CN107339996A - Vehicle method for self-locating, device, equipment and storage medium - Google Patents
Vehicle method for self-locating, device, equipment and storage medium Download PDFInfo
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- CN107339996A CN107339996A CN201710525426.2A CN201710525426A CN107339996A CN 107339996 A CN107339996 A CN 107339996A CN 201710525426 A CN201710525426 A CN 201710525426A CN 107339996 A CN107339996 A CN 107339996A
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- China
- Prior art keywords
- vehicle
- roadway characteristic
- self
- electronic map
- position information
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Classifications
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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
- G01C21/28—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
-
- 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
Abstract
The embodiment of the invention discloses a kind of vehicle method for self-locating, device, equipment and storage medium, wherein this method includes：Image around real-time collection vehicle, and extract the first roadway characteristic in the image；The second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of vehicle；According to the first roadway characteristic and the second roadway characteristic, the precise position information of vehicle is calculated.The embodiment of the present invention is based on the electronic map for being stored with roadway characteristic and the roadway characteristic image gathered in real time, calculate the precise position information of vehicle, it can realize that high-precision vehicle is self-positioning, meet the accuracy requirement and real-time of automated driving system, self-positioning realizing is simple and reliable, and cost is relatively low.
Description
Technical field
The present embodiments relate to automatic Pilot technology, more particularly to a kind of vehicle method for self-locating, device, equipment and deposit
Storage media.
Background technology
Automatic Pilot technology develops rapidly in recent years, and automated driving system generally comprises self-positioning, environment sensing, decision-making rule
Draw and several big modules of motion control.Wherein self align technology is the basis of all automated driving systems.Automated driving system is to certainly
The requirement of positioning is higher, it is desirable to which located lateral precision is within 20 centimetres, and longitudinal register precision is within 2 meters.
But conventional navigation GPS precision can not meet the needs of automatic Pilot probably at 10 meters or so.Differential GPS
The ratio of precision of equipment is higher, can arrive Centimeter Level, but expensive, and if to need laying a large amount of if extensive commercialization
Difference base station is, it is necessary to which equipment can receive differential signal by wireless network, if signal interruption, positioning precision will drastically become
Difference.
The content of the invention
The embodiment of the present invention provides a kind of vehicle method for self-locating, device, equipment and storage medium, can realize vehicle
High accuracy is self-positioning, and cost is relatively low.
In a first aspect, the embodiments of the invention provide a kind of vehicle method for self-locating, including：
Image around real-time collection vehicle, and extract the first roadway characteristic in described image；
The second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of the vehicle；
According to first roadway characteristic and second roadway characteristic, the precise position information of the vehicle is calculated.
Second aspect, the embodiment of the present invention additionally provide a kind of vehicle self locating device, including：
Image capture module, for the image around real-time collection vehicle；
Fisrt feature extraction module, for extracting the first roadway characteristic in described image；
Second feature extraction module, for extracting vehicle week from electronic map according to the base position information of the vehicle
The second roadway characteristic enclosed；
Vehicle location computing module, for according to first roadway characteristic and second roadway characteristic, described in calculating
The precise position information of vehicle.
The third aspect, the embodiment of the present invention additionally provide a kind of equipment, and the equipment includes：
One or more processors；
Storage device, for storing one or more programs；
Image collecting device, for the image around real-time collection vehicle；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes the vehicle method for self-locating as described in any embodiment of the present invention.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer-readable recording medium, are stored thereon with computer
Program, the vehicle method for self-locating as described in any embodiment of the present invention is realized when the program is executed by processor.
The embodiment of the present invention is calculated based on the electronic map for being stored with roadway characteristic and the roadway characteristic image gathered in real time
It the precise position information of vehicle, can realize that high-precision vehicle is self-positioning, meet the accuracy requirement and reality of automated driving system
Shi Xing, self-positioning realizing is simple and reliable, and cost is relatively low.
Brief description of the drawings
Fig. 1 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention one provides；
Fig. 2 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention two provides；
Fig. 3 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention three provides；
Fig. 4 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention four provides；
Fig. 5 is the structured flowchart for the vehicle self locating device that the embodiment of the present invention five provides；
Fig. 6 is a kind of structural representation for equipment that the embodiment of the present invention six provides.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention one provides, and the present embodiment is applicable to automatically
Drive vehicle and carry out self-positioning situation, this method can be performed by vehicle self locating device, and the device may be mounted at certainly
It is dynamic to drive on vehicle.As shown in figure 1, this method specifically comprises the following steps：
Step 110, the image around real-time collection vehicle, and extract the first roadway characteristic in the image.
Wherein, the first road is characterized in showing the way mark of region feature and near roads etc., specifically, the first roadway characteristic
Following at least one can be included：Lane line, road surface arrow, road surface prompt text, road shape, nameplate, signal lamp, street lamp
Deng.For example, the lane line of the prompting vehicle traveling such as driveway line of demarcation, the line to be turned of turning, stop line, sidewalk line, is labeled with
The nameplate of the information such as road name, direction, distance, website, road grade, road width, branch road, track is converged, track increases
Add, the road shape such as isolation strip.
This step can at least want the image in front of collection vehicle by the camera collection image on vehicle,
In addition to this it is possible to any of collection vehicle left-side images, image right or rear images or appoint it is several.Preferably, may be used
With the camera set by vehicle front, the image in front of real-time collection vehicle.
Step 120, the second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of vehicle.
Wherein, the base position information of vehicle can be based on global position system determine real-time position information, the position
Confidence breath belongs to preliminary coarse localization, for example, can by global positioning system (Global Positioning System,
GPS) or the navigation positioning system such as the Big Dipper obtains the base position information of vehicle.Electronic map is the ground that can extract roadway characteristic
Figure and the map include the accurate latitude and longitude information of roadway characteristic, for example, electronic map can be the high-precision map to prestore, it is high
The absolute precision of precision map is general all within sub-meter grade, such as 20 centimetres, its horizontal relative accuracy (for example, track and
The relative positional accuracy in track, track and lane line) it is often higher.Second road is characterized in show the way region feature and near roads
Mark etc., specifically, the second roadway characteristic can include following at least one：Lane line, road surface arrow, road surface prompting text
Word, road shape, nameplate, signal lamp, street lamp etc..
Specifically, the map datum of vehicle periphery can be extracted from electronic map according to the base position information of vehicle,
Then whole roadway characteristics are extracted from map datum, as the second roadway characteristic.Roadway characteristic is extracted from image or map
It can be realized by existing feature extraction algorithm, for example, being based on histograms of oriented gradients (Histogram of Oriented
Gradient, HOG) algorithm of feature, SIFT algorithms etc., the embodiment of the present invention is to specific features extraction process without specifically
It is bright.
Step 130, according to the first roadway characteristic and the second roadway characteristic, the precise position information of vehicle is calculated.
Wherein, the roadway characteristic in the image gathered in real time can reflect that vehicle is presently in environment, be wrapped in electronic map
Latitude and longitude information containing roadway characteristic and roadway characteristic, more specific location information can be obtained according to electronic map, pass through contrast the
One roadway characteristic and the second roadway characteristic, the precise position information of vehicle can be calculated.Positional information in the present embodiment
It can be latitude and longitude information.
The vehicle method for self-locating of the present embodiment, based on the electronic map for being stored with roadway characteristic and the road gathered in real time
Characteristic image, the precise position information of vehicle is calculated, can realize that high-precision vehicle is self-positioning, meet automated driving system
Accuracy requirement and real-time, self-positioning realizing is simple and reliable, and cost is relatively low.
On the basis of above-mentioned technical proposal, as a kind of preferred embodiment, step 130 may include steps of：
From the first roadway characteristic, at least one validity feature with the second road characteristic matching is filtered out, and it is true according to electronic map
Determine the positional information of validity feature；According to the exact position of the imaging parameters of image and the positional information calculation vehicle of validity feature
Information.
Present embodiment filters out the validity feature in the first roadway characteristic and determines its positional information, due to gathering image
When imaging parameters (such as focal length, depth of field parameter) be known, therefore combine effectively special in the imaging parameters and image of image
The positional information of sign, the positional information of validity feature in image can be transformed to the positional information of vehicle, so as to obtain vehicle
Self-positioning precise position information.
Further, according to the imaging parameters of image and the precise position information of the positional information calculation vehicle of validity feature
It can include：According to the image space of the imaging parameters of image and validity feature in the picture, validity feature and vehicle are identified
Position relationship；According to the positional information of validity feature and the position relationship of validity feature and vehicle, the accurate of vehicle is calculated
Positional information.By above-mentioned steps, the positional information of validity feature is transformed to the positional information of vehicle, vehicle is realized and makes by oneself
Position, and calculating process is simple and reliable.
Embodiment two
Fig. 2 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention two provides, and the present embodiment is in above-described embodiment
On the basis of one, the renewal step of electronic map is added, the present embodiment no longer carries out weight to the correlation step in embodiment one
It is multiple to explain, it specifically refer to embodiment one.As shown in Fig. 2 the method for the present embodiment comprises the following steps：
Step 210, the image around real-time collection vehicle, and extract the first roadway characteristic in the image.
Step 220, judge that the road in electronic map with the presence or absence of correspondence position is special according to the base position information of vehicle
Sign, if the roadway characteristic of correspondence position is not present in electronic map, perform step 230；If in electronic map exist pair
The roadway characteristic of position is answered, then performs step 240.
Wherein, the roadway characteristic of correspondence position is not present in electronic map, represents that the electronic map version is older or lacks
Data (roadway characteristic or map datum that such as lack the position).
Step 230, electronic map is updated.After renewal, return to step 220 continues to judge.
Wherein it is possible to newest electronic map is downloaded from high in the clouds, to realize the renewal of electronic map.Electricity after general renewal
Sub- map is more comprehensive, can there is the roadway characteristic of correspondence position in electronic map.
Step 240, the second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of vehicle.
Step 250, according to the first roadway characteristic and the second roadway characteristic, the precise position information of vehicle is calculated.
The present embodiment can upgrade in time electronic map, avoid road surface characteristic and change over time and lead to not carry out vehicle
The problem of self-positioning or vehicle is self-positioning inaccurate.
If after renewal, the roadway characteristic of vehicle base position is still not present in electronic map, then it represents that this section of road
Road temporarily can not utilize electronic map and the image currently gathered to calculate the precise position information of vehicle, and solution may be referred to
Method in embodiment three.
Certainly, can also be according to prefixed time interval (such as 1 day) or version updating prompting pair except above-mentioned update mode
Electronic map is updated.The manner can upgrade in time electronic map, not interfere with the real-time for calculating vehicle exact position.
On the basis of above-described embodiment one and two, the embodiment of the present invention is additionally provided when certain section of road can not utilize electronics
Map and the image currently gathered determine settling mode during vehicle precise position information：If any road is not present in image
The validity feature with the second road characteristic matching is not present in feature, or the first roadway characteristic, obtains inertial navigation information and wheel speed
Information, and according to the positional information of the base position information of inertial navigation information, wheel speed information and vehicle calculating vehicle.With reference to reality
Apply example three and example IV is described in detail, wherein no longer carrying out repeating solution to the correlation step in embodiment one and two
Release, specifically refer to embodiment one and two.
Embodiment three
Fig. 3 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention three provides, and this method is in embodiment one
On the basis of realize.As shown in figure 3, this method comprises the following steps：
Step 310, the image around real-time collection vehicle, and extract the first roadway characteristic in the image.If the figure
Any roadway characteristic is not present as in, i.e., does not extract any roadway characteristic in the images, then performs step 360.If carry
Roadway characteristic is got, then performs step 330.
Step 320, the second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of vehicle.
Step 330, from the first roadway characteristic, at least one validity feature with the second road characteristic matching is filtered out.
If the validity feature with the second road characteristic matching is not present in the first roadway characteristic, step 360 is performed.If there is
The validity feature matched somebody with somebody, then perform step 340.
Step 340, the positional information of validity feature is determined according to electronic map.
Step 350, according to the imaging parameters of image and the precise position information of the positional information calculation vehicle of validity feature.
Step 360, inertial navigation information and wheel speed information are obtained, and according to inertial navigation information, wheel speed information and base position information
Calculate the positional information of vehicle.
Wherein, inertial navigation information includes linear motion information and rotational motion information, for example, acceleration, angular speed etc., inertial navigation
Information can obtain from the Inertial Measurement Unit (Inertial Measurement Unit, IMU) on vehicle.Wheel speed
Information is vehicle wheel rotational speed information, and wheel speed information can obtain from the wheel speed meter (or being wheel speed sensors) on vehicle.
Specifically, the base position information based on vehicle, Velicle motion velocity, direction are embodied with reference to inertial navigation information and wheel speed information etc.
Information, the motion conditions of vehicle are can determine, so as to obtain the real-time position information of vehicle, its specific calculating process is this area
What technical staff was known, the embodiment of the present invention is to this without describing in detail.
Example IV
Fig. 4 is the flow chart for the vehicle method for self-locating that the embodiment of the present invention four provides, and this method is in embodiment two
On the basis of realize.As shown in figure 4, this method comprises the following steps：
Step 410, the image around real-time collection vehicle, and extract the first roadway characteristic in the image.If the figure
Any roadway characteristic is not present as in, i.e., does not extract any roadway characteristic in the images, then performs step 480.If carry
Roadway characteristic is got, then performs step 450.
Step 420, judge that the road in electronic map with the presence or absence of correspondence position is special according to the base position information of vehicle
Sign, if the roadway characteristic of correspondence position is not present in electronic map, perform step 430；If in electronic map exist pair
The roadway characteristic of position is answered, then performs step 440.
Step 430, electronic map is updated.After renewal, return to step 420 continues to judge.
Step 440, the second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of vehicle.
Step 450, from the first roadway characteristic, at least one validity feature with the second road characteristic matching is filtered out.
If the validity feature with the second road characteristic matching is not present in the first roadway characteristic, step 480 is performed.If there is
The validity feature matched somebody with somebody, then perform step 460.
Step 460, the positional information of validity feature is determined according to electronic map.
Step 470, according to the imaging parameters of image and the precise position information of the positional information calculation vehicle of validity feature.
Step 480, inertial navigation information and wheel speed information are obtained, and according to inertial navigation information, wheel speed information and base position information
Calculate the positional information of vehicle.
Wherein, inertial navigation information includes linear motion information and rotational motion information, for example, acceleration, angular speed etc., inertial navigation
Information can obtain from the Inertial Measurement Unit (Inertial Measurement Unit, IMU) on vehicle.Wheel speed
Information is vehicle wheel rotational speed information, and wheel speed information can obtain from the wheel speed meter (or being wheel speed sensors) on vehicle.
Specifically, the base position information based on vehicle, Velicle motion velocity, direction are embodied with reference to inertial navigation information and wheel speed information etc.
Information, the motion conditions of vehicle are can determine, so as to obtain the real-time position information of vehicle, its specific calculating process is this area
What technical staff was known, the embodiment of the present invention is to this without describing in detail.
In above-described embodiment, it is contemplated that not necessarily continued presence, camera may not can photograph road spy to roadway characteristic
Sign, or local electronic map do not upgrade in time, or even no these feelings of reflection link change in time of electronic map in high in the clouds
Condition, when on a certain section of road location Calculation can not be carried out using electronic map and image roadway characteristic, it can be believed using inertial navigation
Breath, wheel speed information and base position information carry out the estimation of vehicle location, it is ensured that the output frequency of location information meets to drive automatically
The demand sailed.For example, in the bad place of the gps signals such as urban canyons area, can also utilize inertial navigation information, wheel speed information and
The base position information that the last time obtains provides more accurately location information, has outstanding integrated navigation ability, can support
The anti-of short duration missing of satellite-signal.The flow of example IV has electronic map more New function, can avoid because map is not timely more
The situation of temporary transient estimated position caused by newly, then can be based on electronic map and the figure gathered after treating electronic map renewal
Calculating as carrying out vehicle exact position.
Embodiment five
Fig. 5 is the structured flowchart for the vehicle self locating device that the embodiment of the present invention five provides, and the device can be used for realizing
The vehicle method for self-locating of above-mentioned any embodiment, the device can be realized by way of software and/or hardware.Such as Fig. 5 institutes
Show, the device includes：Image capture module 510, fisrt feature extraction module 520, second feature extraction module 530 and vehicle position
Put computing module 540.
Image capture module 510, for the image around real-time collection vehicle；
Fisrt feature extraction module 520, for extracting the first roadway characteristic in image；
Second feature extraction module 530, for extracting vehicle week from electronic map according to the base position information of vehicle
The second roadway characteristic enclosed；
Vehicle location computing module 540, for according to the first roadway characteristic and the second roadway characteristic, calculating the accurate of vehicle
Positional information.
The vehicle self locating device of the present embodiment, based on the electronic map for being stored with roadway characteristic and the road gathered in real time
Characteristic image, the precise position information of vehicle is calculated, can realize that high-precision vehicle is self-positioning, meet automated driving system
Accuracy requirement and real-time, self-positioning realizing is simple and reliable, and cost is relatively low.
Preferably, image capture module 510 can be camera, be arranged on vehicle front, in front of real-time collection vehicle
Image.
Base position information is the real-time position information determined based on global position system.Electronic map can prestore
High-precision map.Roadway characteristic includes following at least one：Lane line, road surface arrow, road surface prompt text, road shape, mark
Show board, signal lamp, street lamp.
On the basis of above-mentioned technical proposal, vehicle location computing module 540 can include：Feature Selection unit, feature
Position determination unit and vehicle location computing unit.Wherein, Feature Selection unit, for from the first roadway characteristic, filtering out
With at least one validity feature of the second road characteristic matching；Feature locations determining unit, for determining have according to electronic map
Imitate the positional information of feature；Vehicle location computing unit, for the imaging parameters and the positional information of validity feature according to image
Calculate the precise position information of vehicle.
Wherein, vehicle location computing unit is specifically used for：According to the imaging parameters of image and validity feature in the picture
Image space, identify the position relationship of validity feature and vehicle；According to the positional information of validity feature and validity feature with
The position relationship of vehicle, calculate the precise position information of vehicle.
On the basis of above-mentioned technical proposal, said apparatus can also include：Judge module and map rejuvenation module.Its
In, judge module, for judging that the road in electronic map with the presence or absence of correspondence position is special according to the base position information of vehicle
Sign；Map rejuvenation module, in the case of in electronic map in the absence of the roadway characteristic of correspondence position, electronic map is entered
Row renewal.Specifically, map rejuvenation module can be communicated by communicator with high in the clouds, newest electronic map is downloaded.
In addition, map rejuvenation module can be also used for entering electronic map according to prefixed time interval or version updating prompting
Row renewal.
Preferably, second feature extraction module 530 can include：Map datum extraction unit, for the base according to vehicle
Plinth positional information extracts the map datum of vehicle periphery from electronic map；Feature extraction unit, for being carried from map datum
Whole roadway characteristics are taken, as the second roadway characteristic.
On the basis of above-mentioned technical proposal, said apparatus can also include：Data obtaining module and position computation module.
Wherein, data obtaining module, it is not present and for being not present in the picture in any roadway characteristic or the first roadway characteristic
In the case of the validity feature of two roadway characteristics matching, inertial navigation information and wheel speed information are obtained；Position computation module, for basis
Inertial navigation information, wheel speed information and base position information calculate the positional information of vehicle.Specifically, data obtaining module can be from peace
IMU on vehicle obtains inertial navigation information and obtains wheel speed information from the wheel speed sensors on vehicle.
The vehicle self locating device that the embodiment of the present invention is provided can perform the vehicle that any embodiment of the present invention is provided
Method for self-locating, possess the corresponding functional module of execution method and beneficial effect.
Embodiment six
Fig. 6 is a kind of structural representation for equipment that the embodiment of the present invention six provides.Fig. 6 is shown suitable for being used for realizing this
The block diagram of the example devices 12 of invention embodiment.The equipment 12 that Fig. 6 is shown is only an example, should not be to of the invention real
The function and use range for applying example bring any restrictions.
As shown in fig. 6, equipment 12 is showed in the form of universal computing device.The component of equipment 12 can include but unlimited
In：One or more processor or processing unit 16, system storage 28, connection different system component (including system is deposited
Reservoir 28 and processing unit 16) bus 18.
Bus 18 represents the one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.Lift
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, MCA (MAC)
Bus, enhanced isa bus, VESA's (VESA) local bus and periphery component interconnection (PCI) bus.
Equipment 12 typically comprises various computing systems computer-readable recording medium.These media can be it is any can be by equipment 12
The usable medium of access, including volatibility and non-volatile media, moveable and immovable medium.
System storage 28 can include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Equipment 12 may further include it is other it is removable/nonremovable,
Volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing irremovable
, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although not shown in Fig. 6, use can be provided
In the disc driver to may move non-volatile magnetic disk (such as " floppy disk ") read-write, and to may move anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 18.Memory 28 can include at least one program product,
The program product has one group of (for example, at least one) program module, and these program modules are configured to perform each implementation of the invention
The function of example.
Program/utility 40 with one group of (at least one) program module 42, such as memory 28 can be stored in
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
Routine data, the realization of network environment may be included in each or certain combination in these examples.Program module 42 is usual
Perform the function and/or method in embodiment described in the invention.
Equipment 12 can also with one or more external equipments 14 (such as keyboard, sensing equipment, display 24, camera,
IMU, wheel speed sensors, GPS etc.) communication, it can also enable a user to lead to the equipment that the equipment 12 interacts with one or more
Letter, and/or with enable any equipment that the equipment 12 communicated with one or more of the other computing device (such as network interface card,
Modem etc.) communication.This communication can be carried out by input/output (I/O) interface 22.Also, equipment 12 may be used also
To pass through network adapter 20 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public network
Network, such as internet) communication.As illustrated, network adapter 20 is communicated by bus 18 with other modules of equipment 12.Should
Understand, although not shown in the drawings, other hardware and/or software module can be used with bonding apparatus 12, include but is not limited to：Micro- generation
Code, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup are deposited
Storage system etc..
Processing unit 16 is stored in program in system storage 28 by operation, so as to perform various function application and
Data processing, such as realize the vehicle method for self-locating that the embodiment of the present invention is provided.
Embodiment seven
The embodiment of the present invention seven additionally provides a kind of computer-readable recording medium, is stored thereon with computer program, should
The vehicle method for self-locating as described in any embodiment of the present invention is realized when program is executed by processor.
The computer-readable storage medium of the embodiment of the present invention, any of one or more computer-readable media can be used
Combination.Computer-readable medium can be computer-readable signal media or computer-readable recording medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any combination above.The more specifically example (non exhaustive list) of computer-readable recording medium includes：Tool
There are the electrical connections of one or more wires, portable computer diskette, hard disk, random access memory (RAM), read-only storage
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any includes or the tangible medium of storage program, the program can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media can include in a base band or as carrier wave a part propagation data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium beyond storage medium is read, the computer-readable medium, which can send, propagates or transmit, to be used for
By instruction execution system, device either device use or program in connection.
The program code included on computer-readable medium can be transmitted with any appropriate medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
It can be write with one or more programming languages or its combination for performing the computer that operates of the present invention
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Also include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
Fully perform, partly perform on the user computer on the user computer, the software kit independent as one performs, portion
Divide and partly perform or performed completely on remote computer or server on the remote computer on the user computer.
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including LAN (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as carried using Internet service
Pass through Internet connection for business).
In summary, the embodiment of the present invention is based on being stored with roadway characteristic and its high-precision map of positional information and calculating
Machine visual processes technology, it is self-positioning to realize high-precision vehicle, without using expensive differential GPS, also without magnanimity
Memory requirement, cost is relatively low, can be used for the scale of mass production of automatic Pilot.The online updating of electronic map is provided simultaneously, is protected
The accuracy of the acquired roadway characteristic of card.In addition, electronic map and image roadway characteristic can not used to calculate vehicle location
In the case of, inertial navigation information, wheel speed information and base position information can also be used to carry out the estimation of vehicle location, it is ensured that positioning
The output frequency of information meets the needs of automatic Pilot.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (15)
- A kind of 1. vehicle method for self-locating, it is characterised in that including：Image around real-time collection vehicle, and extract the first roadway characteristic in described image；The second roadway characteristic of vehicle periphery is extracted from electronic map according to the base position information of the vehicle；According to first roadway characteristic and second roadway characteristic, the precise position information of the vehicle is calculated.
- 2. vehicle method for self-locating according to claim 1, it is characterised in that according to first roadway characteristic and described Second roadway characteristic, the precise position information of the vehicle is calculated, including：From first roadway characteristic, at least one validity feature with the second road characteristic matching, and root are filtered out The positional information of the validity feature is determined according to the electronic map；The precise position information of vehicle according to the positional information calculation of the imaging parameters of described image and the validity feature.
- 3. vehicle method for self-locating according to claim 2, it is characterised in that according to the imaging parameters of described image and institute The precise position information of vehicle described in the positional information calculation of validity feature is stated, including：According to the image space of the imaging parameters of described image and the validity feature in described image, identify described effective Feature and the position relationship of the vehicle；According to the positional information of the validity feature and the position relationship of the validity feature and the vehicle, the car is calculated Precise position information.
- 4. vehicle method for self-locating according to claim 1, it is characterised in that in the base bits confidence according to the vehicle Before ceasing the second roadway characteristic that vehicle periphery is extracted from electronic map, methods described also includes：Judged to whether there is the roadway characteristic of correspondence position in the electronic map according to the base position information of the vehicle；If the roadway characteristic of correspondence position is not present in the electronic map, the electronic map is updated.
- 5. vehicle method for self-locating according to claim 1, it is characterised in that according to the base position information of the vehicle The second roadway characteristic of vehicle periphery is extracted from electronic map, including：The map datum of vehicle periphery is extracted from the electronic map according to the base position information of the vehicle；Whole roadway characteristics are extracted from the map datum, as second roadway characteristic.
- 6. vehicle method for self-locating according to claim 1, it is characterised in that methods described also includes：According to it is default when Between interval or version updating prompting the electronic map is updated.
- 7. vehicle method for self-locating according to claim 1, it is characterised in that methods described also includes：It is not present and the second if be not present in described image in any roadway characteristic, or first roadway characteristic The validity feature of road characteristic matching, obtains inertial navigation information and wheel speed information, and according to the inertial navigation information, the wheel speed information and The base position information calculates the positional information of the vehicle.
- 8. vehicle method for self-locating according to claim 1, it is characterised in that the image around real-time collection vehicle, bag Include：The camera set by vehicle front, the image in front of real-time collection vehicle.
- 9. according to any described vehicle method for self-locating in claim 1 to 8, it is characterised in that：The base position information is the real-time position information determined based on global position system；The electronic map is the high-precision map to prestore；The roadway characteristic includes following at least one：Lane line, road surface arrow, road surface prompt text, road shape, sign Board, signal lamp and street lamp.
- A kind of 10. vehicle self locating device, it is characterised in that including：Image capture module, for the image around real-time collection vehicle；Fisrt feature extraction module, for extracting the first roadway characteristic in described image；Second feature extraction module, vehicle periphery is extracted from electronic map for the base position information according to the vehicle Second roadway characteristic；Vehicle location computing module, for according to first roadway characteristic and second roadway characteristic, calculating the vehicle Precise position information.
- 11. vehicle self locating device according to claim 10, it is characterised in that the vehicle location computing module bag Include：Feature Selection unit, for from first roadway characteristic, filtering out with the second road characteristic matching at least One validity feature；Feature locations determining unit, for determining the positional information of the validity feature according to the electronic map；Vehicle location computing unit, for the positional information calculation of the imaging parameters according to described image and validity feature institute State the precise position information of vehicle.
- 12. vehicle self locating device according to claim 11, it is characterised in that the vehicle location computing unit is specific For：According to the image space of the imaging parameters of described image and the validity feature in described image, identify described effective Feature and the position relationship of the vehicle；According to the positional information of the validity feature and the position relationship of the validity feature and the vehicle, the car is calculated Precise position information.
- 13. vehicle self locating device according to claim 10, it is characterised in that described device also includes：Judge module, for being judged to whether there is correspondence position in the electronic map according to the base position information of the vehicle Roadway characteristic；Map rejuvenation module, in the case of in the electronic map in the absence of the roadway characteristic of correspondence position, to described Electronic map is updated.
- 14. a kind of equipment, it is characterised in that the equipment includes：One or more processors；Storage device, for storing one or more programs；Image collecting device, for the image around real-time collection vehicle；When one or more of programs are by one or more of computing devices so that one or more of processors are real The now vehicle method for self-locating as described in any in claim 1 to 9.
- 15. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor The vehicle method for self-locating as described in any in claim 1 to 9 is realized during execution.
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| CN201710525426.2A CN107339996A (en) | 2017-06-30 | 2017-06-30 | Vehicle method for self-locating, device, equipment and storage medium |
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| CN201710525426.2A CN107339996A (en) | 2017-06-30 | 2017-06-30 | Vehicle method for self-locating, device, equipment and storage medium |
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Application publication date: 20171110 |
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