CN107091648A - A kind of data fusion method and system of laser radar and differential GPS - Google Patents
A kind of data fusion method and system of laser radar and differential GPS Download PDFInfo
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- CN107091648A CN107091648A CN201710332738.1A CN201710332738A CN107091648A CN 107091648 A CN107091648 A CN 107091648A CN 201710332738 A CN201710332738 A CN 201710332738A CN 107091648 A CN107091648 A CN 107091648A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the data fusion method and system of a kind of laser radar and differential GPS, methods described includes：Obtain the radar point coordinates of current vehicle position and the gps data in Chinese herbaceous peony pre-determined distance and the fitting function of present road is generated according to the gps data；Wheeled width of the vehicle in present road is determined according to overall width, and uses the wheeled width to be modified to obtain the function in wheeled region to the fitting function；Judge whether the radar point coordinates meets the function in the wheeled region；If the radar point coordinates meets the function in the wheeled region, judge the radar points of current vehicle position in wheeled region.The present invention recycles the position relationship of the function and laser radar point to judge the security of laser radar point by the way that discrete differential GPS road section information is converted into continuous function.Such way has saved the data processing time of a large amount of laser radars, while increasing the security of pilotless automobile.
Description
Technical field
The present invention relates to pilotless automobile technical field, the data of more particularly to a kind of laser radar and differential GPS are melted
Close method and system.
Background technology
Automatic driving vehicle technology is increasingly mature, and laser radar and differential GPS navigation are played the part of in the progress of unmanned vehicle
Drill more and more important role.Laser radar perceives environment, and road, therefore laser radar and difference are set up in differential GPS navigation
The data fusion of GPS navigation turns into one of key technology of pilotless automobile, and it decides that nobody drives in a sense
The degree of intelligence of automobile is sailed, while being also the safety of pilotless automobile.Different sections, automatic driving car needs to determine
Plan goes out different driving behaviors, and the principal element for triggering different driving behaviors be exactly in wheeled region the distribution of barrier with
Feature.Traditional laser radar simply fills same grid map in being merged with differential GPS navigation data with fixed form, so
Processing mode increase operation time of the unmanned vehicle decision-making module to laser radar point because substantial amounts of non-wheeled region barrier
It is very little to unmanned vehicle Decision Making Effect to hinder thing.Discrete GPS map information line function is not entered into simultaneously traditional method
Fitting, such path is easily influenceed by noise spot during collection map.The laser radar that this patent is proposed navigates with differential GPS
Problem of data fusion, be ultimately converted to function and take an and function codomain computational problem.
Thus prior art could be improved and improve.
The content of the invention
The technical problem to be solved in the present invention is that there is provided a kind of laser radar and difference in view of the shortcomings of the prior art
GPS data fusion method and system, it is big with differential GPS navigation data fusion operation amount to solve existing laser radar, expend
The problem of time.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is as follows：
A kind of data fusion method of laser radar and differential GPS, it includes：
Obtain the radar point coordinates of current vehicle position and the gps data in Chinese herbaceous peony pre-determined distance and according to the GPS
Data generate the fitting function of present road；
Wheeled width of the vehicle in present road is determined according to overall width, and using the wheeled width to the fitting
Function is modified to obtain the function in wheeled region；
Judge whether the radar point coordinates meets the function in the wheeled region；
If the radar point coordinates meets the function in the wheeled region, judge that the radar points of current vehicle position exist
In wheeled region.
The data fusion method of the laser radar and differential GPS, wherein, the radar points for obtaining current vehicle position
Coordinate and gps data in Chinese herbaceous peony pre-determined distance and the fitting function for generating present road according to the gps data is specifically wrapped
Include：
The laser radar apparatus and differential GPS navigation equipment that are configured using vehicle obtain the radar of current vehicle position respectively
Gps data in point coordinates and Chinese herbaceous peony pre-determined distance；
The road attribute of present road is determined according to the gps data and its corresponding plan is determined according to the road attribute
Close order；
The fitting order is used to carry out fitting of a polynomial to generate the fitting function of present road to the gps data.
The data fusion method of the laser radar and differential GPS, wherein, it is described to determine vehicle in current road according to overall width
The wheeled width on road, and use the wheeled width to be modified to obtain the letter in wheeled region to the fitting function
Number is specifically included：
The width of Current vehicle is obtained, and the corresponding relation for adjusting threshold value with safety according to default road attribute determines institute
State the corresponding current safety regulation threshold value of present road；
Threshold calculations wheeled width is adjusted according to the width and the current safety；
The wheeled width is used to be modified to obtain the function in wheeled region to the fitting function.
The data fusion method of the laser radar and differential GPS, wherein, the function in the wheeled region is：
Wherein, the fL(x) it is left function, fR(x) it is right function, fM(x) it is road fitting function, γ is wheeled area
The width in domain.
The data fusion method of the laser radar and differential GPS, wherein, it is described to judge whether the radar point coordinates is full
The function in the foot wheeled region is specifically included：
The ordinate of the radar points substitutes into the function in the wheeled region and obtains its corresponding wheeled region
Left critical point and right critical point；
The abscissa is compared with left critical point and right critical point；
If the abscissa is more than or equal to the left critical point, and less than or equal to the right critical point, then judges described
Radar point coordinates meets the function in the wheeled region.
A kind of data fusion system of laser radar and differential GPS, it includes：
Fitting module, the gps data in radar point coordinates and Chinese herbaceous peony pre-determined distance for obtaining current vehicle position
And the fitting function of present road is generated according to the gps data；
Computing module, for determining wheeled width of the vehicle in present road according to overall width, and uses the wheeled
Width is modified to obtain the function in wheeled region to the fitting function；
First judge module, for judging whether the radar point coordinates meets the function in the wheeled region；
When the second judge module, function for meeting the wheeled region when the radar point coordinates, vehicle is judged
The radar points of current location are in wheeled region.
The data fusion system of the laser radar and differential GPS, wherein, the fitting module is specifically included：
Acquiring unit, laser radar apparatus and differential GPS navigation equipment for being configured using vehicle obtain vehicle respectively
Gps data in the radar point coordinates and Chinese herbaceous peony pre-determined distance of current location；
Determining unit, for determining the road attribute of present road according to the gps data and according to the road attribute
Determine its corresponding fitting order；
Fitting unit, for using the fitting order to carry out fitting of a polynomial to the gps data to generate current road
The fitting function on road.
The data fusion system of the laser radar and differential GPS, wherein, the computing module is specifically included：
Determining unit, the width for obtaining Current vehicle, and threshold value is adjusted with safety according to default road attribute
Corresponding relation determines the corresponding current safety regulation threshold value of the present road；
First computing unit, for adjusting threshold calculations wheeled width according to the width and the current safety；
Second computing unit, for using the wheeled width to be modified to the fitting function to obtain wheeled
The function in region.
The data fusion system of the laser radar and differential GPS, wherein, the left function and right function are：
Wherein, the fL(x) it is left function, fR(x) it is right function, fM(x) it is road fitting function, γ is wheeled area
The width in domain.
The data fusion system of the laser radar and differential GPS, wherein, first judge module is specifically included：
It is right that its is obtained in 3rd computing unit, the function for the ordinate substitution wheeled region of the radar points
The left critical point and right critical point in the wheeled region answered；
Comparing unit, for the abscissa to be compared with left critical point and right critical point；
Judging unit, for being more than or equal to the left critical point when the abscissa, and it is critical less than or equal to the right side
During point, judge that the radar point coordinates meets the function in the wheeled region.
Beneficial effect：Compared with prior art, the invention provides the data fusion side of a kind of laser radar and differential GPS
Method and system, methods described include：Obtain the gps data in the radar point coordinates and Chinese herbaceous peony pre-determined distance of current vehicle position
And the fitting function of present road is generated according to the gps data；Determine that vehicle is wide in the wheeled of present road according to overall width
Degree, and use the wheeled width to be modified to obtain the function in wheeled region to the fitting function；Judge described
Whether radar point coordinates meets the function in the wheeled region；If the radar point coordinates meets the letter in the wheeled region
Number, then judge the radar points of current vehicle position in wheeled region.Such way has saved the number of a large amount of laser radars
According to processing time, while increasing the security of pilotless automobile.
Brief description of the drawings
The laser radar that Fig. 1 provides for the present invention and the flow chart that the data fusion method of differential GPS is preferably implemented.
The fusion method schematic diagram when GPS is unreliable that Fig. 2 provides for the present invention.
Laser radar and the data fusion method schematic diagram one of differential GPS that Fig. 3 provides for the present invention.
Laser radar and the data fusion method schematic diagram two of differential GPS that Fig. 4 provides for the present invention
Laser radar and the structure principle chart of the data fusion system of differential GPS that Fig. 5 provides for the present invention.
Embodiment
The present invention provides the data fusion method and system of a kind of laser radar and differential GPS, for make the purpose of the present invention,
Technical scheme and effect are clearer, clear and definite, and the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.Should
Understand, specific embodiment described herein only to explain the present invention, is not intended to limit the present invention.
In the present invention, using the suffix of such as " module ", " part " or " unit " for representing element only for favourable
In the explanation of the present invention, itself do not have specific meaning.Therefore, module ", " part " or " unit " can mixedly make
With.
Terminal device can be implemented in a variety of manners.For example, the terminal described in the present invention can include such as moving
Phone, smart phone, notebook computer, digit broadcasting receiver, PDA (personal digital assistant), PAD (tablet personal computer), PMP
The mobile terminal of (portable media player), guider etc. and such as numeral TV, desktop computer etc. are consolidated
Determine terminal.However, it will be understood by those skilled in the art that, in addition to being used in particular for moving the element of purpose, according to this hair
The construction of bright embodiment can also apply to the terminal of fixed type.
Below in conjunction with the accompanying drawings, by the description to embodiment, the content of the invention is described further.
Fig. 1 is refer to, laser radar and the preferable implementation of the data fusion method of differential GPS that Fig. 1 provides for the present invention
The flow chart of example.Methods described includes：
S100, the radar point coordinates and gps data in Chinese herbaceous peony pre-determined distance that obtain current vehicle position and according to institute
State the fitting function that gps data generates present road；
S200, determine wheeled width of the vehicle in present road according to overall width, and using the wheeled width to institute
Fitting function is stated to be modified to obtain the function in wheeled region；
S300, judge whether the radar point coordinates meets the function in the wheeled region；
If S400, the radar point coordinates meet the function in the wheeled region, the thunder of current vehicle position is judged
Up to point in wheeled region.
The present invention recycles the function and laser thunder by the way that discrete differential GPS road section information is converted into continuous function
Position relationship up to point judges the security of laser radar point.The problem of data fusion that i.e. optical radar navigates with differential GPS, finally
It is converted into function and takes an and function codomain computational problem.Such way has saved the data processing time of a large amount of laser radars,
Increase the security of pilotless automobile simultaneously.
Specifically, in the step S100, the gps data refers to that differential GPS passes through space satellite signal
The gps data bag of the process base radio amendment of acquisition.The radar point coordinates refers to what is obtained by laser radar apparatus
The coordinate of current location, it includes abscissa and ordinate.The gps data is discrete data, i.e., it is the shape with information point
Formula embodies the information of current road segment.The Chinese herbaceous peony distance that what the pre-determined distance referred to pre-set, for example, 10M, 20M etc..At this
In embodiment, the pre-determined distance is set as 20M, therefore the Chinese herbaceous peony 20M road that the present road refers to.Due to acquisition
Gps data is discrete data, therefore its described discrete data fitting is represented into present road information into continuous function.
Exemplary, the gps data in the radar point coordinates and Chinese herbaceous peony pre-determined distance for obtaining current vehicle position
And can specifically be included according to the fitting function of gps data generation present road；
S101, the laser radar apparatus configured using vehicle and differential GPS navigation equipment obtain current vehicle position respectively
Radar point coordinates and Chinese herbaceous peony pre-determined distance in gps data；
S102, root determine the road attribute of present road according to the gps data and determine it according to the road attribute
Corresponding fitting order；
S103, the fitting order is used to carry out fitting of a polynomial to the gps data to generate the fitting of present road
Function.
Specifically, in the step S102, the road attribute refers to the shape of present road, for example：S is curved
Road, sharp turn, slow curved, straight way etc..Present road residing for vehicle can be determined by the cartographic information of the gps data got
Attribute.In the step S103, due to the diversity of road attribute, each road attribute has its shape facility, if
The order is too small to cause fitting result error big, cause the time complexity of fitting algorithm big if order is too high.Therefore exist
Same order function can not be used when being fitted the road function of different roads.Change problem to overcome, in the present embodiment, adopt
DGPS data i.e. different sections of highway is handled with the mode of piecewise fitting using different fitting orders, segmented mode such as table 1,
It is road attribute and the fitting order table of comparisons.
The road attribute of table 1 and fitting order table
| Sequence number | Road attribute | It is fitted order |
| 1 | S bends | 5 |
| 2 | Sharp turn | 4 |
| 3 | It is slow curved | 3 |
| 4 | Quarter bend | 3 |
| 5 | General straight way | 2 |
| 6 | Standard straight way | 1 |
| 7 | Uturn roads | 6 |
When determining the fitting order of present road according to road attribute, it is fitted using polynomial fitting method.Tool
Body fit approach uses minimum 2 multiplication.Solution matrix such as Fig. 2 is converted into generalized circular matrix as shown in Figure 3.That is X*
A=Y, then A=(X'*X) -1*X'*Y, has just obtained coefficient matrices A, meanwhile, also just obtain matched curve, i.e. road and intended
Close function.Wherein, the solution matrix is：
Generalized circular matrix is：
In another embodiment of the present invention, the DGPS data due to automatic driving car in driving procedure be by
The influence of section, weather, time etc., when in above-mentioned situation, it can cause GPS road section informations point seldom or positioning is missed
Difference is very big.Now take traditional amalgamation mode i.e. radar data with DGPS data while filling a grid map.Cause
This, in the present embodiment, also includes a deterministic process before the step S100：
S001, the gps data in acquisition Chinese herbaceous peony pre-determined distance simultaneously judge whether the gps data is reliable.
Specifically, because GPS navigation location data includes real-time differential state, the differential state can represent to work as
The state of preceding positioning signal.The usual differential state is evaluated by GPS navigation equipment by generating a grading parameter.
For example, when the grading parameter of differential state is 4, representing GPS location information accurately and reliably；When the grading parameter of differential state is
When 0, illustrate now without positioning signal；When the grading parameter of differential state is 1 or 2, illustrate to be currently at One-Point Location, i.e., it is fixed
Position unreliable information.Therefore, in the present embodiment, the differential state grading parameter of the differential GPS devices generation is obtained first,
Then differential state parameter of grading is compared with default parameter threshold of grading, to judge that current gps data is
It is no reliable.For example, the grading parameter threshold is 4, i.e., when the grading parameter of differential state is equal to 4, judge current gps data
Reliably；When differential state is not equal to 4, judge that current gps data is unreliable.So, by using strict standard to described
The reliability of gps data is evaluated so that only reliable gps data is just converted into continuous function and carried out with radar data
Fusion, reduces the error in data fusion process, so as to improve the accuracy of the safe sex determination of Current vehicle.
When the gps data acquired in judgement is reliable, step S100 is performed.When judging that the gps data is unreliable, adopt
Traditional amalgamation mode i.e. radar data is taken with DGPS data while filling a grid map, is distinguished by grid attribute
The two information, unfilled grid point value is 0, and the grid point value being filled with is 1.As shown in Fig. 2 in the present embodiment, to work as gps data
When unreliable, the security schematic diagram of radar points is judged by rectangular partition.So, when GPS road section informations are unreliable, melt
Conjunction method switchs to traditional grid completion method, and calculates wheeled peak width, then judges laser radar point according to rectangular partition
Security, it is ensured that no matter the gps data that differential GPS navigation equipment is obtained is under which kind of state, and the fusion of two kinds of data can
Effectively carry out.
It is described that wheeled width of the vehicle in present road is determined according to overall width in the step S200, and according to institute
Stating fitting function and wheeled width calculation wheeled region can specifically include：
S201, the width for obtaining Current vehicle, and according to default road attribute and the corresponding relation of safety regulation threshold value
Determine the corresponding current safety regulation threshold value of the present road；
S202, threshold calculations wheeled width adjusted according to the width and the current safety；
S203, the wheeled width is used to be modified to obtain the function in wheeled region to the fitting function.
Specifically, the function in the wheeled region refers to the critical point function in wheeled region, and it includes a left side
Function and right function.The wheeled width refers to the traveling width required for the overall width of Current vehicle, and it is determined by overall width,
Its specific computation model is：
γ=w/2+Δw1
Wherein, γ is wheeled width；W represents overall width；Δw1Represent safety regulation threshold value.In view of automatic driving car
Security, addition safety regulation threshold value, the threshold value changes with link change, therefore pre-sets road attribute and safety regulation
The corresponding relation of threshold value, as shown in table 2.
The road attribute of table 2 and the table of comparisons of safety regulation threshold value
| Sequence number | Road attribute | Safety regulation threshold value (rice) |
| 1 | S bends | 1 |
| 2 | Sharp turn | 0.8 |
| 3 | It is slow curved | 0.5 |
| 4 | Quarter bend | 0.6 |
| 5 | General straight way | 0.2 |
| 6 | Standard straight way | 0.1 |
| 7 | Uturn roads | 1 |
After wheeled width is determined, road fitting function and the left letter in wheeled width calculation wheeled region are utilized
Number and right function.The left function and right function are：
Wherein, the fL(x) it is left function, fR(x) it is right function, fM(x) it is road fitting function, γ is wheeled area
The width in domain.
In the step S300, judge whether the radar point coordinates meets the function in the wheeled region, it has
Body process can be：
S301, the ordinate of the radar points substitute into the function in the wheeled region and obtain its corresponding wheeled area
The left critical point and right critical point in domain；
S302, the abscissa is compared with left critical point and right critical point；
If S303, the abscissa are more than or equal to the left critical point, and less than or equal to the right critical point, then judge
The radar point coordinates meets the function in the wheeled region.
Specifically, as shown in Figure 3 and Figure 4, it regard the ordinate of the radar points as the left function and right function
Independent variable, to obtain its corresponding two dependent variable.Described two dependent variables constitute the corresponding wheeled square of the ordinate
The width in shape region, i.e., described two dependent variables be respectively the corresponding wheeled rectangular area of the ordinate left critical point and
Right critical point.The abscissa of the radar points is compared to judge the thunder with the left critical point and right critical point respectively
The function in the wheeled region whether is met up to point：When the radar points abscissa be more than or equal to the left critical point,
And during less than or equal to the right critical point, judge that the radar points meet the function in the wheeled region；When the radar
The abscissa of point is less than the left critical point, or during more than the right critical point, judges that the radar points can described in being unsatisfactory for
The function of running region.
In the step S400, when the radar point coordinates meets the wheeled function of region, illustrate the thunder
It is located at up to point in wheeled office rectangular area, illustrates the radar points safety.When the coordinate of the radar points is unsatisfactory for institute
When stating wheeled function of region, illustrate that the radar points are located at outside the wheeled rectangular area, illustrate that the radar points are uneasy
Entirely.The present embodiment recycles the function and laser radar point by the way that discrete differential GPS road section information is converted into continuous function
Position relationship judge the security of laser radar point, i.e., problem of data fusion laser radar and differential GPS navigated, finally
It is converted into function and takes an and function codomain computational problem.Such way has saved the data processing time of a large amount of laser radars,
Increase the security of pilotless automobile simultaneously.
Present invention also offers a kind of laser radar and the data fusion system of differential GPS, as shown in figure 5, it includes：
Fitting module 100, the GPS numbers in radar point coordinates and Chinese herbaceous peony pre-determined distance for obtaining current vehicle position
The fitting function of present road is generated according to and according to the gps data；
Computing module 200, for determining wheeled width of the vehicle in present road according to overall width, and using described feasible
Width is sailed the fitting function is modified to obtain the function in wheeled region；
First judge module 300, for judging whether the radar point coordinates meets the function in the wheeled region；
When the second judge module 400, function for meeting the wheeled region when the radar point coordinates, car is judged
The radar points of current location are in wheeled region.
The data fusion system of the laser radar and differential GPS, wherein, the fitting module 100 is specifically included：
Acquiring unit, laser radar apparatus and differential GPS navigation equipment for being configured using vehicle obtain vehicle respectively
Gps data in the radar point coordinates and Chinese herbaceous peony pre-determined distance of current location；
Determining unit, for determining the road attribute of present road according to the gps data and according to the road attribute
Determine its corresponding fitting order；
Fitting unit, for using the fitting order to carry out fitting of a polynomial to the gps data to generate current road
The fitting function on road.
The data fusion system of the laser radar and differential GPS, wherein, the computing module 200 is specifically included：
Determining unit, the width for obtaining Current vehicle, and threshold value is adjusted with safety according to default road attribute
Corresponding relation determines the corresponding current safety regulation threshold value of the present road；
First computing unit, for adjusting threshold calculations wheeled width according to the width and the current safety；
Second computing unit, for using the wheeled width to be modified to the fitting function to obtain wheeled
The function in region.
The data fusion system of the laser radar and differential GPS, wherein, the left function and right function are：
Wherein, the fL(x) it is left function, fR(x) it is right function, fM(x) it is road fitting function, γ is wheeled area
The width in domain.
The data fusion system of the laser radar and differential GPS, wherein, first judge module 300 is specifically included：
It is right that its is obtained in 3rd computing unit, the function for the ordinate substitution wheeled region of the radar points
The left critical point and right critical point in the wheeled region answered；
Comparing unit, for the abscissa to be compared with left critical point and right critical point；
Judging unit, for being more than or equal to the left critical point when the abscissa, and it is critical less than or equal to the right side
During point, judge that the radar point coordinates meets the function in the wheeled region.
In embodiment provided by the present invention, it should be understood that disclosed system and method, others can be passed through
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of the module, is only
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of device or unit by some interfaces
Connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are to cause a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention each
The part steps of embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. the data fusion method of a kind of laser radar and differential GPS, it is characterised in that it includes：
Obtain the radar point coordinates of current vehicle position and the gps data in Chinese herbaceous peony pre-determined distance and according to the gps data
Generate the fitting function of present road；
Wheeled width of the vehicle in present road is determined according to overall width, and using the wheeled width to the fitting function
It is modified to obtain the function in wheeled region；
Judge whether the radar point coordinates meets the function in the wheeled region；
If the radar point coordinates meets the function in the wheeled region, judge the radar points of current vehicle position feasible
Sail in region.
2. the data fusion method of laser radar and differential GPS according to claim 1, it is characterised in that the acquisition car
The radar point coordinates of current location and the gps data in Chinese herbaceous peony pre-determined distance simultaneously generate current road according to the gps data
The fitting function on road is specifically included：
The radar points that the laser radar apparatus and differential GPS navigation equipment configured using vehicle obtains current vehicle position respectively are sat
Gps data in mark and Chinese herbaceous peony pre-determined distance；
The road attribute of present road is determined according to the gps data and its corresponding fitting rank is determined according to the road attribute
It is secondary；
The fitting order is used to carry out fitting of a polynomial to generate the fitting function of present road to the gps data.
3. the data fusion method of laser radar and differential GPS according to claim 1, it is characterised in that described according to car
Width determine vehicle present road wheeled width, and use the wheeled width to be modified the fitting function with
The function for obtaining wheeled region is specifically included：
The width of Current vehicle is obtained, and is worked as according to being determined the corresponding relation of default road attribute and safety regulation threshold value
The corresponding current safety regulation threshold value of preceding road；
Threshold calculations wheeled width is adjusted according to the width and the current safety；
The wheeled width is used to be modified to obtain the function in wheeled region to the fitting function.
4. the data fusion method of laser radar and differential GPS according to claim 3, it is characterised in that the wheeled
The function in region is：
<mfenced open = "{" close = "">
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<msub>
<mi>f</mi>
<mi>L</mi>
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<mi>x</mi>
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</mrow>
<mo>=</mo>
<msub>
<mi>f</mi>
<mi>M</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>&gamma;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mi>R</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>f</mi>
<mi>M</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>&gamma;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, the fL(x) it is left function, fR(x) it is right function, fM(x) it is road fitting function, γ is wheeled region
Width.
5. the data fusion method of laser radar and differential GPS according to claim 3, it is characterised in that the judgement institute
State radar point coordinates and whether meet the function in the wheeled region and specifically include：
The left side that its corresponding wheeled region is obtained in the function in the ordinate substitution wheeled region of the radar points is faced
Boundary's point and right critical point；
The abscissa is compared with left critical point and right critical point；
If the abscissa is more than or equal to the left critical point, and less than or equal to the right critical point, then judges the radar
Point coordinates meets the function in the wheeled region.
6. the data fusion system of a kind of laser radar and differential GPS, it is characterised in that it includes：
Fitting module, the gps data in radar point coordinates and Chinese herbaceous peony pre-determined distance and root for obtaining current vehicle position
The fitting function of present road is generated according to the gps data；
Computing module, for determining wheeled width of the vehicle in present road according to overall width, and uses the wheeled width
The fitting function is modified to obtain the function in wheeled region；
First judge module, for judging whether the radar point coordinates meets the function in the wheeled region；
When the second judge module, function for meeting the wheeled region when the radar point coordinates, judge that vehicle is current
The radar points of position are in wheeled region.
7. the data fusion system of laser radar and differential GPS according to claim 6, it is characterised in that the fitting mould
Block is specifically included：
Acquiring unit, it is current that laser radar apparatus and differential GPS navigation equipment for being configured using vehicle obtain vehicle respectively
Gps data in the radar point coordinates and Chinese herbaceous peony pre-determined distance of position；
Determining unit, for determining the road attribute of present road according to the gps data and being determined according to the road attribute
Its corresponding fitting order；
Fitting unit, for using the fitting order to carry out fitting of a polynomial to the gps data to generate present road
Fitting function.
8. the data fusion system of laser radar and differential GPS according to claim 6, it is characterised in that the calculating mould
Block is specifically included：
Determining unit, the width for obtaining Current vehicle, and the corresponding of threshold value is adjusted with safety according to default road attribute
Relation determines the corresponding current safety regulation threshold value of the present road；
First computing unit, for adjusting threshold calculations wheeled width according to the width and the current safety；
Second computing unit, for using the wheeled width to be modified to the fitting function to obtain wheeled region
Function.
9. the data fusion system of laser radar and differential GPS according to claim 8, it is characterised in that the left function
It is with right function：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mi>L</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>f</mi>
<mi>M</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>&gamma;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>f</mi>
<mi>R</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>f</mi>
<mi>M</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>&gamma;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, the fL(x) it is left function, fR(x) it is right function, fM(x) it is road fitting function, γ is wheeled region
Width.
10. the data fusion system of laser radar and differential GPS according to claim 8, it is characterised in that described first sentences
Disconnected module is specifically included：
It is corresponding that its is obtained in 3rd computing unit, the function for the ordinate substitution wheeled region of the radar points
The left critical point and right critical point in wheeled region；
Comparing unit, for the abscissa to be compared with left critical point and right critical point；
Judging unit, for being more than or equal to the left critical point when the abscissa, and during less than or equal to the right critical point,
Judge that the radar point coordinates meets the function in the wheeled region.
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| CN201710332738.1A CN107091648A (en) | 2017-05-11 | 2017-05-11 | A kind of data fusion method and system of laser radar and differential GPS |
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| CN111751852A (en) * | 2020-06-17 | 2020-10-09 | 北京联合大学 | Unmanned vehicle GNSS positioning reliability evaluation method based on point cloud registration |
| CN113176588A (en) * | 2021-05-18 | 2021-07-27 | 中移(上海)信息通信科技有限公司 | Distance measuring method, device and system and readable storage medium |
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