A navigation system applied to a vehicle turning scenario

Abstract

The application provides a navigation system applied to a turning scene of a vehicle, which comprises a signal receiving module arranged on the vehicle and used for receiving satellite signals and transmitting the satellite signals to a signal processing module for vehicle positioning and orientation; the signal processing module is arranged on a geometric center frame of the vehicle and connected with the signal receiving module, and is used for calculating a vehicle position and a vehicle pose according to the received satellite signals; and a vehicle positioning module is arranged on the vehicle and connected with the signal processing module, and is used for receiving the vehicle position and the vehicle pose, determining accurate position and pose information of the vehicle, and making the vehicle turn according to the accurate position and pose.

Description

Technical Field

[0001] This application relates to the field of vehicle navigation technology, and in particular to a navigation system applied to vehicle turning scenarios. Background Technology

[0002] With the development of autonomous driving technology, a large number of intelligent driving vehicles are being widely used, especially in port scenarios, where intelligent driving is applied to unmanned container trucks. Unmanned container trucks are typically equipped with integrated navigation devices to provide raw data for positioning, and then other positioning methods, such as laser odometry, are used to ensure stable positioning results from GPS (Global Positioning System) even in conditions of poor signal. Since current technology obtains vehicle pose data from the IMU (Inertial Measurement Unit) module, ensuring the accuracy of vehicle position and pose information is crucial for guaranteeing the positioning results of unmanned container trucks and ensuring safe turning. Summary of the Invention

[0003] In view of this, the present invention provides a navigation system for vehicle turning scenarios to solve the technical problems of existing technologies, such as the inability to guarantee positioning and orientation effects in the later stages and the inability to guarantee positioning accuracy in turning scenarios.

[0004] This invention provides a navigation system for vehicle turning scenarios. The system includes: a signal receiving module mounted on the vehicle for receiving satellite signals and transmitting them to a signal processing module for vehicle positioning and orientation; a signal processing module mounted on the vehicle's geometric center frame and connected to the signal receiving module for calculating the vehicle's position and pose based on the received satellite signals; and a vehicle positioning module mounted on the vehicle and connected to the signal processing module for receiving the vehicle's position and pose, determining the vehicle's accurate position and pose information, and enabling the vehicle to turn based on the accurate position and pose.

[0005] Furthermore, the system also includes a real-time dynamic module, which is located at the signal base station and connected to the signal processing module, for providing real-time dynamic differential signals to the signal processing module to improve vehicle positioning accuracy.

[0006] Furthermore, the signal base station is either a self-built base station or a third-party positioning service.

[0007] Furthermore, the satellite signal is a GNSS signal.

[0008] Furthermore, the signal processing module includes an inertial measurement unit for calculating the vehicle's position and pose.

[0009] Furthermore, the inertial measurement unit includes an accelerometer and a gyroscope.

[0010] Furthermore, the signal receiving module includes a positioning acquisition unit and a orientation acquisition unit, wherein: the positioning acquisition unit is used to receive and acquire navigation signals for vehicle positioning; and the orientation acquisition unit is used to receive and acquire navigation signals for vehicle orientation.

[0011] Furthermore, the positioning acquisition unit and the orientation acquisition unit are located at the rear of the vehicle.

[0012] This invention provides a navigation system for vehicle turning scenarios. The solution receives satellite signals via a signal receiving module, then uses a signal processing module to retrieve the vehicle's position and calculate its pose, ensuring data reliability. Finally, the system uses the accurate position and pose to determine the vehicle's turning direction. This invention solves the technical problems of existing technologies, such as the inability to guarantee positioning and orientation accuracy in the later stages, and the inability to guarantee positioning accuracy in turning scenarios. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the operation steps of a navigation system applied to a vehicle turning scenario, provided by the present invention; Figure 2 This is a schematic diagram of the operation steps of the signal receiving module provided by the present invention; Figure 3 This is a schematic diagram of the operation steps of the signal processing module provided by the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] This invention provides a navigation system for vehicle turning scenarios. The system includes a real-time signal receiving module, a signal processing module, a vehicle positioning module, and a real-time dynamic module. The operating steps of the system are as follows: Figure 1 As shown.

[0016] Step 1: The real-time dynamic module provides the real-time dynamic differential signal to the signal receiving module; A real-time dynamic module, located at the signal base station and connected to the signal processing module, provides real-time dynamic differential signals to the signal processing module to improve vehicle positioning accuracy. The signal base station can be a self-built base station or a third-party positioning service.

[0017] Step 2: The signal receiving module receives satellite signals and transmits them to the signal processing module for vehicle positioning and orientation. The signal receiving module is installed on the vehicle and connected to the signal processing module. It receives satellite signals and transmits them to the signal processing module for vehicle positioning and orientation. The satellite signals are GNSS signals.

[0018] like Figure 2 As shown, the specific operating steps of the signal receiving module are as follows.

[0019] Step 201: Receive and process satellite signals; Step 202: Calculate the vehicle's position and pose.

[0020] Step 3: The signal processing module calculates the vehicle's position and pose based on the satellite signal and the real-time dynamic differential signal. A signal processing module, mounted on the vehicle's geometric center frame, processes satellite signals to calculate the vehicle's position and pose. This module includes an inertial measurement unit (IMU) for calculating the vehicle's position and pose. The IMU includes an accelerometer and a gyroscope.

[0021] like Figure 3 As shown, the specific operating steps of the signal processing module are as follows.

[0022] Step 301: The positioning acquisition unit receives and acquires navigation signals for vehicle positioning. Step 302: The orientation acquisition unit receives and acquires navigation signals for vehicle orientation.

[0023] The positioning and orientation acquisition units are located at the rear of the vehicle. The signal processing module calculates the vehicle's position and attitude based on satellite navigation and the inertial system. Satellite navigation relies primarily on satellite signals for positioning, while the inertial system relies primarily on IMU devices for estimation. An inertial measurement unit (IMU) is a device that measures an object's three-axis attitude angles (or angular rates) and acceleration. Generally, an IMU contains several single-axis accelerometers and single-axis gyroscopes. The accelerometers detect the object's acceleration signals, while the single-axis gyroscopes detect the object's angular velocity signals. By measuring the object's angular velocity and acceleration in three-dimensional space, the object's attitude is calculated. In existing technical solutions, navigation devices, such as GNSS (Global Navigation Satellite System), have different initial installation angles. In contrast, the technical solution provided by this invention involves fixing the signal processing module at the geometric center of the vehicle body. Therefore, when a vehicle brakes and decelerates during a turning scenario, the gyroscope in the IMU will be affected, and the angular velocity will change. In order to minimize the impact of braking and deceleration on the IMU module during turning, the signal processing module can be installed at the geometric center of the vehicle. This can minimize the measurement error of the yaw rate of the vehicle in turning scenarios.

[0024] Step 4: The vehicle positioning module determines the vehicle's accurate position and pose information based on the positioning and attitude signals output by the signal processing module.

[0025] The vehicle positioning module, installed on the vehicle and connected to the signal processing module, is used to receive the vehicle's position and pose, determine the vehicle's accurate position and pose information, and enable the vehicle to turn based on the accurate position and pose.

[0026] In summary, the technical solution provided by this invention allows the signal processing module to minimize the yaw rate error in the scenario of unmanned truck turning, providing more accurate vehicle pose information. The laser odometry can calculate the local positioning trajectory based on the vehicle pose output by the IMU. Reducing the vehicle pose error can improve the positioning accuracy of the laser odometry, ensure the safety of unmanned trucks during operation, and improve the freight efficiency of ports.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A navigation system for use in vehicle turning scenarios, characterized in that, The system includes: The signal receiving module, installed on the vehicle, is used to receive satellite signals and transmit them to the signal processing module for vehicle positioning and orientation. The signal processing module, located on the vehicle's geometric center frame, is connected to the signal receiving module and is used to calculate the vehicle's position and pose based on the received satellite signals. The vehicle positioning module, installed on the vehicle and connected to the signal processing module, is used to receive the vehicle's position and pose, determine the vehicle's accurate position and pose information, and enable the vehicle to turn based on the accurate position and pose.

2. The navigation system for vehicle turning scenarios according to claim 1, characterized in that, The system also includes: The real-time dynamic module, located at the signal base station and connected to the signal processing module, is used to provide real-time dynamic differential signals to the signal processing module to improve vehicle positioning accuracy.

3. The navigation system for vehicle turning scenarios according to claim 2, characterized in that, The signal base station is either a self-built base station or a third-party positioning service.

4. The navigation system for vehicle turning scenarios according to claim 1, characterized in that, The satellite signal is a GNSS signal.

5. The navigation system for vehicle turning scenarios according to claim 1, characterized in that, The signal processing module includes an inertial measurement unit for calculating the vehicle's position and pose.

6. The navigation system for vehicle turning scenarios according to claim 4, characterized in that, The inertial measurement unit includes an accelerometer and a gyroscope.

7. The navigation system for vehicle turning scenarios according to claim 1, characterized in that, The signal receiving module includes a positioning acquisition unit and a directional acquisition unit, wherein: The positioning acquisition unit is used to receive and collect navigation signals for vehicle positioning. The orientation acquisition unit is used to receive and collect navigation signals for vehicle orientation.

8. The navigation system for vehicle turning scenarios according to claim 1, characterized in that, The positioning and directional acquisition units are located at the rear of the vehicle.

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