CN108303721A - A kind of vehicle positioning method and system - Google Patents
A kind of vehicle positioning method and system Download PDFInfo
- Publication number
- CN108303721A CN108303721A CN201810145213.1A CN201810145213A CN108303721A CN 108303721 A CN108303721 A CN 108303721A CN 201810145213 A CN201810145213 A CN 201810145213A CN 108303721 A CN108303721 A CN 108303721A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- map
- angle point
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000000153 supplemental effect Effects 0.000 claims description 25
- 230000001133 acceleration Effects 0.000 claims description 16
- 238000000605 extraction Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012417 linear regression Methods 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 230000000903 blocking effect Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle positioning method and system, positioning system includes：GPS module, IMU modules, camera module, laser module and controller module, when vehicle traveling is when blocking traffic environment, GPS module can be less than default positioning accuracy to the positioning accuracy of vehicle, controller module opens camera module and laser module, and Primary Location is carried out to vehicle using the road environment image of camera module acquisition；Local map corresponding with Primary Location result is determined from pre-stored map；The 3D point cloud data of the vehicle-periphery scanned using laser module carry out three-dimensional map reconstruction；The three-dimensional map of reconstruction is matched with local map, obtains the actual position information and course angle information of vehicle.Present invention effectively prevents GPS modules to block position inaccurate present in traffic environment and accumulated error problem, to improve the accuracy to vehicle location.
Description
Technical field
The present invention relates to vehicle positioning technology fields, more specifically, being related to a kind of vehicle positioning method and system.
Background technology
Positioning and navigation are to realize two important technologies of intelligent vehicle automatic Pilot, in practical applications, automobile navigation
It is generally realized by high-precision map, usual high-precision map is stored with abundant environmental information, therefore has drawing for track grade
Lead ability.And the basis as navigation is positioned, become the main direction of studying for realizing intelligent vehicle automatic Pilot.
Currently, vehicle location field using it is more be GPS (Global Positioning System, global positioning system
System) technology.GPS information, the realization such as three-dimensional position, speed and time of round-the-clock offer vehicle can determine vehicle in real time
Position.But when vehicle for a long time traveling when tunnel, viaduct etc. block traffic environment, GPS can because satellite positioning signal by
It blocks and position inaccurate occurs, or even the case where failure.
To overcome the shortcomings of GPS, there is multiple combinations locating scheme, as (Dead Reckoning, boat position push away GPS/DR
Calculate) vehicle combination positioning, the positioning of GPS/IMU (Inertial Measurement Unit, Inertial Measurement Unit) vehicle combination
Deng.But either DR or IMU, when GPS the time of position inaccurate or even failure conditions occurs blocking traffic environment
When longer, all there is the case where accumulated error.
Invention content
In view of this, the present invention discloses a kind of vehicle positioning method and system, to solve GPS moulds present in traditional scheme
Block is blocking position inaccurate present in traffic environment and accumulated error problem.
A kind of vehicle positioning system, including：
Global position system GPS module, the latitude and longitude information for obtaining vehicle from satellite system；
Inertial Measurement Unit IMU modules, for obtain the vehicle three dimensions acceleration and angular acceleration；
Camera module, for acquiring the road environment image in the vehicle travel process；
Laser module, the 3D point cloud data for scanning the vehicle-periphery；
The control being connect respectively with the GPS module, the IMU modules, the camera module and the laser module
Device module, the controller module are used to determine the GPS module to the positioning accuracy of the vehicle less than default positioning accurate
When spending, the camera module and the laser module are opened, the road environment image acquired from the camera module
In, target area extraction and artificial landmark identification are carried out, position of the artificial landmark in world coordinate system is it is known that described
Vehicle carries out Primary Location, obtains Primary Location result；Determination is opposite with the Primary Location result from pre-stored map
The local map answered；Analyzing processing is carried out to the 3D point cloud data that the laser module scans, it is special to obtain environment angle point
Supplemental characteristic is levied, and three-dimensional map reconstruction is carried out using the environment corner feature supplemental characteristic；By the three-dimensional map of reconstruction with
The local map is matched, and the actual position information and course angle information of the vehicle are obtained.
Preferably, the controller module is additionally operable to：
When determining that the GPS module is not less than the default positioning accuracy to the positioning accuracy of the vehicle, institute is closed
Camera module and the laser module are stated, and according to the latitude and longitude information of the vehicle of GPS module acquisition and institute
State IMU modules acquisition vehicle three dimensions acceleration and angular acceleration, obtain the vehicle actual position information and
Course angle information.
A kind of vehicle positioning method, the vehicle positioning method are applied to the control in vehicle positioning system described above
Device module, the vehicle positioning method include：
Obtain the positioning states data for the vehicle that GPS module is sent；
Judge the positioning accuracy of the vehicle in the positioning states data whether less than default positioning accuracy；
When judging that the positioning accuracy is less than the default positioning accuracy, camera module and laser module are opened；
From the road environment image in the vehicle travel process that the camera module acquires, target area is carried out
Extraction and artificial landmark identification, carry out Primary Location to the vehicle, obtain Primary Location result, wherein the artificial landmark
Known to position in world coordinate system；
Local map corresponding with the Primary Location result is determined from pre-stored map；
3D point cloud data progress analyzing processing to the vehicle-periphery that the laser module scans, obtains ring
Border corner feature supplemental characteristic；
Three-dimensional map reconstruction is carried out using the environment corner feature supplemental characteristic, obtains three-dimensional map；
The three-dimensional map is matched with the local map, obtains actual position information and the course of the vehicle
Angle information.
Preferably, whether the positioning accuracy for judging the vehicle in the positioning states data is less than default positioning
Precision specifically includes：
Judge whether the time that the GPS signal in the positioning states data is lost is more than preset time；Or from the GPS
From the dropout moment, the vehicle adds up whether operating range is more than pre-determined distance；
It is corresponding, when judging that the positioning accuracy is less than the default positioning accuracy, opens camera module and swash
Optical module specifically includes：
When the judgement GPS signal drop-out time is more than the preset time；Or from the GPS signal loses the moment,
When the vehicle adds up operating range more than the pre-determined distance, the camera module and the laser module are opened.
Preferably, in the road environment image from the vehicle travel process that the camera module acquires,
Target area extraction and artificial landmark identification are carried out, Primary Location is carried out to the vehicle, obtains Primary Location as a result, specific packet
It includes：
From the road environment image, the target area comprising artificial landmark is extracted；
The artificial landmark is identified from the target area, and obtains the artificial landmark in the road environment figure
Image coordinate as in；
It is right according to the location information of described image coordinate and the previously known artificial landmark in world coordinate system
The vehicle carries out Primary Location, obtains the Primary Location of the vehicle as a result, the Primary Location result includes：The vehicle
The absolute location information in world coordinate system.
Preferably, the 3D point cloud data of the vehicle-periphery scanned to the laser module are analyzed
Processing, obtains environment corner feature supplemental characteristic, specifically includes：
Using linear regression method, go out straightway all under vehicle axis system, institute from the 3D point cloud extracting data
Stating straightway has characteristic parameter：Vehicle in vehicle axis system origin to the vertical range of straightway, vertical line and vehicle axis system
The angle and length of straigh line of axis where travel direction；
The corner feature supplemental characteristic of corresponding angle point is obtained using the feature of three straightways of intersection.
Preferably, the environment corner feature supplemental characteristic includes：Angle point three-dimensional coordinate, angular coordinate system and world coordinates
Three edge lengths of angle, angle point and angle point concavity and convexity of system.
Preferably, the pre-stored map is sub-meter grade map, and the sub-meter grade map includes：Three-dimensional space environment is special
The absolute coordinate of each point in sign and environment.
Preferably, the three-dimensional map is matched with the local map, obtains the actual bit confidence of the vehicle
Breath and course angle information, specifically include：
The angle point for including using the three-dimensional map is as the first angle point, and the angle point that the local map includes is as second jiao
Point is identical as all concavity and convexities that the local map includes by each described first angle point that the three-dimensional map includes
Second angle point matched respectively；
When in the local map including the second angle point with current first corners Matching, calculate separately each with
The mahalanobis distance of second angle point of current first corners Matching and current first angle point；
Judge in all mahalanobis distances whether be less than predetermined threshold value apart from the shortest mahalanobis distance；
If apart from the shortest mahalanobis distance be less than the predetermined threshold value, judge current first angle point with it is described
Second angle point in local map matches；
When the angle point number that the three-dimensional map and the local map match reaches preset matching threshold value, and the angle
It counts out when accounting for the ratios of all angle point numbers that the three-dimensional map includes and reaching preset ratio threshold value, described in judgement dimensionally
Figure and the local map successful match, and obtain the actual position information and course angle information of the vehicle.
Preferably, include to include in the local map with the second angle point of current first corners Matching：
It include the second angle point identical with the current first angle point type in the local map.
From above-mentioned technical solution it is found that the invention discloses a kind of vehicle positioning method and system, positioning system includes：
GPS module, IMU modules, camera module, laser module and controller module are blocked when vehicle is travelled in tunnel, viaduct etc.
When the traffic environment of GPS signal, GPS module can be less than default positioning accuracy, in this case, control to the positioning accuracy of vehicle
Device module processed can open the integrated positioning module that camera module and laser module are constituted, the road ring acquired from camera module
In the image of border, target area extraction and artificial landmark identification are carried out, Primary Location is carried out to vehicle, obtains Primary Location result；
Local map corresponding with Primary Location result is determined from pre-stored map；The vehicle periphery that laser module is scanned
The 3D point cloud data of environment carry out analyzing processing, obtain environment corner feature supplemental characteristic, and utilize environment corner feature parameter
Data carry out three-dimensional map reconstruction；The three-dimensional map of reconstruction is matched with local map, obtains the actual bit confidence of vehicle
Breath and course angle information.Therefore, present invention effectively prevents GPS module block position inaccurate present in traffic environment with
And accumulated error problem, to improve the accuracy to vehicle location.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
Disclosed attached drawing obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of vehicle positioning system disclosed by the embodiments of the present invention；
Fig. 2 is a kind of vehicle positioning method flow chart disclosed by the embodiments of the present invention；
Fig. 3 be it is disclosed by the embodiments of the present invention it is a kind of three-dimensional map is matched with local map, obtain the reality of vehicle
The method flow diagram of border location information and course angle information.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of vehicle positioning method and systems, to solve GPS moulds present in traditional scheme
Block is blocking position inaccurate present in traffic environment and accumulated error problem.
Referring to Fig. 1, a kind of structural schematic diagram of vehicle positioning system, the system disclosed in one embodiment of the invention include：
GPS (Global Positioning System, global positioning system) module 11, IMU (Inertial Measurement
Unit, Inertial Measurement Unit) module 12, controller module 13, camera module 14 and laser module 15.
Wherein：
GPS module 11 is arranged on vehicle, the latitude and longitude information for obtaining vehicle from satellite system.
IMU modules 12 be arranged on vehicle, for obtain vehicle three dimensions acceleration and angular acceleration.
It should be noted that in the present embodiment, GPS module 11 and IMU modules 12 constitute GPS/IMU vehicle combination positioning moulds
Block, the application of controller module 13 Kalman filtering, particle filter scheduling algorithm, the longitude and latitude letter for the vehicle that GPS module 11 is obtained
Breath is merged with the vehicle that IMU modules 12 obtain in the acceleration and angular acceleration of three dimensions, and fusion positioning result is obtained,
Namely obtain the actual position information and course angle information of vehicle.
Artificial landmark is a kind of label dedicated for positioning vehicle, position of the artificial landmark in world coordinate system,
The latitude and longitude information of artificial landmark is showed in the form of number, figure, Quick Response Code and specific coding etc. on road sign, usually quilt
It is placed within the scope of the attainable road of 14 visual field of camera module institute of vehicle, is provided slightly for the vehicle with vehicle-mounted camera
Positioning.
In the present embodiment, since position of the artificial landmark in world coordinate system is previously known, according to vehicle with
Relative position relation and the artificial landmark of the artificial landmark in same image in world coordinate system position, it can be achieved that
To the coarse positioning of vehicle.
It should be noted that in practical applications, multiple artificial landmarks can be arranged, on the travel of vehicle with reality
Now to the coarse positioning of vehicle.
Camera module 14 is used for the road environment image in collection vehicle driving process, to be subsequent controllers module
13 pairs of vehicles carry out coarse positioning and provide foundation.
Laser module 15 is used to scan the 3D point cloud data of vehicle-periphery, and it includes x, y each to be put in 3D point cloud data
With tri- direction coordinate informations of z.
It should be noted that camera module 14 and laser module 15 constitute vision/laser vehicle integrated positioning module.
When GPS signal is good, the positioning accuracy of GPS/IMU vehicle combination locating modules is up to Centimeter Level, at this point, controller module 13 is controlled
GPS/IMU vehicle combinations locating module processed positions vehicle；When GPS module 11 is hidden for a long time in blocking traffic environment
When gear, the positioning accuracy of GPS/IMU vehicle combination locating modules is reduced to 10 meter levels even worse, in this case, control
Device module 13 opens vision/laser vehicle integrated positioning module, is determined vehicle by vision/laser vehicle integrated positioning module
Position, wherein during vision/laser vehicle integrated positioning module positions vehicle, GPS/IMU vehicle combination locating modules
Still gathered data, the data that only controller module 13 can't acquire GPS/IMU vehicle combination locating modules are handled.
Controller module 13 controls process that vision/laser vehicle integrated positioning module positions vehicle specifically such as
Under：
Controller module 13 is connect with GPS module 11, IMU modules 12, camera module 14 and laser module 15 respectively, control
Device module 13 processed is used to, when determining that GPS module 11 is less than default positioning accuracy to the positioning accuracy of vehicle, open camera shooting head mould
Block 14 and laser module 15 carry out target area extraction and artificial road from the road environment image that camera module 14 acquires
Mark is other, carries out Primary Location to vehicle, namely carry out coarse positioning to vehicle, positioning accuracy obtains Primary Location knot in meter level
Fruit；Local map corresponding with Primary Location result is determined from pre-stored map；The 3D that laser module 15 is scanned
Point cloud data carries out analyzing processing, obtains environment corner feature supplemental characteristic, and carry out using environment corner feature supplemental characteristic
Three-dimensional map is rebuild；The three-dimensional map of reconstruction is matched with local map, make to the positioning accuracy of vehicle promoted to centimetre
Grade, obtains the actual position information and course angle information of vehicle.
It should be noted that when vehicle traveling is when tunnel, viaduct etc. block traffic environment, GPS module 11 is because of signal
It is blocked the case where will appear inaccurate positioning or even failure, the positioning accuracy of vehicle is reduced so as to cause GPS module 11.This
Embodiment has preset a default positioning accuracy, and the value depend on the actual needs of the default positioning accuracy work as control
When device module 13 determines that GPS module 11 is less than default positioning accuracy to the positioning accuracy of vehicle, determine that vehicle exists in current driving
Block traffic environment, in this case, controller module 13 open vision/laser vehicle integrated positioning module, by vision/swash
Light vehicle combination locating module positions vehicle.
In the present embodiment, the pre-stored map of controller module 13 is high-precision map, which is stored with three
The absolute coordinate of each point in the feature and environment of dimension space environment, the accuracy of map of high-precision map in sub-meter grade, including：Accurately
Road shape information, lane line information and other traffic participate in the information such as object, wherein road shape information includes：Track
The data such as quantity, the gradient, curvature, course, elevation and inclination；Lane line information includes：Color and line style of lane line etc.,
His traffic participates in the information such as object：Traffic lights, direction board, speed(-)limit sign, crossing, isolation strip, road curb, roadside vegetation
And building etc..High-precision map is the basic elements such as point, line to the storage mode of features above information.
In summary, vehicle positioning method system disclosed by the invention blocks friendship when vehicle is travelled in tunnel, viaduct etc.
When logical environment, GPS module 11 can be less than default positioning accuracy, in this case, controller module to the positioning accuracy of vehicle
13 can open the integrated positioning module that camera module 14 and laser module 15 are constituted, the road ring acquired from camera module 14
In the image of border, target area extraction and artificial landmark identification are carried out, Primary Location is carried out to vehicle, obtains Primary Location result；
Local map corresponding with Primary Location result is determined from pre-stored map；The vehicle week that laser module 15 is scanned
The 3D point cloud data in collarette border carry out analyzing processing, obtain environment corner feature supplemental characteristic, and join using environment corner feature
Number data carry out three-dimensional map reconstruction；The three-dimensional map of reconstruction is matched with local map, obtains the physical location of vehicle
Information and course angle information.Therefore, present invention effectively prevents GPS module 11 block positioned present in traffic environment it is inaccurate
True and accumulated error problem, to improve the accuracy to vehicle location.
Although being blocked it should be strongly noted that vision/laser vehicle integrated positioning module can be in GPS module 11
When traffic environment, realize accurate positionin to vehicle, still, compared to GPS/IMU vehicle combination locating modules to vehicle location and
Speech, controller module 13 are significantly larger than to GPS/IMU vehicle groups the data processing amount of vision/laser vehicle integrated positioning module
The data processing amount for closing locating module, therefore, when GPS module 11 is not in the positioning for blocking traffic environment namely GPS module 11
When precision is not less than default positioning accuracy, vehicle still positions vehicle using GPS/IMU vehicle combination locating modules.
Therefore, in order to further optimize the above embodiments, controller module 13 is additionally operable to：
When determining that GPS module 11 is not less than default positioning accuracy to the positioning accuracy of vehicle, camera module 14 is closed
With laser module 15, and according to GPS module 11 obtain vehicle latitude and longitude information and IMU modules 12 obtain vehicle three
The acceleration and angular acceleration of dimension space obtain the actual position information and course angle information of vehicle, realize the positioning to vehicle.
Specifically, the application of controller module 13 Kalman filtering, particle filter scheduling algorithm, the vehicle that GPS module 11 is obtained
Latitude and longitude information merged in the acceleration and angular acceleration of three dimensions with the vehicle that IMU modules 12 obtain, obtain
Positioning result is merged, namely obtains the actual position information and course angle information of vehicle, to realize the positioning to vehicle.
In summary, vehicle positioning system disclosed by the invention, when GPS signal is good, positioning of the GPS module 11 to vehicle
When precision is not less than default positioning accuracy, vehicle is positioned using GPS/IMU vehicle combination locating modules；Work as GPS signal
It is poor, when GPS module 11 is less than default positioning accuracy to the positioning accuracy of vehicle, using vision/laser vehicle integrated positioning
Module positions vehicle, and the road environment image that controller module 13 is acquired according to camera module 14 identifies setting
Artificial landmark by road realizes that precision is in meter level to the coarse positioning of vehicle；Controller module 13 is swept using laser module 15
The 3D point cloud data for the vehicle-periphery retouched carry out three-dimensional map reconstruction, by the three-dimensional map that will rebuild with high-precision
The local map determined on degree map is matched, and is made to promote to Centimeter Level the positioning accuracy of vehicle, is realized the height to vehicle
Precision positions, and has good real-time.
Corresponding with above-mentioned vehicle positioning system, the invention also discloses a kind of vehicle positioning methods.
Referring to Fig. 2, a kind of vehicle positioning method flow chart disclosed in one embodiment of the invention, the vehicle positioning method application
Vehicle positioning system in above-described embodiment, the controller module being applied particularly in vehicle positioning system, the vehicle location
Method includes step：
Step S101, the positioning states data to vehicle that GPS module is sent are obtained；
It should be noted that in practical applications, GPS module is sent out by the latitude and longitude information for obtaining vehicle from satellite system
While giving controller module, also the positioning states data of vehicle can be sent to controller module, controller module together
According to that can determine positioning accuracy of the GPS module to vehicle in the positioning states data, hidden so that it is determined that whether vehicle travels
Traffic environment is kept off, and then determines the need for opening and vision/laser vehicle group is constituted by camera module 14 and laser module 15
Close locating module.
Step S102, whether the positioning accuracy of the vehicle in positioning states data is judged less than default positioning accuracy, if
It is to then follow the steps S103, if it is not, then return to step S101, continues the positioning states number for obtaining the vehicle that GPS module is sent
According to；
When vehicle traveling is when tunnel, viaduct etc. block traffic environment, GPS module will appear fixed because signal is blocked
The case where position is inaccurate or even fails reduces the positioning accuracy of vehicle so as to cause GPS module.The present embodiment has preset one
A default positioning accuracy, the value depend on the actual needs of the default positioning accuracy, when controller module determines GPS module pair
When the positioning accuracy of vehicle is less than default positioning accuracy, determine that vehicle is blocking traffic environment in current driving, in such case
Under, controller module opens vision/laser vehicle integrated positioning module, by vision/laser vehicle integrated positioning module to vehicle
It is positioned.
In practical applications, whether controller module judges the positioning accuracy of the vehicle in positioning states data less than default
Following any judgment method may be used in positioning accuracy：
(1) judge whether the time that the GPS signal in positioning states data is lost is more than preset time, such as 10s, when fixed
When the time that GPS signal in the status data of position is lost is more than preset time, judgement GPS module is less than the positioning accuracy of vehicle
Default positioning accuracy, the value depend on the actual needs of preset time；
(2) judging from GPS signal loses the moment, vehicle adds up whether operating range is more than pre-determined distance, such as 100m,
When vehicle adds up operating range more than pre-determined distance, judgement GPS module is less than default positioning accuracy to the positioning accuracy of vehicle,
The value depend on the actual needs of pre-determined distance.
Certainly, in practical applications, other judgment methods can also be used as needed, be just not listed one by one herein.
Step S103, camera module and laser module are opened；
Step S104, from the road environment image in the vehicle travel process that camera module acquires, target area is carried out
Domain is extracted and artificial landmark identification, carries out Primary Location to vehicle, obtains Primary Location result；
Wherein, Primary Location is carried out to vehicle in this step, namely coarse positioning is carried out to vehicle, positioning accuracy in meter level,
Obtain Primary Location result.
It should be noted that position namely latitude and longitude information of the artificial landmark in world coordinate system are previously known.
The realization process of step S104 is specific as follows：
(1) from road environment image, the target area comprising artificial landmark is extracted；
(2) artificial landmark is identified from target area, and is obtained image of the artificial landmark in road environment image and sat
Mark；
(3) the position letter according to the image coordinate of artificial landmark and previously known artificial landmark in world coordinate system
Breath carries out Primary Location to vehicle, obtains the Primary Location of vehicle as a result, Primary Location result includes：Vehicle is in world coordinates
Absolute location information in system.
It should be noted that camera module is with vehicle viewing angles road environment image, therefore, vehicle is in road ring
Position in the image of border may be considered origin position, by determining the image coordinate of artificial landmark in the picture, so that it may with true
Determine the geometrical relationship of artificial landmark and vehicle, and then the location information according to artificial landmark in world coordinate system, you can know
Absolute position and course angle information of the vehicle in world coordinate system.
Step S105, local map corresponding with Primary Location result is determined from pre-stored map；
Pre-stored map described in this step refers specifically to high-precision map, and the accuracy of map is in sub-meter grade, also
It says, the pre-stored map of controller module is sub-meter grade map, and sub-meter grade map includes：Three-dimensional space environment feature and environment
The absolute coordinate of middle each point.Wherein, the details for including about sub-meter grade map can be found in above system embodiment and correspond to portion
Point details are not described herein again.
Step S106, the 3D point cloud data of the vehicle-periphery scanned to laser module carry out analyzing processing, obtain
Environment corner feature supplemental characteristic；
So-called angle point refers to the right angle electrical in environment.Environment corner feature supplemental characteristic includes：Angle point three-dimensional coordinate,
The angle of angular coordinate system and world coordinate system, three edge lengths of angle point and angle point concavity and convexity etc..Wherein, angle point concavity and convexity defines
For：The angle point for being convex to origin is convex angular point, and the angle point for concaving towards origin is re-entrant angle point.
Specifically, the 3D point cloud data for the vehicle-periphery that controller module scans laser module are returned using straight line
Return method, straightway all under vehicle axis system is gone out from 3D point cloud extracting data, which has characteristic parameter：Vehicle
The angle of axis where vehicle heading and straight in coordinate origin to the vertical range of straightway, vertical line and vehicle axis system
Line segment length；Then the corner feature supplemental characteristic of corresponding angle point is obtained using the feature of three straightways of intersection.
Wherein, in vehicle axis system, vehicle heading is x-axis, and vehicle left side direction is y-axis, vertically upward side
To for z-axis, origin is vehicle rear axle center.
The detailed process of the corner feature supplemental characteristic of corresponding angle point is obtained using the feature of three straightways of intersection
The prior art is can be found in, details are not described herein again.
Step S107, three-dimensional map reconstruction is carried out using environment corner feature supplemental characteristic, obtains three-dimensional map；
Wherein, the process for three-dimensional map reconstruction being carried out using environment corner feature supplemental characteristic can be found in prior art side
Case, details are not described herein again.
Step S108, three-dimensional map is matched with local map, obtains the actual position information and course angle of vehicle
Information.
It is with the method that local map carries out matching use by three-dimensional map in this step：Map is realized based on corner feature
Matching, when matching, use the closest method based on mahalanobis distance.
Mahalanobis distance (Mahalanobis distance) indicates the covariance distance of data.Mahalanobis distance is a kind of effective
Two unknown sample collection of calculating similarity method.
It is a kind of disclosed in one embodiment of the invention to match three-dimensional map with local map referring to Fig. 3, obtain vehicle
Actual position information and course angle information method flow diagram, the method comprising the steps of：
Step S201, the angle point for including using three-dimensional map is as the first angle point, and the angle point that local map includes is as second
Angle point, the second all angle points that the first angle point of each for including by three-dimensional map and local map include carry out respectively
Match；
Wherein, the principle of the first angle point and the second corners Matching is：Whether the type of the first angle point and the second angle point is identical,
When the type of the first angle point and the second angle point is identical, show the first angle point and the second corners Matching.Type described herein refers to
Be re-entrant angle point or convex angular point, that is to say, that when the first angle point and the second angle point are re-entrant angle point or are convex angular point, say
The type of bright first angle point and the second angle point is identical, then the first angle point and the second corners Matching.
Step S202, it when in local map including the second angle point with current first corners Matching, calculates separately every
One with the mahalanobis distance of the second angle point and current first angle point of current first corners Matching；
Include to include in local map with the second angle point of current first corners Matching：Include in local map and works as
Identical second angle point of preceding first angle point type.
Step S203, judge in all mahalanobis distances whether be less than predetermined threshold value apart from shortest mahalanobis distance, if
It is to then follow the steps S204, if not, thening follow the steps S206；
Wherein, the value depend on the actual needs of predetermined threshold value, the present invention do not limit herein.
Step S204, judge that current first angle point matches with the second angle point in local map；
Step S205, when the angle point number that three-dimensional map and local map match reaches preset matching threshold value, and angle point
When the ratio that number accounts for all angle point numbers that three-dimensional map includes reaches preset ratio threshold value, judgement three-dimensional map with locally
Figure successful match, and obtain the actual position information and course angle information of vehicle.
Wherein, the value depend on the actual needs of preset matching threshold value and preset ratio threshold value, the present invention are not done herein
It limits.
Step S206, judge that current first angle point is mismatched with the second angle point in local map.
In summary, vehicle positioning method disclosed by the invention blocks traffic ring when vehicle is travelled in tunnel, viaduct etc.
When border, GPS module can be less than default positioning accuracy to the positioning accuracy of vehicle, and in this case, controller module can be opened
The integrated positioning module that camera module and laser module are constituted is carried out from the road environment image that camera module acquires
Target area is extracted and artificial landmark identification, carries out Primary Location to vehicle, obtains Primary Location result；From pre-stored map
Middle determination local map corresponding with Primary Location result；To the 3D point cloud number for the vehicle-periphery that laser module scans
According to analyzing processing is carried out, environment corner feature supplemental characteristic is obtained, and carry out dimensionally using environment corner feature supplemental characteristic
Figure is rebuild；The three-dimensional map of reconstruction is matched with local map, obtains the actual position information and course angle information of vehicle.
Therefore, present invention effectively prevents GPS modules to block position inaccurate present in traffic environment and accumulated error problem,
To improve the accuracy to vehicle location.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of vehicle positioning system, which is characterized in that including：
Global position system GPS module, the latitude and longitude information for obtaining vehicle from satellite system；
Inertial Measurement Unit IMU modules, for obtain the vehicle three dimensions acceleration and angular acceleration；
Camera module, for acquiring the road environment image in the vehicle travel process；
Laser module, the 3D point cloud data for scanning the vehicle-periphery；
The controller mould being connect respectively with the GPS module, the IMU modules, the camera module and the laser module
Block, the controller module are used for when determining that the GPS module is less than default positioning accuracy to the positioning accuracy of the vehicle,
The camera module and the laser module are opened, from the road environment image that the camera module acquires, into
Row target area is extracted and artificial landmark identification, and position of the artificial landmark in world coordinate system is it is known that the vehicle
Primary Location is carried out, Primary Location result is obtained；Determination is corresponding with the Primary Location result from pre-stored map
Local map；Analyzing processing is carried out to the 3D point cloud data that the laser module scans, obtains environment corner feature ginseng
Number data, and carry out three-dimensional map reconstruction using the environment corner feature supplemental characteristic；By the three-dimensional map of reconstruction with it is described
Local map is matched, and the actual position information and course angle information of the vehicle are obtained.
2. vehicle positioning system according to claim 1, which is characterized in that the controller module is additionally operable to：
When determining that the GPS module is not less than the default positioning accuracy to the positioning accuracy of the vehicle, taken the photograph described in closing
As head module and the laser module, and according to the latitude and longitude information of the vehicle of GPS module acquisition and the IMU
The vehicle that module obtains obtains the actual position information and course angle of the vehicle in the acceleration and angular acceleration of three dimensions
Information.
3. a kind of vehicle positioning method, which is characterized in that the vehicle positioning method is fixed applied to vehicle described in claim 1
Controller module in the system of position, the vehicle positioning method include：
Obtain the positioning states data for the vehicle that GPS module is sent；
Judge the positioning accuracy of the vehicle in the positioning states data whether less than default positioning accuracy；
When judging that the positioning accuracy is less than the default positioning accuracy, camera module and laser module are opened；
From the road environment image in the vehicle travel process that the camera module acquires, target area extraction is carried out
It is identified with artificial landmark, Primary Location is carried out to the vehicle, obtains Primary Location result, wherein the artificial landmark is alive
Known to position in boundary's coordinate system；
Local map corresponding with the Primary Location result is determined from pre-stored map；
3D point cloud data progress analyzing processing to the vehicle-periphery that the laser module scans, obtains environment angle
Point feature supplemental characteristic；
Three-dimensional map reconstruction is carried out using the environment corner feature supplemental characteristic, obtains three-dimensional map；
The three-dimensional map is matched with the local map, obtains the actual position information and course angle letter of the vehicle
Breath.
4. vehicle positioning method according to claim 3, which is characterized in that described to judge in the positioning states data
Whether the positioning accuracy of the vehicle specifically includes less than default positioning accuracy：
Judge whether the time that the GPS signal in the positioning states data is lost is more than preset time；Or from the GPS signal
From losing the moment, the vehicle adds up whether operating range is more than pre-determined distance；
It is corresponding, when judging that the positioning accuracy is less than the default positioning accuracy, open camera module and mode of laser
Block specifically includes：
When the judgement GPS signal drop-out time is more than the preset time；It is described or from the GPS signal loses the moment
When vehicle adds up operating range more than the pre-determined distance, the camera module and the laser module are opened.
5. vehicle positioning method according to claim 3, which is characterized in that the institute acquired from the camera module
State in the road environment image in vehicle travel process, carry out target area extraction and artificial landmark identification, to the vehicle into
Row Primary Location obtains Primary Location as a result, specifically including：
From the road environment image, the target area comprising artificial landmark is extracted；
The artificial landmark is identified from the target area, and obtains the artificial landmark in the road environment image
Image coordinate；
According to the location information of described image coordinate and the previously known artificial landmark in world coordinate system, to described
Vehicle carries out Primary Location, obtains the Primary Location of the vehicle as a result, the Primary Location result includes：The vehicle is alive
Absolute location information in boundary's coordinate system.
6. vehicle positioning method according to claim 3, which is characterized in that the institute scanned to the laser module
The 3D point cloud data for stating vehicle-periphery carry out analyzing processing, obtain environment corner feature supplemental characteristic, specifically include：
Using linear regression method, go out straightway all under vehicle axis system from the 3D point cloud extracting data, it is described straight
Line segment has characteristic parameter：Vehicle travels in vehicle axis system origin to the vertical range of straightway, vertical line and vehicle axis system
The angle and length of straigh line of axis where direction；
The corner feature supplemental characteristic of corresponding angle point is obtained using the feature of three straightways of intersection.
7. vehicle positioning method according to claim 6, which is characterized in that the environment corner feature supplemental characteristic packet
It includes：Angle point three-dimensional coordinate, the angle of angular coordinate system and world coordinate system, three edge lengths of angle point and angle point concavity and convexity.
8. vehicle positioning method according to claim 3, which is characterized in that the pre-stored map is for sub-meter grade
Figure, the sub-meter grade map include：The absolute coordinate of each point in three-dimensional space environment feature and environment.
9. vehicle positioning method according to claim 3, which is characterized in that described by the three-dimensional map and the part
Map is matched, and is obtained the actual position information and course angle information of the vehicle, is specifically included：
The angle point for including using the three-dimensional map as the first angle point, the angle point that the local map includes as the second angle point,
Each described first angle point that the three-dimensional map includes is identical with all concavity and convexities that the local map includes
Second angle point is matched respectively；
When in the local map including the second angle point with current first corners Matching, calculate separately each with it is described
The mahalanobis distance of second angle point of current first corners Matching and current first angle point；
Judge in all mahalanobis distances whether be less than predetermined threshold value apart from the shortest mahalanobis distance；
If being less than the predetermined threshold value apart from the shortest mahalanobis distance, current first angle point and the part are judged
Second angle point in map matches；
When the angle point number that the three-dimensional map and the local map match reaches preset matching threshold value, and the angle point number
When the ratio that mesh accounts for all angle point numbers that the three-dimensional map includes reaches preset ratio threshold value, judge the three-dimensional map with
The local map successful match, and obtain the actual position information and course angle information of the vehicle.
10. vehicle positioning method according to claim 9, which is characterized in that include in the local map with currently
Second angle point of the first corners Matching includes：
It include the second angle point identical with the current first angle point type in the local map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810145213.1A CN108303721B (en) | 2018-02-12 | 2018-02-12 | Vehicle positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810145213.1A CN108303721B (en) | 2018-02-12 | 2018-02-12 | Vehicle positioning method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108303721A true CN108303721A (en) | 2018-07-20 |
| CN108303721B CN108303721B (en) | 2020-04-03 |
Family
ID=62865374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810145213.1A Active CN108303721B (en) | 2018-02-12 | 2018-02-12 | Vehicle positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108303721B (en) |
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099923A (en) * | 2018-08-20 | 2018-12-28 | 江苏大学 | Road scene based on laser, video camera, GPS and inertial navigation fusion characterizes system and method |
| CN109115231A (en) * | 2018-08-29 | 2019-01-01 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of vehicle positioning method, equipment and automatic driving vehicle |
| CN109211210A (en) * | 2018-09-25 | 2019-01-15 | 深圳市超准视觉科技有限公司 | A kind of the identification locating measurement method and device of target object |
| CN109239752A (en) * | 2018-09-29 | 2019-01-18 | 重庆长安汽车股份有限公司 | Vehicle positioning system |
| CN109275089A (en) * | 2018-09-18 | 2019-01-25 | 广东小天才科技有限公司 | A kind of smart phone wrist-watch and method improving personal safety |
| CN109297500A (en) * | 2018-09-03 | 2019-02-01 | 武汉中海庭数据技术有限公司 | High-precision positioner and method based on lane line characteristic matching |
| CN109459734A (en) * | 2018-10-30 | 2019-03-12 | 百度在线网络技术（北京）有限公司 | A kind of laser radar locating effect appraisal procedure, device, equipment and storage medium |
| CN109556615A (en) * | 2018-10-10 | 2019-04-02 | 吉林大学 | The driving map generation method of Multi-sensor Fusion cognition based on automatic Pilot |
| CN109920266A (en) * | 2019-02-20 | 2019-06-21 | 武汉理工大学 | A kind of intelligent vehicle localization method |
| CN109931939A (en) * | 2019-02-27 | 2019-06-25 | 杭州飞步科技有限公司 | Localization method, device, equipment and the computer readable storage medium of vehicle |
| CN109934868A (en) * | 2019-03-18 | 2019-06-25 | 北京理工大学 | One kind is based on three-dimensional point cloud and the matched vehicle positioning method of satellite mapping |
| CN110108287A (en) * | 2019-06-03 | 2019-08-09 | 福建工程学院 | A kind of unmanned vehicle high-precision map-matching method and system based on street lamp auxiliary |
| CN110118988A (en) * | 2019-05-28 | 2019-08-13 | 上海擎感智能科技有限公司 | A kind of combined positioning method and its device |
| CN110231039A (en) * | 2019-06-27 | 2019-09-13 | 维沃移动通信有限公司 | A kind of location information modification method and terminal device |
| CN110243380A (en) * | 2019-06-26 | 2019-09-17 | 华中科技大学 | A kind of map-matching method based on multi-sensor data and angle character identification |
| CN110376577A (en) * | 2019-08-01 | 2019-10-25 | 北京市交大路通科技有限公司 | A kind of method, apparatus of vehicle location, electronic equipment and storage medium |
| CN110556012A (en) * | 2019-09-16 | 2019-12-10 | 北京百度网讯科技有限公司 | Lane positioning method and vehicle positioning system |
| CN110717007A (en) * | 2019-10-15 | 2020-01-21 | 财团法人车辆研究测试中心 | Map data positioning system and method applying roadside feature identification |
| CN110794821A (en) * | 2019-01-25 | 2020-02-14 | 长城汽车股份有限公司 | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle |
| WO2020048394A1 (en) * | 2018-09-04 | 2020-03-12 | 腾讯科技（深圳）有限公司 | Positioning method, apparatus and device, and computer-readable storage medium |
| CN110967008A (en) * | 2019-11-25 | 2020-04-07 | 江铃汽车股份有限公司 | Automatic driving full scene positioning method for commercial vehicle |
| CN111027346A (en) * | 2018-10-09 | 2020-04-17 | 上海适宇智能科技有限公司 | Vehicle positioning method based on road surface characteristics and application of vehicle positioning method in visual positioning |
| CN111055844A (en) * | 2019-12-25 | 2020-04-24 | 浙江吉利汽车研究院有限公司 | Method and device for determining driving behavior, vehicle and storage medium |
| CN111077556A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors |
| CN111142145A (en) * | 2019-12-31 | 2020-05-12 | 武汉中海庭数据技术有限公司 | Vehicle positioning method and device |
| WO2020133415A1 (en) * | 2018-12-29 | 2020-07-02 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for constructing a high-definition map based on landmarks |
| CN111561923A (en) * | 2020-05-19 | 2020-08-21 | 北京数字绿土科技有限公司 | SLAM (simultaneous localization and mapping) mapping method and system based on multi-sensor fusion |
| CN111753580A (en) * | 2019-03-27 | 2020-10-09 | 北京外号信息技术有限公司 | Identification method of optical communication device and corresponding electronic equipment |
| CN111812698A (en) * | 2020-07-03 | 2020-10-23 | 北京图森未来科技有限公司 | Positioning method, device, medium and equipment |
| CN111964673A (en) * | 2020-08-25 | 2020-11-20 | 一汽解放汽车有限公司 | Unmanned vehicle positioning system |
| CN111982133A (en) * | 2019-05-23 | 2020-11-24 | 北京地平线机器人技术研发有限公司 | Method and device for positioning vehicle based on high-precision map and electronic equipment |
| CN112154303A (en) * | 2019-07-29 | 2020-12-29 | 深圳市大疆创新科技有限公司 | High-precision map positioning method, system, platform and computer readable storage medium |
| CN112229417A (en) * | 2019-07-17 | 2021-01-15 | 北京新能源汽车技术创新中心有限公司 | Vehicle positioning method and device, computer equipment and storage medium |
| CN112230230A (en) * | 2019-06-28 | 2021-01-15 | 比亚迪股份有限公司 | Positioning method, device and system |
| CN112284396A (en) * | 2020-10-29 | 2021-01-29 | 的卢技术有限公司 | Vehicle positioning method suitable for underground parking lot |
| CN112304308A (en) * | 2020-09-30 | 2021-02-02 | 北京航天时代光电科技有限公司 | Miniaturized high-precision fiber-optic gyroscope inertial navigation unit |
| US20210048540A1 (en) * | 2019-08-12 | 2021-02-18 | Motional Ad Llc | Localization based on predefined features of the environment |
| CN112400122A (en) * | 2019-08-26 | 2021-02-23 | 北京航迹科技有限公司 | System and method for locating target object |
| CN112435468A (en) * | 2020-11-09 | 2021-03-02 | 腾讯科技（深圳）有限公司 | Vehicle shunting method and device |
| CN112444251A (en) * | 2019-08-29 | 2021-03-05 | 长沙智能驾驶研究院有限公司 | Vehicle driving position determining method and device, storage medium and computer equipment |
| CN112455502A (en) * | 2019-09-09 | 2021-03-09 | 中车株洲电力机车研究所有限公司 | Train positioning method and device based on laser radar |
| CN112525184A (en) * | 2019-08-28 | 2021-03-19 | 深圳拓邦股份有限公司 | Method and system for acquiring initial data of scrubber and scrubber |
| CN112802095A (en) * | 2019-11-14 | 2021-05-14 | 北京四维图新科技股份有限公司 | Positioning method, device and equipment and automatic driving positioning system |
| CN112805534A (en) * | 2019-08-27 | 2021-05-14 | 北京航迹科技有限公司 | System and method for locating target object |
| CN112835370A (en) * | 2021-01-19 | 2021-05-25 | 北京小马智行科技有限公司 | Vehicle positioning method and device, computer readable storage medium and processor |
| CN112904395A (en) * | 2019-12-03 | 2021-06-04 | 青岛慧拓智能机器有限公司 | Mining vehicle positioning system and method |
| CN113052904A (en) * | 2021-03-19 | 2021-06-29 | 上海商汤临港智能科技有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN113160400A (en) * | 2021-03-12 | 2021-07-23 | 榆林神华能源有限责任公司 | Underground terrain positioning method, storage medium and system |
| CN113191412A (en) * | 2021-04-25 | 2021-07-30 | 珠海格力电器股份有限公司 | Equipment relocation method and device, computer equipment and storage medium |
| CN113218385A (en) * | 2021-05-24 | 2021-08-06 | 周口师范学院 | High-precision vehicle positioning method based on SLAM |
| CN113415293A (en) * | 2021-08-13 | 2021-09-21 | 北汽福田汽车股份有限公司 | Vehicle positioning control method and device and vehicle |
| CN114518118A (en) * | 2020-11-19 | 2022-05-20 | 财团法人资讯工业策进会 | System and method for generating basic information for positioning and self-positioning judgment device |
| WO2023065810A1 (en) * | 2021-10-20 | 2023-04-27 | 华为技术有限公司 | Image acquisition method and apparatus, mobile terminal, and computer storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105096386A (en) * | 2015-07-21 | 2015-11-25 | 中国民航大学 | Method for automatically generating geographic maps for large-range complex urban environment |
| CN106446769A (en) * | 2015-08-11 | 2017-02-22 | 本田技研工业株式会社 | Systems and techniques for sign based localization |
| CN106842269A (en) * | 2017-01-25 | 2017-06-13 | 北京经纬恒润科技有限公司 | Localization method and system |
| CN106842226A (en) * | 2017-01-19 | 2017-06-13 | 谢建平 | Alignment system and method based on laser radar |
| CN107015238A (en) * | 2017-04-27 | 2017-08-04 | 睿舆自动化（上海）有限公司 | Unmanned vehicle autonomic positioning method based on three-dimensional laser radar |
-
2018
- 2018-02-12 CN CN201810145213.1A patent/CN108303721B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105096386A (en) * | 2015-07-21 | 2015-11-25 | 中国民航大学 | Method for automatically generating geographic maps for large-range complex urban environment |
| CN106446769A (en) * | 2015-08-11 | 2017-02-22 | 本田技研工业株式会社 | Systems and techniques for sign based localization |
| CN106842226A (en) * | 2017-01-19 | 2017-06-13 | 谢建平 | Alignment system and method based on laser radar |
| CN106842269A (en) * | 2017-01-25 | 2017-06-13 | 北京经纬恒润科技有限公司 | Localization method and system |
| CN107015238A (en) * | 2017-04-27 | 2017-08-04 | 睿舆自动化（上海）有限公司 | Unmanned vehicle autonomic positioning method based on three-dimensional laser radar |
Cited By (76)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099923A (en) * | 2018-08-20 | 2018-12-28 | 江苏大学 | Road scene based on laser, video camera, GPS and inertial navigation fusion characterizes system and method |
| CN109115231A (en) * | 2018-08-29 | 2019-01-01 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of vehicle positioning method, equipment and automatic driving vehicle |
| CN109297500A (en) * | 2018-09-03 | 2019-02-01 | 武汉中海庭数据技术有限公司 | High-precision positioner and method based on lane line characteristic matching |
| US11796320B2 (en) | 2018-09-04 | 2023-10-24 | Tencent Technology (Shenzhen) Company Limited | Positioning method, apparatus and device, and computer-readable storage medium |
| WO2020048394A1 (en) * | 2018-09-04 | 2020-03-12 | 腾讯科技（深圳）有限公司 | Positioning method, apparatus and device, and computer-readable storage medium |
| CN109275089A (en) * | 2018-09-18 | 2019-01-25 | 广东小天才科技有限公司 | A kind of smart phone wrist-watch and method improving personal safety |
| CN109275089B (en) * | 2018-09-18 | 2020-11-03 | 广东小天才科技有限公司 | Smart phone watch and method for improving personal safety |
| CN109211210A (en) * | 2018-09-25 | 2019-01-15 | 深圳市超准视觉科技有限公司 | A kind of the identification locating measurement method and device of target object |
| CN109239752A (en) * | 2018-09-29 | 2019-01-18 | 重庆长安汽车股份有限公司 | Vehicle positioning system |
| CN111027346A (en) * | 2018-10-09 | 2020-04-17 | 上海适宇智能科技有限公司 | Vehicle positioning method based on road surface characteristics and application of vehicle positioning method in visual positioning |
| CN109556615A (en) * | 2018-10-10 | 2019-04-02 | 吉林大学 | The driving map generation method of Multi-sensor Fusion cognition based on automatic Pilot |
| CN109459734B (en) * | 2018-10-30 | 2020-09-11 | 百度在线网络技术（北京）有限公司 | Laser radar positioning effect evaluation method, device, equipment and storage medium |
| CN109459734A (en) * | 2018-10-30 | 2019-03-12 | 百度在线网络技术（北京）有限公司 | A kind of laser radar locating effect appraisal procedure, device, equipment and storage medium |
| CN112136021A (en) * | 2018-12-29 | 2020-12-25 | 北京嘀嘀无限科技发展有限公司 | System and method for constructing landmark-based high-definition map |
| US10996337B2 (en) | 2018-12-29 | 2021-05-04 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for constructing a high-definition map based on landmarks |
| WO2020133415A1 (en) * | 2018-12-29 | 2020-07-02 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for constructing a high-definition map based on landmarks |
| CN110794821A (en) * | 2019-01-25 | 2020-02-14 | 长城汽车股份有限公司 | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle |
| CN110794821B (en) * | 2019-01-25 | 2022-05-27 | 长城汽车股份有限公司 | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle |
| CN109920266A (en) * | 2019-02-20 | 2019-06-21 | 武汉理工大学 | A kind of intelligent vehicle localization method |
| CN109931939A (en) * | 2019-02-27 | 2019-06-25 | 杭州飞步科技有限公司 | Localization method, device, equipment and the computer readable storage medium of vehicle |
| CN109934868A (en) * | 2019-03-18 | 2019-06-25 | 北京理工大学 | One kind is based on three-dimensional point cloud and the matched vehicle positioning method of satellite mapping |
| CN111753580A (en) * | 2019-03-27 | 2020-10-09 | 北京外号信息技术有限公司 | Identification method of optical communication device and corresponding electronic equipment |
| CN111982133A (en) * | 2019-05-23 | 2020-11-24 | 北京地平线机器人技术研发有限公司 | Method and device for positioning vehicle based on high-precision map and electronic equipment |
| CN110118988A (en) * | 2019-05-28 | 2019-08-13 | 上海擎感智能科技有限公司 | A kind of combined positioning method and its device |
| CN110108287A (en) * | 2019-06-03 | 2019-08-09 | 福建工程学院 | A kind of unmanned vehicle high-precision map-matching method and system based on street lamp auxiliary |
| CN110243380A (en) * | 2019-06-26 | 2019-09-17 | 华中科技大学 | A kind of map-matching method based on multi-sensor data and angle character identification |
| CN110243380B (en) * | 2019-06-26 | 2020-11-24 | 华中科技大学 | Map matching method based on multi-sensor data and angle feature recognition |
| CN110231039A (en) * | 2019-06-27 | 2019-09-13 | 维沃移动通信有限公司 | A kind of location information modification method and terminal device |
| CN112230230A (en) * | 2019-06-28 | 2021-01-15 | 比亚迪股份有限公司 | Positioning method, device and system |
| CN112230230B (en) * | 2019-06-28 | 2024-02-27 | 比亚迪股份有限公司 | Positioning method, device and system |
| CN112229417A (en) * | 2019-07-17 | 2021-01-15 | 北京新能源汽车技术创新中心有限公司 | Vehicle positioning method and device, computer equipment and storage medium |
| CN112154303B (en) * | 2019-07-29 | 2024-04-05 | 深圳市大疆创新科技有限公司 | High-precision map positioning method, system, platform and computer readable storage medium |
| CN112154303A (en) * | 2019-07-29 | 2020-12-29 | 深圳市大疆创新科技有限公司 | High-precision map positioning method, system, platform and computer readable storage medium |
| CN110376577B (en) * | 2019-08-01 | 2020-03-13 | 北京市交大路通科技有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
| CN110376577A (en) * | 2019-08-01 | 2019-10-25 | 北京市交大路通科技有限公司 | A kind of method, apparatus of vehicle location, electronic equipment and storage medium |
| US11885893B2 (en) * | 2019-08-12 | 2024-01-30 | Motional Ad Llc | Localization based on predefined features of the environment |
| US20210048540A1 (en) * | 2019-08-12 | 2021-02-18 | Motional Ad Llc | Localization based on predefined features of the environment |
| WO2021035471A1 (en) * | 2019-08-26 | 2021-03-04 | Beijing Voyager Technology Co., Ltd. | Systems and methods for positioning a target subject |
| CN112400122A (en) * | 2019-08-26 | 2021-02-23 | 北京航迹科技有限公司 | System and method for locating target object |
| CN112805534B (en) * | 2019-08-27 | 2024-05-17 | 北京航迹科技有限公司 | System and method for locating a target object |
| CN112805534A (en) * | 2019-08-27 | 2021-05-14 | 北京航迹科技有限公司 | System and method for locating target object |
| CN112525184A (en) * | 2019-08-28 | 2021-03-19 | 深圳拓邦股份有限公司 | Method and system for acquiring initial data of scrubber and scrubber |
| CN112444251B (en) * | 2019-08-29 | 2023-06-13 | 长沙智能驾驶研究院有限公司 | Vehicle driving position determining method and device, storage medium and computer equipment |
| CN112444251A (en) * | 2019-08-29 | 2021-03-05 | 长沙智能驾驶研究院有限公司 | Vehicle driving position determining method and device, storage medium and computer equipment |
| CN112455502A (en) * | 2019-09-09 | 2021-03-09 | 中车株洲电力机车研究所有限公司 | Train positioning method and device based on laser radar |
| CN110556012A (en) * | 2019-09-16 | 2019-12-10 | 北京百度网讯科技有限公司 | Lane positioning method and vehicle positioning system |
| CN110556012B (en) * | 2019-09-16 | 2022-03-08 | 北京百度网讯科技有限公司 | Lane positioning method and vehicle positioning system |
| CN110717007A (en) * | 2019-10-15 | 2020-01-21 | 财团法人车辆研究测试中心 | Map data positioning system and method applying roadside feature identification |
| CN112802095B (en) * | 2019-11-14 | 2024-04-16 | 北京四维图新科技股份有限公司 | Positioning method, device and equipment, and automatic driving positioning system |
| CN112802095A (en) * | 2019-11-14 | 2021-05-14 | 北京四维图新科技股份有限公司 | Positioning method, device and equipment and automatic driving positioning system |
| CN110967008A (en) * | 2019-11-25 | 2020-04-07 | 江铃汽车股份有限公司 | Automatic driving full scene positioning method for commercial vehicle |
| CN112904395A (en) * | 2019-12-03 | 2021-06-04 | 青岛慧拓智能机器有限公司 | Mining vehicle positioning system and method |
| CN111055844A (en) * | 2019-12-25 | 2020-04-24 | 浙江吉利汽车研究院有限公司 | Method and device for determining driving behavior, vehicle and storage medium |
| CN111142145A (en) * | 2019-12-31 | 2020-05-12 | 武汉中海庭数据技术有限公司 | Vehicle positioning method and device |
| CN111077556A (en) * | 2020-01-02 | 2020-04-28 | 东南大学 | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors |
| CN111561923A (en) * | 2020-05-19 | 2020-08-21 | 北京数字绿土科技有限公司 | SLAM (simultaneous localization and mapping) mapping method and system based on multi-sensor fusion |
| CN111561923B (en) * | 2020-05-19 | 2022-04-15 | 北京数字绿土科技股份有限公司 | SLAM (simultaneous localization and mapping) mapping method and system based on multi-sensor fusion |
| CN111812698A (en) * | 2020-07-03 | 2020-10-23 | 北京图森未来科技有限公司 | Positioning method, device, medium and equipment |
| CN111964673A (en) * | 2020-08-25 | 2020-11-20 | 一汽解放汽车有限公司 | Unmanned vehicle positioning system |
| CN112304308A (en) * | 2020-09-30 | 2021-02-02 | 北京航天时代光电科技有限公司 | Miniaturized high-precision fiber-optic gyroscope inertial navigation unit |
| CN112284396B (en) * | 2020-10-29 | 2023-01-03 | 的卢技术有限公司 | Vehicle positioning method suitable for underground parking lot |
| CN112284396A (en) * | 2020-10-29 | 2021-01-29 | 的卢技术有限公司 | Vehicle positioning method suitable for underground parking lot |
| CN112435468A (en) * | 2020-11-09 | 2021-03-02 | 腾讯科技（深圳）有限公司 | Vehicle shunting method and device |
| TWI768548B (en) * | 2020-11-19 | 2022-06-21 | 財團法人資訊工業策進會 | System and method for generating basic information for positioning and self-positioning determination device |
| CN114518118B (en) * | 2020-11-19 | 2024-05-28 | 财团法人资讯工业策进会 | Basic information generating system and method for positioning and self positioning judging device |
| US11636619B2 (en) | 2020-11-19 | 2023-04-25 | Institute For Information Industry | System and method for generating basic information for positioning and self-positioning determination device |
| CN114518118A (en) * | 2020-11-19 | 2022-05-20 | 财团法人资讯工业策进会 | System and method for generating basic information for positioning and self-positioning judgment device |
| CN112835370B (en) * | 2021-01-19 | 2023-07-14 | 北京小马智行科技有限公司 | Positioning method and device for vehicle, computer readable storage medium and processor |
| CN112835370A (en) * | 2021-01-19 | 2021-05-25 | 北京小马智行科技有限公司 | Vehicle positioning method and device, computer readable storage medium and processor |
| CN113160400A (en) * | 2021-03-12 | 2021-07-23 | 榆林神华能源有限责任公司 | Underground terrain positioning method, storage medium and system |
| CN113052904B (en) * | 2021-03-19 | 2022-12-13 | 上海商汤临港智能科技有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN113052904A (en) * | 2021-03-19 | 2021-06-29 | 上海商汤临港智能科技有限公司 | Positioning method, positioning device, electronic equipment and storage medium |
| CN113191412A (en) * | 2021-04-25 | 2021-07-30 | 珠海格力电器股份有限公司 | Equipment relocation method and device, computer equipment and storage medium |
| CN113218385A (en) * | 2021-05-24 | 2021-08-06 | 周口师范学院 | High-precision vehicle positioning method based on SLAM |
| CN113415293A (en) * | 2021-08-13 | 2021-09-21 | 北汽福田汽车股份有限公司 | Vehicle positioning control method and device and vehicle |
| WO2023065810A1 (en) * | 2021-10-20 | 2023-04-27 | 华为技术有限公司 | Image acquisition method and apparatus, mobile terminal, and computer storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108303721B (en) | 2020-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108303721A (en) | A kind of vehicle positioning method and system | |
| CN111551958B (en) | Mining area unmanned high-precision map manufacturing method | |
| KR102083909B1 (en) | Automatic extraction method for lane data information for autonomous driving vehicles based on point cloud map | |
| CN108801276B (en) | High-precision map generation method and device | |
| CN107235044B (en) | A kind of restoring method realized based on more sensing datas to road traffic scene and driver driving behavior | |
| CN106441319B (en) | A kind of generation system and method for automatic driving vehicle lane grade navigation map | |
| JP5505723B2 (en) | Image processing system and positioning system | |
| KR102595897B1 (en) | Method and apparatus of determining road line | |
| CN109946732A (en) | A kind of unmanned vehicle localization method based on Fusion | |
| JP5057183B2 (en) | Reference data generation system and position positioning system for landscape matching | |
| Schreiber et al. | Laneloc: Lane marking based localization using highly accurate maps | |
| CN102208036B (en) | Vehicle position detection system | |
| CN108645420B (en) | Method for creating multipath map of automatic driving vehicle based on differential navigation | |
| JP5062498B2 (en) | Reference data generation system and position positioning system for landscape matching | |
| CN104848867B (en) | The pilotless automobile Combinated navigation method of view-based access control model screening | |
| JP5057184B2 (en) | Image processing system and vehicle control system | |
| CN108303103A (en) | The determination method and apparatus in target track | |
| CN102208035B (en) | Image processing system and position measuring system | |
| CN107229063A (en) | A kind of pilotless automobile navigation and positioning accuracy antidote merged based on GNSS and visual odometry | |
| CN111192311B (en) | Automatic extraction method and device for longitudinal deceleration marked line in high-precision map making | |
| CN109313856A (en) | Object detecting method and article detection device | |
| CN109931939A (en) | Localization method, device, equipment and the computer readable storage medium of vehicle | |
| Cao et al. | Camera to map alignment for accurate low-cost lane-level scene interpretation | |
| JP2011215974A (en) | Image processing system | |
| CN109903574A (en) | The acquisition methods and device of crossing traffic information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
|
| CP03 | Change of name, title or address |