes a satellite positioning module 101, a radar positioning module 102 and a visual positioning module 103;

[0048] The second positioning unit 2 includes a base station positioning module 201 and a geo-fence module 202;

[0049] The geo-fence module 202 is set at important traffic nodes. Common geo-fence locations include residential areas, schools, hospitals, industrial parks, factories, shops, urban transportation hubs, etc.

[0050] For example, in some temporary gathering places, such as concerts, sports events and other large-scale events, organizers can set up geo-fences around the event venue to provide navigation guidance to participants;

[0051] The location of geofences is very flexible and can be selected and adjusted according to actual application needs. When setting up geofences, you need to pay attention to comply with relevant laws and regulations and privacy policies to ensure that user location data is used legally and compliantly.

[0052] See also Figure 1 , a fusion positioning system for autonomous driving, see Figure 1 , a fusion positioning system for autonomous driving, including:

[0053] A first positioning unit 1, a second positioning unit 2 and a positioning correction module 3, wherein the positioning correction module 3 is used to compare and correct the position information collected by the first positioning unit 1 and the second positioning unit 2;

[0054] The first positioning unit 1 includes a satellite positioning module 101, a radar positioning module 102 and a visual positioning module 103;

[0055] The second positioning unit 2 includes a base station positioning module 201 and a geo-fence module 202;

[0056] The positioning correction module 3 is also connected to an intelligent traffic management system, which can realize real-time monitoring and dispatching of vehicles, optimize traffic flow, and improve road traffic efficiency.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fusion positioning system for autonomous driving, characterized in that: include: A first positioning unit (1), a second positioning unit (2) and a positioning correction module (3), wherein the positioning correction module (3) is used to compare and correct the position information collected by the first positioning unit (1) and the second positioning unit (2); The first positioning unit (1) comprises a satellite positioning module (101), a radar positioning module (102) and a visual positioning module (103); The second positioning unit (2) comprises a base station positioning module (201) and a geo-fence module (202).

2. A fusion positioning system for autonomous driving according to claim 1, characterized in that: The geo-fence module (202) is set at important traffic nodes.

3. The fusion positioning system for autonomous driving according to claim 1, characterized in that: The positioning correction module (3) is also connected to the intelligent traffic management system.

4. The fusion positioning system for autonomous driving according to claim 1, characterized in that: The base station positioning module (201) comprises a surface base station and an underground base station, wherein the underground base station is a base station arranged in an underground space.

5. The fusion positioning system for autonomous driving according to claim 1, characterized in that: The satellite positioning module (101) adopts GPS and Beidou positioning.

6. The fusion positioning system for autonomous driving according to claim 1, characterized in that: The radar positioning module (102) adopts millimeter wave radar.

7. The fusion positioning system for autonomous driving according to claim 1, characterized in that: The visual positioning module (103) uses a binocular camera to collect scenes.

8. The fusion positioning system for autonomous driving according to claim 1, characterized in that: The base station positioning module (201) is preferably a 5G signal station.

9. The fusion positioning system for autonomous driving according to claim 6, characterized in that: The millimeter wave radar includes a short-range millimeter wave radar and a long-range millimeter wave radar.

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