CN107270915A - A kind of underground parking ramp localization method merged based on high-precision map and sensor - Google Patents
A kind of underground parking ramp localization method merged based on high-precision map and sensor Download PDFInfo
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- CN107270915A CN107270915A CN201710318308.4A CN201710318308A CN107270915A CN 107270915 A CN107270915 A CN 107270915A CN 201710318308 A CN201710318308 A CN 201710318308A CN 107270915 A CN107270915 A CN 107270915A
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- ramp
- vehicle
- autonomous vehicle
- underground parking
- precision map
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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
-
- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention discloses a kind of underground parking ramp localization method merged based on high-precision map and sensor, including it is as follows：Step 1) when autonomous vehicle initially enters underground parking ramp, gradient type is perceived by in-car Slope Transducer, show that autonomous vehicle initially enters the information in underground parking ramp.Step 2) initially entering at the ramp of underground parking, vehicle both sides radar sensor measures vehicle to the distance of two walls, starting point of the vehicle in ramp is judged by distance and high-precision map match, the relative position and high-precision map match according to starting point in ramp set up three-dimensional system of coordinate.Step 3) known paths progress digital curve is drawn into known paths formula, correspondence is moved into three-dimensional system of coordinate.Step 4) autonomous vehicle enters behind ramp, and VMT Vehicle-Miles of Travel is calculated by wheel speed output of pulse signal value, by mileage and curved path formula match response curve length point coordinates, the as now elements of a fix of the vehicle in coordinate system.
Description
Technical field
The invention belongs to automatic Pilot field, more particularly to a kind of underground parking merged based on high-precision map and sensor
Field ramp localization method.
Background technology
With the continuous popularization of semiautomatic parking technology, increasing research, which is begun to focus on, automatically parks and independently moors
Car.Bosch illustrates the full-automatic technology of parking based on benz B180 vehicles in Chinese automobile annual meeting in 2016.BMW exists
Long-range valet parking system is illustrated on CES in 2015, human pilot need to only reach vehicle at Entrance, you can pass through
Intelligent watch starts long-range valet parking system.Audi demonstrated the key automatic parking of parking lot one in 2013 on CES, by stopping
Laser scanner in parking lot carries out vehicle location.
City automobile is sharply increased, city parking space is constantly compressed, and increasing city is built increasing
Large Underground parking lot.The problem of Large Underground parking field energy solves ground parking insufficient space, but be due to that Large Underground stops
Parking lot place is big, complicated, warehouse compartment is difficult can cause the features such as seek to spend the too many time to stop in underground parking.
The autonomous parking in parking lot can solve them and be parked time-consuming dull worry for parking lot.It can be seen that, general soon
Come, parking lot autonomous parking will be continued to develop.And parking lot autonomous parking is realized well, first have to solution is Autonomous Vehicles
Can automatically by ramp come in and go out underground parking.
The content of the invention
Based on above mentioned problem, the present invention proposes that a kind of underground parking ramp merged based on high-precision map and sensor is determined
Position method, is solved due to the room that unworthiness in current GPS rooms and the not universality of wireless network indoor positioning technologies are caused
The problem of internal ramp vehicle location, is that the autonomous parking of following underground parking is laid the groundwork.In underground parking autonomous parking
In technology, it is necessary first to which solution is that autonomous vehicle can come in and go out underground parking ramp automatically, and the autonomous traveling in ramp is underground
The prerequisite of parking lot autonomous parking, the vehicle location in ramp is the prerequisite that ramp is independently travelled again.On realizing
Purpose is stated, the technical solution adopted by the present invention is as follows：
A kind of underground parking ramp localization method for being merged based on high-precision map and sensor proposed by the present invention be by
The value and high-precision map match that radar sensor is measured build three-dimensional localization coordinate system, are calculated by wheel speed pulse signal and route matching
Go out the elements of a fix, improve the general applicability of indoor orientation method, this method detailed process is as follows：
Step 1) when autonomous vehicle proceeds by underground parking ramp, vehicle is perceived by in-car Slope Transducer contained
The gradient of plane produces big change, now, and Slope Transducer perceives gradient type, and ramp is upward slope or descending, and is drawn
Autonomous vehicle initially enters the information in underground parking ramp.
Step 2) initially entering at the ramp of underground parking, vehicle both sides radar sensor measures vehicle to two walls
Distance value, judge source location set of the vehicle in ramp by two distance values and high-precision map match, and exist according to starting point
The relative position in ramp and high-precision map match set up three-dimensional system of coordinate.
Step 3) known paths are subjected to digital curve, the mathematical formulae of known paths is drawn, correspondence moves into what is set up
Position in three-dimensional system of coordinate.
Step 4) autonomous vehicle enter ramp after, by known paths curved formula carry out path trace, pass through wheel speed
The pulse value of output of pulse signal calculates VMT Vehicle-Miles of Travel, and mileage value is matched with curved path formula, phase is obtained
The point coordinates of curve length is answered, is the now elements of a fix of the vehicle under the three-dimensional system of coordinate.
Beneficial effect：The present invention proposes a kind of underground parking ramp positioning merged based on high-precision map and sensor
System, the system has following advantage compared to existing system：
(1) appeared in the newspapers there is presently no the specific indoor positioning technologies for underground parking ramp, the system is filled up
This blank, solve it is following the problem of positioned in the ramp of the region automatic Pilot of underground parking, with preferable prediction
Property.
(2) architecture of this programme is simple, highly versatile, with general applicability.
(3) the high-precision map and the location technology of sensor fusion that the system is used have following several benefits：First, phase
Than in the system such as GPS location and wireless network positioning, with more preferable adaptability for working condition and accuracy；Second, by autonomous vehicle
Equipment of itself is positioned, not against external equipment, with preferable scalability；3rd, design cost and maintenance cost are all
It is relatively low.
Brief description of the drawings
Fig. 1 is the schematic top plan view of positioning starting point.
Fig. 2 is the underground parking ramp positioning side based on high-precision map and sensor fusion in an embodiment of the present invention
Method structured flowchart.
Embodiment
Below in conjunction with the accompanying drawings and instantiation the invention will be further described, it should be pointed out that below only with one
The technical scheme optimized is planted to be illustrated technical scheme and design principle, but protection scope of the present invention is not
It is limited to this.
A kind of underground parking ramp localization method merged based on high-precision map and sensor of the present invention is by vehicle
The width of ramp porch carries out matching and builds three-dimensional localization coordinate in value that the radar sensor of both sides is measured and high-precision map
System；The distance travelled value of vehicle is calculated by wheel speed pulse signal, by the distance travelled value and the arc length value of driving path curve
It is compared, calculates the elements of a fix；Improve the general applicability of indoor orientation method.
Fig. 1 for it is of the present invention positioning starting point schematic diagram, that is, three-dimensional system of coordinate origin, by autonomous vehicle both sides
Distance value a and b that ultrasonic radar is measured, the width of ramp porch in a, b value and high-precision map is matched, that is, calculated now
Autonomous vehicle sets up positioning three-dimensional system of coordinate in the position of ramp porch, by three-dimensional system of coordinate origin of this position.
Fig. 2 is the underground parking ramp localization method structured flowchart merged based on high-precision map and sensor, this method
Electronic map, both sides ultrasonic sensor, known paths, Slope Transducer and baroceptor are needed as input quantity, output
Amount is the elements of a fix in the ramp of autonomous vehicle at a time, and this method detailed process is as follows：
Step 1) when autonomous vehicle proceeds by underground parking ramp, where in-car Slope Transducer perceives vehicle
The gradient of plane produces big change, and now, Slope Transducer judges gradient type, slope by the positive and negative values of the gradient measured
Road is upward slope or descending, and generates the information that autonomous vehicle initially enters underground parking ramp.
Step 2) when initially entering at the ramp of underground parking, vehicle both sides ultrasonic radar sensor measures vehicle and arrived
The distance value a and b of two walls, the width of ramp porch in a, b value and high-precision map is matched, that is, calculates now Autonomous Vehicles
Ramp porch source location set, by three-dimensional system of coordinate origin of this source location set set up positioning three-dimensional system of coordinate.
Step 3) known paths are subjected to digital curve, the mathematical formulae of known paths is drawn, correspondence moves into what is set up
Position in three-dimensional system of coordinate.
Step 4) autonomous vehicle enter ramp after, by known paths curved formula carry out point sampling, pass through sampled point
The speed of autonomous vehicle and the Collaborative Control of steering wheel angle is controlled to reach preferable path trace effect.At a time, lead to
The wheel speed pulse value of third wheel speed output of pulse signal calculates the distance travelled of autonomous vehicle, and mileage value is public with curved path
Formula is matched, and obtains the point coordinates of respective paths curve length, is that now positioning of the autonomous vehicle under the three-dimensional system of coordinate is sat
Mark.
Also include in above-mentioned steps：For there is unavoidable error in path tracking procedure, the present invention passes through gas
Pressure sensor measures the draught head of current autonomous vehicle location point and source location set as value of feedback, calculates autonomous vehicle longitudinal direction
Displacement, be input to locating module using this value as negative-feedback, improve positioning precision；The ultrasonic sensor of autonomous vehicle both sides
This information is input to locating module by measurement autonomous vehicle apart from the distance value of side walls as negative-feedback in real time；Two kinds of things
The negative-feedback of reason amount is input to locating module, improves the accuracy of positioning output coordinate.
The embodiment is illustrating for feasibility embodiment of the invention, and they simultaneously are not used to limit this hair
Bright protection domain, all equivalent implementations or change without departing from carried out by skill spirit of the present invention should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of underground parking ramp localization method merged based on high-precision map and sensor, it is characterised in that including such as
Lower step：
Step 1) when autonomous vehicle initially enters underground parking ramp, the contained plane of vehicle is perceived by in-car Slope Transducer
The gradient produce big change, now, Slope Transducer perceives gradient type, i.e. ramp to go up a slope or descending, draws autonomous
Vehicle initially enters the information in underground parking ramp；
Step 2) when initially entering at the ramp of underground parking, vehicle both sides radar sensor measures vehicle to two walls
Distance value, source location set of the vehicle in ramp is judged by two distance values and high-precision map match, and according to starting point on slope
The relative position in road and high-precision map match set up three-dimensional system of coordinate, and the source location set is used as coordinate origin；
Step 3) known paths of planning path planning module carry out digital curve, draw the mathematical formulae of known paths,
Correspondence is moved into the positioning three-dimensional system of coordinate set up；
Step 4) autonomous vehicle enter ramp after, by known paths curved formula carry out path trace, pass through wheel speed pulse
The pulse value of signal output calculates VMT Vehicle-Miles of Travel, and mileage value is matched with curved path formula, obtains accordingly bent
The point coordinates of line length, is the now elements of a fix of the vehicle under the three-dimensional system of coordinate.
2. a kind of underground parking ramp positioning side merged based on high-precision map and sensor according to claim 1
Method, it is characterised in that the detection method of the gradient type is：Slope Transducer is judged by the positive and negative values of the gradient measured
Gradient type, i.e. ramp are upward slope or descending.
3. a kind of underground parking ramp positioning side merged based on high-precision map and sensor according to claim 1
Method, it is characterised in that step 4) implement including：Autonomous vehicle enters behind ramp, by the curved formula of known paths
Carry out point sampling, by sampled point control autonomous vehicle speed and steering wheel angle Collaborative Control reach preferable path with
Track effect；At a time, the distance travelled of autonomous vehicle is calculated by the wheel speed pulse value of wheel speed output of pulse signal, will be inner
Journey value is matched with curved path formula, obtains the point coordinates of respective paths curve length, be now autonomous vehicle at this
The elements of a fix under three-dimensional system of coordinate.
4. a kind of underground parking ramp positioning side merged based on high-precision map and sensor according to claim 1
Method, it is characterised in that methods described also includes the method for eliminating error：Current autonomous vehicle position is measured by baroceptor
Point and the draught head of source location set calculate the displacement of autonomous vehicle longitudinal direction, this value are inputted as negative-feedback as value of feedback
To locating module, positioning precision is improved；The ultrasonic sensor of autonomous vehicle both sides measures autonomous vehicle apart from both walls in real time
The distance value of wall, locating module is input to using this information as negative-feedback；Two kinds of physical quantity negative-feedbacks are input to locating module, carry
The accuracy of height positioning output coordinate.
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Cited By (13)
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| CN108717796A (en) * | 2018-03-21 | 2018-10-30 | 厦门雅迅网络股份有限公司 | A kind of geographical ramp self-learning method and system of vehicle |
| CN109085822A (en) * | 2018-07-04 | 2018-12-25 | 北京踏歌智行科技有限公司 | The method and apparatus of mining automatic driving vehicle |
| CN109387855A (en) * | 2018-10-29 | 2019-02-26 | 浙江大学 | A kind of system using vehicle-mounted pulse lidar look-ahead hill gradient and length of grade |
| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | A kind of intelligent apparatus |
| CN110379150A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus for assessing road |
| CN110377032A (en) * | 2019-07-08 | 2019-10-25 | 希格斯动力科技（珠海）有限公司 | Robot hillside fields motion control method and device, storage medium under semantic map |
| CN111352142A (en) * | 2018-12-24 | 2020-06-30 | 沈阳美行科技有限公司 | Indoor parking positioning method and device, electronic equipment and medium |
| CN111762160A (en) * | 2019-03-15 | 2020-10-13 | 广州汽车集团股份有限公司 | Automatic driving method and system for pre-accelerating uphill |
| WO2020224416A1 (en) * | 2019-05-03 | 2020-11-12 | Ningbo Geely Automobile Research & Development Co., Ltd. | Automatic onboarding for service ramp |
| CN112677994A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Method for preventing automatic driving vehicle from sliding down slope |
| CN112833889A (en) * | 2019-11-22 | 2021-05-25 | 北京初速度科技有限公司 | Vehicle positioning method and device |
| CN112987717A (en) * | 2020-12-30 | 2021-06-18 | 东风汽车集团有限公司 | Method and system for identifying vehicle ramp and curve |
| CN115273530A (en) * | 2022-07-11 | 2022-11-01 | 上海交通大学 | Parking lot positioning and sensing system based on cooperative sensing |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | A kind of intelligent apparatus |
| CN108717796A (en) * | 2018-03-21 | 2018-10-30 | 厦门雅迅网络股份有限公司 | A kind of geographical ramp self-learning method and system of vehicle |
| CN109085822A (en) * | 2018-07-04 | 2018-12-25 | 北京踏歌智行科技有限公司 | The method and apparatus of mining automatic driving vehicle |
| CN110379150B (en) * | 2018-09-13 | 2021-05-25 | 北京京东尚科信息技术有限公司 | Method and device for evaluating road trafficability |
| CN110379150A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus for assessing road |
| CN109387855A (en) * | 2018-10-29 | 2019-02-26 | 浙江大学 | A kind of system using vehicle-mounted pulse lidar look-ahead hill gradient and length of grade |
| CN111352142A (en) * | 2018-12-24 | 2020-06-30 | 沈阳美行科技有限公司 | Indoor parking positioning method and device, electronic equipment and medium |
| CN111762160A (en) * | 2019-03-15 | 2020-10-13 | 广州汽车集团股份有限公司 | Automatic driving method and system for pre-accelerating uphill |
| CN111762160B (en) * | 2019-03-15 | 2021-11-23 | 广州汽车集团股份有限公司 | Automatic driving method and system for pre-accelerating uphill |
| US20220048534A1 (en) * | 2019-05-03 | 2022-02-17 | Ningbo Geely Automobile Research & Development Co., Ltd. | Automatic onboarding for service ramp |
| WO2020224416A1 (en) * | 2019-05-03 | 2020-11-12 | Ningbo Geely Automobile Research & Development Co., Ltd. | Automatic onboarding for service ramp |
| CN113811831A (en) * | 2019-05-03 | 2021-12-17 | 宁波吉利汽车研究开发有限公司 | Automatic uphill for servicing a ramp |
| CN113811831B (en) * | 2019-05-03 | 2023-12-08 | 宁波吉利汽车研究开发有限公司 | Automatic ascending slope for overhauling slope |
| CN110377032A (en) * | 2019-07-08 | 2019-10-25 | 希格斯动力科技（珠海）有限公司 | Robot hillside fields motion control method and device, storage medium under semantic map |
| CN110377032B (en) * | 2019-07-08 | 2022-05-27 | 佳木斯市奥义智能科技有限公司 | Semantic map lower robot sloping field motion control method and device and storage medium |
| CN112833889A (en) * | 2019-11-22 | 2021-05-25 | 北京初速度科技有限公司 | Vehicle positioning method and device |
| CN112833889B (en) * | 2019-11-22 | 2022-12-23 | 北京魔门塔科技有限公司 | Vehicle positioning method and device |
| CN112987717A (en) * | 2020-12-30 | 2021-06-18 | 东风汽车集团有限公司 | Method and system for identifying vehicle ramp and curve |
| CN112677994A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Method for preventing automatic driving vehicle from sliding down slope |
| CN115273530A (en) * | 2022-07-11 | 2022-11-01 | 上海交通大学 | Parking lot positioning and sensing system based on cooperative sensing |
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Application publication date: 20171020 |