CN108254776A - Tunnel placement system and method based on curb fluorescent reflection and binocular camera - Google Patents
Tunnel placement system and method based on curb fluorescent reflection and binocular camera Download PDFInfo
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- CN108254776A CN108254776A CN201711418856.0A CN201711418856A CN108254776A CN 108254776 A CN108254776 A CN 108254776A CN 201711418856 A CN201711418856 A CN 201711418856A CN 108254776 A CN108254776 A CN 108254776A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention relates to a kind of tunnel placement systems based on curb fluorescent reflection and binocular camera, it includes GPS receiver module, map system, binocular vision image location system and fusion register control, wherein, the GPS location signal input part of the signal output end connection map system of GPS receiver module, the map datum input terminal of the map datum output terminal connection fusion register control of map system, the binocular location data input terminal of the binocular location data output terminal connection fusion register control of binocular vision image location system；The present invention corrects the position error of GPS using curb fluorescent reflection and binocular stereo vision in real time so that alignment system of the invention provides high-precision positioning under can covering environment in tunnel etc., and accurate vehicle position information is provided in environmental modeling for vehicle.
Description
Technical field
The present invention relates to automatic driving technical fields, and in particular to one kind is based on curb fluorescent reflection and binocular camera
Tunnel placement system and method.
Background technology
In autonomous driving vehicle driving process, vehicle location is the important input of vehicle planning control, needs decimeter grade
Even higher positioning accuracy.Exist in tunnel etc. in blocking environment, differential GPS positioning can be also greatly affected, can not be complete
Into positioning.In order to meet the demand, there is the methods of using GPS+ code-discs, radio frequency+vehicle appearance, but this method precision is relatively low to determine
Vehicle lane is arrived in position；Have using camera and vehicle appearance state sensor householder method, but since the influence for being illuminated by the light intensity identifies mistake
Difference is larger, and vehicle location track is simultaneously unstable；Have a method assisted using High Accuracy Inertial or laser radar, but this method by into
This limitation is not easy volume production popularization.
Invention content
The purpose of the present invention is to provide a kind of tunnel placement system based on curb fluorescent reflection and binocular camera and sides
Method, the system correct position error using curb fluorescent reflection and binocular stereo vision, it are made to be applicable to the screenings such as tunnel in real time
Cover the automatic Pilot under environment.
In order to solve the above technical problems, a kind of tunnel based on curb fluorescent reflection and binocular camera disclosed by the invention is determined
Position system, it is characterised in that：It includes GPS (GPS) receiving module, map system, binocular vision image and determines
Position system and fusion register control, wherein, the GPS location signal of the signal output end connection map system of GPS receiver module
Input terminal, the map datum input terminal of the map datum output terminal connection fusion register control of map system, binocular vision figure
As the binocular location data input terminal of the binocular location data output terminal connection fusion register control of alignment system；
GPS receiver module is used to carry out Primary Location, and by vehicle to vehicle in traveling by GPS
Primary Location data be transferred to map system；
The map system, and will be in Primary Location vehicle position information and map system by GPS positioning vehicle location
Present road information matches, and according to the matched result by curb in corresponding tunnel road attribute information, tunnel environment
The curb point sequence coordinate data of reflecting surface, tunnel roadway characteristic element data are exported to fusion register control；
The binocular vision image location system is used for through pattern recognition technique to tunnel road attribute information, tunnel ring
Curb reflecting surface and tunnel roadway characteristic element in border are identified and result information are input to fusion register control, should
Recognition result is the position of lane line and curb in tunnel, tunnel road curvature and tunnel roadway characteristic element (such as hole, illumination
Lamp, direction board, ventilation opening, accessory channel mouth and well head) location information；
The fusion register control for system according to the map provide by tunnel road attribute information, curb reflecting surface
Curb point sequence coordinate data, the figure that provides of tunnel roadway characteristic element data and binocular vision image location system knows
Other result information passes through SLAM (positioning and map structuring immediately, simultaneous localization and mapping)
Technology carries out instant position matching (realizing merging to tunnel binocular location data and vehicle tube map location data), formation
Tunnel curb three-dimensional model, and tunnel curb three-dimensional model combination body structure data and binocular camera installation position data are anti-
Calculate the accurate traveling-position of vehicle.
A kind of tunnel placement method using above system, it includes the following steps：
Step 1：GPS receiver module carries out Primary Location, and by vehicle by GPS to vehicle in traveling
Primary Location data be transferred to map system；
Step 2：The map system is by GPS positioning vehicle location, and by Primary Location vehicle position information and map
Present road information matches in system, and according to the matched result by corresponding tunnel road attribute information, tunnel environment
The curb point sequence coordinate data of middle curb reflecting surface, tunnel roadway characteristic element data are exported to fusion register control；
Step 3：The binocular vision image location system is by pattern recognition technique to tunnel road attribute information, tunnel
Curb reflecting surface and tunnel roadway characteristic element in environment are identified and result information are input to fusion register control,
The recognition result be tunnel in the position of lane line and curb, tunnel road curvature tunnel roadway characteristic element location information；
Step 4：It is described fusion register control according to the map system provide by tunnel road attribute information, curb reflect
The figure that curb point sequence coordinate data, tunnel roadway characteristic element data and the binocular vision image location system in face provide
Recognition result information carries out instant position matching by SLAM technologies, forms tunnel curb three-dimensional model, and tunnel curb is stood
Body Model combination body structure data and binocular camera installation position data inverse go out the accurate traveling-position of vehicle.
Beneficial effects of the present invention：
The present invention corrects the position error of GPS using curb fluorescent reflection and binocular stereo vision in real time so that the present invention
Alignment system can cover environment in tunnel etc. under high-precision positioning be provided, provided in environmental modeling accurately for vehicle
Vehicle position information.In addition, the present invention can accurately position track, improve identification positioning accuracy and the present invention be at low cost,
Volume production is suitble to promote.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
The present invention the tunnel placement system based on curb fluorescent reflection and binocular camera, it include GPS receiver module,
Drawing system, binocular vision image location system and fusion register control, wherein, the signal output end connection of GPS receiver module
The GPS location signal input part of map system, the map of the map datum output terminal connection fusion register control of map system
Data input pin, the binocular of the binocular location data output terminal connection fusion register control of binocular vision image location system are determined
Position data input pin；
GPS receiver module is used to carry out Primary Location, and by vehicle to vehicle in traveling by GPS
Primary Location data be transferred to map system；
The map system, and will be in Primary Location vehicle position information and map system by GPS positioning vehicle location
Present road information matches, and according to the matched result by curb in corresponding tunnel road attribute information, tunnel environment
The curb point sequence coordinate data of reflecting surface, tunnel roadway characteristic element data are exported to fusion register control；
The binocular vision image location system is used for through pattern recognition technique to tunnel road attribute information, tunnel ring
Curb reflecting surface and tunnel roadway characteristic element in border are identified and result information are input to fusion register control, should
Recognition result is the location information of the position of lane line and curb, tunnel road curvature and tunnel roadway characteristic element in tunnel；
The fusion register control for system according to the map provide by tunnel road attribute information, curb reflecting surface
Curb point sequence coordinate data, the figure that provides of tunnel roadway characteristic element data and binocular vision image location system knows
Other result information, carrying out instant position matching by SLAM technologies, (location technology, map can provide curb or tunnel in SLAM technologies
Feature locations data in road, camera can also recognize these features, and the Q-character recognized is calculated according to optical characteristics
Put), then the position data of the two is compared, the position of this feature, shape are accurately solved by Kalman filtering fusion
Into tunnel curb three-dimensional model, and by tunnel curb three-dimensional model combination body structure data and binocular camera installation position data
Inverse goes out the accurate traveling-position of vehicle.
In above-mentioned technical proposal, the tunnel road attribute information includes tunnel road curvature, tunnel road grade data
With the altitude information of curb.
In above-mentioned technical proposal, the tunnel roadway characteristic element data include tunnel in hole, headlamp, instruction
Board, ventilation opening, accessory channel mouth and well head location information.
In above-mentioned technical proposal, the curb point sequence coordinate data of curb reflecting surface is used to react road in the tunnel environment
Along the position of reflecting surface, curb reflecting surface is divided into face and common face, two neighboring curb is anti-using being equally spaced
The spacing range for penetrating face is 30~50cm.
In above-mentioned technical proposal, the body structure data include vehicle commander, wheelspan and wheelbase.
A kind of tunnel placement method using above system, it includes the following steps：
Step 1：GPS receiver module carries out Primary Location, and by vehicle by GPS to vehicle in traveling
Primary Location data be transferred to map system；
Step 2：The map system is by GPS positioning vehicle location, and by Primary Location vehicle position information and map
Present road information matches in system, and according to the matched result by corresponding tunnel road attribute information, tunnel environment
The curb point sequence coordinate data of middle curb reflecting surface, tunnel roadway characteristic element data are exported to fusion register control；
Step 3：The binocular vision image location system is by pattern recognition technique to tunnel road attribute information, tunnel
Curb reflecting surface and tunnel roadway characteristic element in environment are identified and result information are input to fusion register control,
The recognition result be tunnel in the position of lane line and curb, tunnel road curvature tunnel roadway characteristic element location information；
Step 4：It is described fusion register control according to the map system provide by tunnel road attribute information, curb reflect
The figure that curb point sequence coordinate data, tunnel roadway characteristic element data and the binocular vision image location system in face provide
Recognition result information carries out instant position matching by SLAM technologies, forms tunnel curb three-dimensional model, and tunnel curb is stood
Body Model combination body structure data and binocular camera installation position data inverse go out the accurate traveling-position of vehicle.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of tunnel placement system based on curb fluorescent reflection and binocular camera, it is characterised in that：It includes GPS receiver mould
Block, map system, binocular vision image location system and fusion register control, wherein, the signal output end of GPS receiver module
The GPS location signal input part of map system is connected, the map datum output terminal connection fusion register control of map system
Map datum input terminal, pair of the binocular location data output terminal connection fusion register control of binocular vision image location system
Mesh location data input terminal；
GPS receiver module is used to carry out vehicle in traveling Primary Location by GPS, and will be at the beginning of vehicle
Step location data is transferred to map system；
The map system is by GPS positioning vehicle location, and by working as in Primary Location vehicle position information and map system
Preceding road information matching, and reflected curb in corresponding tunnel road attribute information, tunnel environment according to the matched result
The curb point sequence coordinate data in face, tunnel roadway characteristic element data are exported to fusion register control；
The binocular vision image location system is used for through pattern recognition technique in tunnel road attribute information, tunnel environment
Curb reflecting surface and tunnel roadway characteristic element be identified and result information be input to fusion register control, the identification
As a result the location information for the position of lane line and curb, tunnel road curvature and tunnel roadway characteristic element in tunnel；
The road by tunnel road attribute information, curb reflecting surface that the fusion register control provides for system according to the map
The figure provided along point sequence coordinate data, tunnel roadway characteristic element data and binocular vision image location system identifies knot
Fruit information carries out instant position matching by SLAM technologies, forms tunnel curb three-dimensional model, and by tunnel curb three-dimensional model
Go out the accurate traveling-position of vehicle with reference to body structure data and binocular camera installation position data inverse.
2. the tunnel placement system according to claim 1 based on curb fluorescent reflection and binocular camera, it is characterised in that：
The tunnel road attribute information includes the altitude information of tunnel road curvature, tunnel road grade data and curb.
3. the tunnel placement system according to claim 1 based on curb fluorescent reflection and binocular camera, it is characterised in that：
The tunnel roadway characteristic element data includes hole, headlamp, direction board, ventilation opening, accessory channel mouth and the well in tunnel
The location information of mouth.
4. the tunnel placement system according to claim 1 based on curb fluorescent reflection and binocular camera, it is characterised in that：
The curb point sequence coordinate data of curb reflecting surface is used to react the position of curb reflecting surface, curb in the tunnel environment
Reflecting surface is divided into face and common face using being equally spaced, the spacing range of two neighboring curb reflecting surface for 30~
50cm。
5. the tunnel placement system according to claim 1 based on curb fluorescent reflection and binocular camera, it is characterised in that：
The body structure data include vehicle commander, wheelspan and wheelbase.
A kind of 6. tunnel placement method using system described in claim 1, which is characterized in that it includes the following steps：
Step 1：GPS receiver module carries out Primary Location, and by vehicle by GPS to vehicle in traveling
Primary Location data are transferred to map system；
Step 2：The map system is by GPS positioning vehicle location, and by Primary Location vehicle position information and map system
In present road information matches, and according to the matched result by corresponding tunnel road attribute information, tunnel environment Road
It is exported along the curb point sequence coordinate data of reflecting surface, tunnel roadway characteristic element data to fusion register control；
Step 3：The binocular vision image location system is by pattern recognition technique to tunnel road attribute information, tunnel environment
In curb reflecting surface and tunnel roadway characteristic element be identified and result information be input to fusion register control, the knowledge
Other result be tunnel in the position of lane line and curb, tunnel road curvature tunnel roadway characteristic element location information；
Step 4：The fusion register control according to the map system provide by tunnel road attribute information, curb reflecting surface
The figure identification that curb point sequence coordinate data, tunnel roadway characteristic element data and binocular vision image location system provide
Result information carries out instant position matching by SLAM technologies, forms tunnel curb three-dimensional model, and by tunnel curb solid mould
Type combination body structure data and binocular camera installation position data inverse go out the accurate traveling-position of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711418856.0A CN108254776A (en) | 2017-12-25 | 2017-12-25 | Tunnel placement system and method based on curb fluorescent reflection and binocular camera |
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| CN201711418856.0A CN108254776A (en) | 2017-12-25 | 2017-12-25 | Tunnel placement system and method based on curb fluorescent reflection and binocular camera |
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| WO2020113528A1 (en) * | 2018-12-06 | 2020-06-11 | 深圳市大疆创新科技有限公司 | Navigation processing method and apparatus and navigation processing device |
| CN112161633A (en) * | 2020-09-28 | 2021-01-01 | 北京百度网讯科技有限公司 | Data processing method, device, equipment and storage medium |
| CN115468576A (en) * | 2022-09-29 | 2022-12-13 | 东风汽车股份有限公司 | Automatic driving positioning method and system based on multi-mode data fusion |
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