Vehicle Position Fusion With Map Matching and Time Synchronization
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Solution Overview
Problem
Existing position determination systems for autonomous vehicles face challenges in maintaining real-time performance and stability due to the processing of large amounts of data from various sensors and GPS data, which can lead to inaccuracies in position information.
Innovation Solution
A position determination apparatus and method that includes a first sensing unit for driving state information, a GNSS module for position data, a first core unit for generating a driving trajectory and estimating the vehicle's position, and a second sensing unit and core unit for generating map matching data and fusing position data to correct errors, with asynchronous operation and time synchronization to remove asynchronicity between data sources.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the position determination system processes a large amount of data from various sensors and GPS data, then the position information accuracy is improved, but the real-time performance and stability of the position determination system deteriorate
Solution Approach 1:
The system divides the position determination process into two independent core units: a first core unit that processes sensor data and generates driving trajectory information, and a second core unit that processes GPS data and performs map matching. This segmentation allows each unit to operate independently with optimized data processing, improving real-time performance while maintaining position accuracy through coordinated operation.
Solution Approach 2:
The system introduces an intermediary mechanism (time synchronization and data fusion module) that coordinates between the two core units. This intermediary synchronizes data from different sources and fuses them to produce accurate position information, resolving the contradiction between processing comprehensive data and maintaining real-time performance.
2Measurement precision
If the position determination system processes a large amount of data from various sensors and GPS data, then the position information accuracy is improved, but the stability of the position information output cycle deteriorates
Solution Approach 1:
By segmenting the system into two core units with distinct functions, each unit maintains a stable and predictable processing cycle. The first core unit stabilizes trajectory generation from sensor data, while the second core unit stabilizes position determination through map matching, ensuring overall system stability despite processing large data volumes.
Solution Approach 2:
The system performs preliminary actions by pre-processing sensor data into driving trajectory information before the final position determination step. This preliminary processing stabilizes the data flow and reduces variability in the main position determination process, ensuring stable output cycles.
3Measurement precision
If the system uses multiple data sources including sensor data and GPS data, then the position information accuracy is improved, but the device complexity increases
Solution Approach 1:
The system segments complex multi-source data processing into two manageable core units with clear functional boundaries. This segmentation reduces device complexity by organizing the system into modular components that can be independently implemented and maintained, while still utilizing multiple data sources for accurate position determination.
Data Source
AI summary
A position determination apparatus for a vehicle may include: a first sensing unit configured to sense driving state information of the vehicle; a GNSS module configured to acquire position data of the vehicle; a first core unit configured to generate a first driving trajectory of the vehicle based on the driving state information sensed by the first sensing unit, and estimate the current position of the vehicle based on the generated first driving trajectory; a second sensing unit configured to detect driving environment information of the vehicle; and a second core unit configured to generate a second driving trajectory of the vehicle, generate map matching data by performing map matching on the driving environment information sensed through the second sensing unit, and generate fused position determination information by fusing the position data received from the GNSS module, the second driving trajectory and the map matching data.