CN109239752A - Vehicle positioning system - Google Patents
Vehicle positioning system Download PDFInfo
- Publication number
- CN109239752A CN109239752A CN201811151808.4A CN201811151808A CN109239752A CN 109239752 A CN109239752 A CN 109239752A CN 201811151808 A CN201811151808 A CN 201811151808A CN 109239752 A CN109239752 A CN 109239752A
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- vehicle
- module
- information
- satellite
- positioning
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- 238000013507 mapping Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 13
- 230000004927 fusion Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 description 1
- 238000005267 amalgamation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004807 localization 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
Vehicle positioning system disclosed by the invention, it comprehensively utilizes high-precision mapping module, satellite positioning module and vision local positioning module and solves single satellite positioning or poor, the poor for applicability disadvantage of single office's vision portion positioning accuracy, it is improved efficiency using satellite positioning, then merges vision local positioning and improve positioning accuracy.
Description
Technical field
The invention belongs to automatic driving fields, and in particular to vehicle positioning system.
Background technique
Automated driving system can automatically control vehicle operation, under special scenes, realize to include automatic running, independently change
The functions such as road, automatic parking, it is ensured that the safety of driving, while driving experience and comfort are promoted again.In automatic Pilot technology
In field, most crucial problem is to solve the problems, such as that vehicle is accurately positioned, and high accuracy positioning is the basis for realizing automatic Pilot, is
Guarantee automatic driving vehicle accurate decision and the premise that arrives at the destination.
There are two types of modes for prior art vehicle positioning system.One kind is global position system (Global Navigation
Satellite System, GNSS), the influence due to atmosphere to satellite ranging error, global position system precision can only reach
It is other to 10 meter levels, it is unable to satisfy the vehicle location demand that self energy car steering accurately controls vehicle.Second is vision part
Locating scheme identifies lane line using camera, judges the distance of vehicle distances or so lane line, and it is laterally fixed to realize to vehicle
Position.Cost is relatively low for this scheme, can meet the requirement for driving auxiliary to a certain extent, but limited in identification lane line, no
The location of vehicle can be judged, while located lateral can only be done in the case where number of track-lines is more, can not accurately determine vehicle
Position.Therefore, it is necessary to propose a kind of amalgamation, the higher vehicle positioning system of precision.
Summary of the invention
The invention discloses vehicle positioning system, solves single satellite positioning or single office's vision portion positioning accuracy is poor, suitable
It with the disadvantage of property difference, is improved efficiency using satellite positioning, then merges vision local positioning and improve positioning accuracy.
Vehicle positioning system, including high-precision mapping module, satellite positioning module, vision local positioning module, the vision
Local positioning module includes camera, roadway environments detection module, distance-measurement module and map relating module；Vehicle was run
Cheng Zhong,
Satellite positioning module periodically obtains vehicle satellite location information；
High-precision mapping module is transferred local map information in the center setting range and is passed centered on vehicle satellite location information
Give map relating module；
Camera constantly obtains lane ambient enviroment video information in vehicle travel process；
Roadway environments detection module obtains the environment shape detected around lane in lane ambient enviroment video information from camera
Information；
Distance-measurement module measures the range information of vehicle and lane ambient enviroment in vehicle operation；
Environment shape information is carried out shape with local map information and matches section locating for determining vehicle, and root by map relating module
The vehicle distances section distance is determined according to range information, and then determines vehicle image location information.
It further, further include Fusion Module, the Fusion Module fusion vehicle satellite location information, vehicle image positioning
Information acquisition vehicle location information.
Further, the vision local positioning module further includes light stream motion profile module, the light stream motion profile
Module obtains lane ambient enviroment video information from camera, is matched to different video frame with interframe according to optical flow algorithm,
It estimates vehicle movement trace information, and sends vehicle movement trace information to map relating module, by map relating module root
Vehicle image location information is calibrated according to vehicle movement trace information.
It further, further include inertia and wheel speed measurement module, inertia and wheel speed measurement module are obtained from satellite positioning module
Upper period vehicle satellite location information is obtained, is calculated within epicycle cycle time by vehicle six direction inertia, wheel velocity
Vehicle track information, and send vehicle track information to satellite positioning module, the vehicle in this period is corrected by satellite positioning module
Satellite positioning information.
Further, high-precision mapping module transfers 50 meters of the center radius distance centered on vehicle satellite location information
Local map information and map relating module is sent in range.
Further, high-precision mapping module transfers 50 meters of the center radius distance centered on vehicle satellite location information
Local map information and map relating module is sent in range.
Advantageous effects of the present invention are as follows:
1) the high-precision mapping module of vehicle positioning system disclosed by the invention is defended according to the preliminary vehicle that satellite positioning module determines
Centered on star location information, foundation of the high-precision map in part as vision local positioning module path adaptation is extracted, can be improved
The matching efficiency of environment shape information in the context detection module of vision local positioning module lane, range information and high-precision map；
2) environment shape information is carried out shape with local map information and matches section locating for determining vehicle, meeting by map relating module
Occur due to do not have in camera video image can with the target of high-precision map match and cause to match and can fail, and then vehicle figure
As location information can not be obtained effectively, inertia and wheel speed measurement module carry out the vehicle movement based on vehicle wheel speed, inertia at this time
Track light stream calculates, it is calibrated with vehicle image location information, may be implemented to continue to position.
3) satellite positioning module is periodically obtained into vehicle satellite location information and vehicle image localization information fusion, due to
It is other that vehicle satellite location information precision can only achieve 10 meter levels, and the vehicle image information precision of view-based access control model local positioning is reachable
10 centimetres of ranks, the two, which combines, can be improved vehicle location precision, guarantee location information can applications well led in automatic Pilot technology
(automatic Pilot field requires vehicle high-precision positioning, in vehicle collision, scrapes the vehicle under the jam situation of scrape along lane and drives automatically in domain
Sail a centimetre rank control, positioning is necessary).
4) the high-precision map in part that vision local positioning module is exported using high-precision map carries out images match positioning, overcomes
Vehicle location precision state labile problem caused by camera image unstable quality in vision local positioning, due to high-precision
Mapping module provides the high-precision map in part, improves images match efficiency, therefore precision improves while not reducing image
Match, image path location efficiency.
To sum up, vehicle positioning system disclosed by the invention solves single satellite positioning or vision local positioning low precision, fits
The disadvantages of poor with property, realizes high fine positioning in conjunction with vehicle running environment, and cost is controllable, and precision is automatic Pilot up to Centimeter Level
Basic vehicle location is provided to support.
Detailed description of the invention
Fig. 1 is this vehicle positioning system flow chart.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Vehicle positioning system disclosed by the invention, including high-precision mapping module 2, satellite positioning module 1, inertia and wheel speed measurement mould
Block 9, vision local positioning module 10 and Fusion Module 8；Vision local positioning module includes camera 3, roadway environments detection mould
Block 4, distance-measurement module 5, map relating module 7 and light stream motion profile module 6.
In vehicle operation,
Satellite positioning module periodically obtains vehicle satellite location information, and inertia and wheel speed measurement module are obtained from satellite positioning module
Upper period vehicle satellite location information is obtained, is calculated within epicycle cycle time by vehicle six direction inertia, wheel velocity
Vehicle track information, and send vehicle track information to satellite positioning module, the vehicle in this period is corrected by satellite positioning module
Satellite positioning information.
High-precision mapping module transfers part within the scope of 50 meters of the center radius distance centered on vehicle satellite location information
Cartographic information simultaneously sends map relating module to.
Camera constantly obtains lane ambient enviroment video information in vehicle travel process.
Roadway environments detection module obtains the environment detected around lane in lane ambient enviroment video information from camera
Shape information；The environment of vehicle periphery includes the markers such as lane line, edge line, traffic mark board, the dry, portal frame of electric wire.
Distance-measurement module measures the range information of vehicle and lane ambient enviroment in vehicle operation.
Environment shape information is carried out shape with local map information and matches section locating for determining vehicle by map relating module,
And the vehicle distances section distance is determined according to range information, and then determine vehicle image location information.
Light stream motion profile module obtains lane ambient enviroment video information from camera, according to optical flow algorithm to different views
Frequency frame is matched with interframe, estimates vehicle movement trace information, and send vehicle movement trace information to map association mould
Block calibrates vehicle image location information according to vehicle movement trace information by map relating module.
Fusion Module merges vehicle satellite location information, vehicle image location information obtains vehicle location information.
Claims (6)
1. vehicle positioning system, including high-precision mapping module (2), satellite positioning module (1), vision local positioning module (10),
The vision local positioning module includes that camera (3), roadway environments detection module (4), distance-measurement module (5) and map close
Gang mould block (7)；In vehicle operation,
Satellite positioning module periodically obtains vehicle satellite location information；
High-precision mapping module is transferred local map information in the center setting range and is passed centered on vehicle satellite location information
Give map relating module；
Camera constantly obtains lane ambient enviroment video information in vehicle travel process；
Roadway environments detection module obtains the environment shape detected around lane in lane ambient enviroment video information from camera
Information；
Distance-measurement module measures the range information of vehicle and lane ambient enviroment in vehicle operation；
Environment shape information is carried out shape with local map information and matches section locating for determining vehicle, and root by map relating module
The vehicle distances section distance is determined according to range information, and then determines vehicle image location information.
2. vehicle positioning system as described in claim 1, it is characterised in that: further include Fusion Module (8), the Fusion Module
Vehicle satellite location information and vehicle image location information are merged, vehicle location information is obtained.
3. vehicle positioning system as claimed in claim 1 or 2, it is characterised in that: the vision local positioning module further includes
Light stream motion profile module (6), the light stream motion profile module obtain lane ambient enviroment video information from camera, according to
Optical flow algorithm matches different video frame with interframe, estimates vehicle movement trace information, and by vehicle movement trace information
It sends map relating module to, school is carried out to vehicle image location information according to vehicle movement trace information by map relating module
It is quasi-.
4. vehicle positioning system as claimed in claim 3, it is characterised in that: further include inertia and wheel speed measurement module (9), be used to
Property and wheel speed measurement module from satellite positioning module obtain upper period vehicle satellite location information, lead within epicycle cycle time
Cross vehicle six direction inertia, wheel velocity calculates vehicle track information, and sends vehicle track information to satellite positioning mould
Block is corrected the vehicle satellite location information in this period by satellite positioning module.
5. vehicle positioning system as claimed in claim 1 or 2, it is characterised in that: high-precision mapping module is positioned with vehicle satellite
Centered on information, transfers local map information within the scope of 50 meters of the center radius distance and send map relating module to.
6. vehicle positioning system as claimed in claim 4, it is characterised in that: high-precision mapping module is with vehicle satellite location information
Centered on, it transfers local map information within the scope of 50 meters of the center radius distance and sends map relating module to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811151808.4A CN109239752A (en) | 2018-09-29 | 2018-09-29 | Vehicle positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811151808.4A CN109239752A (en) | 2018-09-29 | 2018-09-29 | Vehicle positioning system |
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| CN109239752A true CN109239752A (en) | 2019-01-18 |
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| CN201811151808.4A Pending CN109239752A (en) | 2018-09-29 | 2018-09-29 | Vehicle positioning system |
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| CN109900278A (en) * | 2019-02-18 | 2019-06-18 | 苏州工业园区职业技术学院 | A kind of co-positioned system of intelligent network connection automobile |
| CN110060493A (en) * | 2019-05-16 | 2019-07-26 | 维智汽车电子(天津)有限公司 | Lane location method, apparatus and electronic equipment |
| CN110081880A (en) * | 2019-04-12 | 2019-08-02 | 同济大学 | A kind of sweeper local positioning system and method merging vision, wheel speed and inertial navigation |
| CN111307165A (en) * | 2020-03-06 | 2020-06-19 | 新石器慧通（北京）科技有限公司 | Vehicle positioning method and system and unmanned vehicle |
| CN111873995A (en) * | 2020-08-04 | 2020-11-03 | 禾多科技（北京）有限公司 | System and method for automatically driving on-off ramps on highway |
| 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 |
| CN112268557A (en) * | 2020-09-22 | 2021-01-26 | 宽凳（北京）科技有限公司 | Real-time high-precision positioning method for urban scene |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900278A (en) * | 2019-02-18 | 2019-06-18 | 苏州工业园区职业技术学院 | A kind of co-positioned system of intelligent network connection automobile |
| CN110081880A (en) * | 2019-04-12 | 2019-08-02 | 同济大学 | A kind of sweeper local positioning system and method merging vision, wheel speed and inertial navigation |
| CN110060493A (en) * | 2019-05-16 | 2019-07-26 | 维智汽车电子(天津)有限公司 | Lane location method, apparatus and 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 |
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| CN111873995A (en) * | 2020-08-04 | 2020-11-03 | 禾多科技（北京）有限公司 | System and method for automatically driving on-off ramps on highway |
| CN111873995B (en) * | 2020-08-04 | 2021-07-23 | 禾多科技（北京）有限公司 | System and method for automatically driving on-off ramps on highway |
| CN112268557A (en) * | 2020-09-22 | 2021-01-26 | 宽凳（北京）科技有限公司 | Real-time high-precision positioning method for urban scene |
| CN112268557B (en) * | 2020-09-22 | 2024-03-05 | 宽凳(湖州)科技有限公司 | Real-time high-precision positioning method for urban scene |
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Application publication date: 20190118 |