Lane Line Positioning Using IMU Data in GPS-Denied Roads
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Solution Overview
Problem
Existing map technologies struggle to accurately position lane lines, especially in closed or semi-closed scenarios where GPS signals are unavailable, leading to inaccuracies and limitations in automated driving and navigation.
Innovation Solution
A lane line positioning method using inertial information from a vehicle's IMU, combined with target traveling information, allows for accurate determination of lane lines without relying on GPS signals, by correcting vehicle positions and using relative position information to create high-precision maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS-based positioning method is used, then positioning accuracy is improved in open air scenarios, but the method becomes inapplicable in closed or semi-closed scenarios where GPS signals are unavailable
Solution Approach 1:
The patent introduces inertial measurement units (IMU) and visual SLAM technology as intermediary systems to bridge the gap between GPS-based positioning and closed-environment navigation. The IMU provides continuous position estimates through inertial sensors, while visual SLAM uses camera images to detect and track lane lines, creating a hybrid positioning system that works seamlessly across both open and closed scenarios
Solution Approach 2:
The system dynamically changes positioning parameters by switching between GPS-based positioning and inertial/visual-based positioning depending on the availability of GPS signals. When GPS signals are available, the system uses GPS coordinates for positioning; when GPS signals are unavailable, it transitions to using inertial measurement data and visual lane line detection results, thereby maintaining positioning accuracy across different environmental conditions
2Measurement precision
If manual surveying and mapping is used, then lane line positioning can be achieved, but the operation complexity increases and error probability rises
Solution Approach 1:
The system enables self-service positioning by allowing the vehicle to automatically detect and map lane lines using its own mounted sensors (cameras and IMU). The vehicle captures images of the road environment, processes these images to identify lane line features, and autonomously determines its position relative to detected lane lines, eliminating the need for external manual surveying teams and complex manual mapping operations
Solution Approach 2:
The patent replaces manual mechanical surveying operations with automated electronic systems. Instead of using manual instruments for measurement and mapping, the system employs computer vision algorithms to process camera images, inertial sensors to track vehicle motion, and computational algorithms to automatically generate and update lane line maps, thereby reducing both operational complexity and human error
3Measurement precision
If GPS signal is used for positioning, then positioning results are accurate, but the system fails when GPS signals are weak or unavailable
Solution Approach 1:
The system implements beforehand cushioning by preparing alternative positioning methods (inertial navigation and visual SLAM) in advance to compensate for potential GPS signal failures. The inertial measurement units continuously track vehicle position even without GPS, and the visual SLAM system is ready to detect lane lines and provide positioning cues, ensuring that the system maintains reliability and continues to function accurately when GPS signals become weak or unavailable
Data Source
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AI summary
Disclosed are a lane line positioning method and device, a storage medium and an electronic device, wherein the method comprises: obtaining inertia information, target driving information and a first position of a vehicle, wherein the inertia information is information measured by an inertia measurement unit of the vehicle, the target driving information is driving information of the vehicle collected at a first time instant, and the first position is a position of the vehicle at the first time instant (S202); determining a second position according to the target driving information and the first position, and determining a third position of the vehicle at a second time instant on the basis of the inertia information and the second position of the vehicle, wherein the second time instant is later than the first time instant (S204); and determining positions of lane lines in a map according to the third position and relative position information, wherein the relative position information is used for indicating a relative position relationship between the vehicle and the lane lines detected by the vehicle (S206). The technical solution solves the technical problem in the related art of positions of lane lines in a map not being accurately determined.