CN109325390A - A kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION and system - Google Patents
A kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION and system Download PDFInfo
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- CN109325390A CN109325390A CN201710647293.6A CN201710647293A CN109325390A CN 109325390 A CN109325390 A CN 109325390A CN 201710647293 A CN201710647293 A CN 201710647293A CN 109325390 A CN109325390 A CN 109325390A
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- road traffic
- graticule
- traffic marking
- vehicle
- map
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
Abstract
The present invention provides a kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION and system, a road traffic marking near selected distance vehicle, which is used as, refers to graticule, identifies the type with reference to graticule；The shape information of graticule is referred to using current vehicle position as visual angle identification；It according to the location information of vehicle, determines locating region of the vehicle in high-precision map, retrieves road traffic marking in this region, the road traffic marking corresponding with the reference graticule type stored in high-precision map is found according to the type of reference graticule；And according to the one-to-one relationship of the shape information of road traffic marking and present position, position corresponding with shape information is found, using the position as vehicle location to be determined.The present invention uses visual sensor that can accurately identify target type and the laser radar advantage high for the position detection accuracy of target simultaneously, substantially increases the positioning accuracy of vehicle, meets the needs of intelligent driving vehicle.
Description
Technical field
It is the invention belongs to intelligent driving technical field, in particular to a kind of to be combined based on map with FUSION WITH MULTISENSOR DETECTION
Localization method and system.
Background technique
With the development of computer science and robot technology, intelligent driving vehicle is in military, civilian and scientific research etc.
All various aspects are widely used, it has concentrated structure, electronics, cybernetics and artificial intelligence etc. multi-disciplinary newest
Research achievement has broad application prospects.
Positioning system is essential component part in intelligent driving system, positioning system usually rely on satellite-signal into
Row positioning can not receive satellite-signal, to cause to position when having tunnel, overpass etc. to block when positioning system positioning
There is deviation and drift in the positioning signal of system output, not can be carried out accurate positionin.The positioning positioned using satellite merely
System can not solve the orientation problem under all operating conditions, it is therefore desirable to carry out auxiliary positioning by other means.
Publication No. " CN102779280A ", it is entitled " to be determined based on driving safety map and binocular Traffic Sign Recognition
The Chinese patent document of position method and system ", the patent document identify and detect traffic sign and vehicle using binocular camera
Between spacing, compared with the coordinate of the corresponding traffic sign on high-precision map, realize the positioning of vehicle, but this
The method for detecting distance between traffic sign and vehicle using binocular camera, since the Detection accuracy that camera is adjusted the distance is low, because
This will affect positioning accuracy.
Summary of the invention
The purpose of the present invention is to provide a kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION and system,
It is low to the positioning accuracy of intelligent driving vehicle for solving the problems, such as.
To achieve the above object, the technical scheme is that
A kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION, is included the following steps:
1) road traffic marking near selected distance vehicle, which is used as, refers to graticule, identifies the class with reference to graticule
Type, the type include the shape of roadmarking, color characteristic；
2) shape information with reference to graticule is identified by visual angle of current vehicle position；
3) it according to the location information of vehicle, determines locating region of the vehicle in high-precision map, examines in this region
Rope road traffic marking, found according to the type of reference graticule stored in high-precision map with it is described with reference to graticule type it is corresponding
Road traffic marking；And it according to the one-to-one relationship of the shape information of road traffic marking and present position, finds
Position corresponding with the shape information, using the position as vehicle location to be determined；It is stored in the high-precision map
There is road traffic marking, and the shape information of the road traffic marking obtained using different positions as visual angle.
Further, the type with reference to graticule is identified by visual sensor in step 1).
Further, the shape information with reference to graticule is identified by laser radar in step 2).
Further, the shape information is expressed as the curve in plane.
Further, the road traffic marking includes that longitudinal lane line, stop line, zebra stripes, left/right rotation and straight trip refer to
Timberline, text index line.
Further, in step 1), the shape and color of each road traffic marking are acquired using the method for deep learning, is obtained
To the sample set of the shape and color that include each road traffic marking, by by the road traffic marking currently acquired and sample set
Compare, identification refers to the type of graticule.
Further, the curve in the plane is expressed as y=ax3+bx2+ cx+d, wherein x, y are respectively indicated: with vehicle
Center be coordinate origin, lateral distance and fore-and-aft distance of each point relative to vehicle on road traffic marking, a, b, c, d difference
Represent corresponding coefficient.
The present invention also provides a kind of positioning systems combined based on map with FUSION WITH MULTISENSOR DETECTION, including such as place an order
Member:
It is used as a road traffic marking near selected distance vehicle and refers to graticule, identified described with reference to graticule
Type, the type include the unit of the shape of roadmarking, color characteristic；
For identifying the unit of the shape information with reference to graticule using current vehicle position as visual angle；
For the location information according to vehicle, locating region of the vehicle in high-precision map is determined, in this region
Retrieve road traffic marking, found according to the type of reference graticule stored in high-precision map with it is described refer to graticule type pair
The road traffic marking answered；And it according to the one-to-one relationship of the shape information of road traffic marking and present position, looks for
To position corresponding with the shape information, using the position as vehicle location to be determined；It is deposited in the high-precision map
Contain road traffic marking, and the road traffic marking obtained using different positions as visual angle shape information unit.
Further, the shape information is expressed as the curve in plane.
Further, the road traffic marking include longitudinal lane line, stop line, zebra stripes, left/right rotation index line and
Straight trip index line, text index line.
The beneficial effects of the present invention are:
The present invention mentions a road traffic marking near selected distance vehicle and is used as with reference to graticule, identifies described with reference to mark
The type of line, the type include the shape of roadmarking, color characteristic；The reference is identified by visual angle of current vehicle position
The shape information of graticule；According to the location information of vehicle, locating region of the vehicle in high-precision map is determined, in the region
Middle retrieval road traffic marking, found according to the type of reference graticule stored in high-precision map with it is described refer to graticule type
Corresponding road traffic marking；And according to the one-to-one relationship of the shape information of road traffic marking and present position,
Position corresponding with the shape information is found, using the position as vehicle location to be determined；In the high-precision map
It is stored with road traffic marking, and the shape information of the road traffic marking obtained using different positions as visual angle.The present invention
By using visual sensor and laser radar simultaneously, since visual sensor can accurately identify target type, but for position
It is low to set detection accuracy；And laser radar is high for the position detection accuracy of target, but is difficult to identify that target type, the present invention are abundant
The advantages of using both sensors, the positioning accuracy of vehicle is improved, meets the needs of intelligent driving vehicle.
Detailed description of the invention
Fig. 1 is the flow chart of the localization method of the invention combined based on map with FUSION WITH MULTISENSOR DETECTION.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing:
A kind of embodiment of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION of the invention:
A kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION, as shown in Figure 1, comprising the following steps:
1, a road traffic marking near selected distance vehicle, which is used as, refers to graticule, identifies road using visual sensor
The type of road traffic marking identifies the features such as shape, the color of road traffic marking, to distinguish by visual sensor
The visual sensor of the classification of road traffic marking, the present embodiment uses monocular cam or binocular camera.Distinguish road
The classification of traffic marking refers to the shape and color of the method acquisition different kinds of roads traffic marking using deep learning, generates sample
Collection, determines the road traffic marking classification that present frame is included by comparing sample set.
When choosing with reference to graticule, if vehicle nearby has a same or similar graticule of several types, one with other types all
Not the same or similar graticule, at this point, the graticule for selecting this different from other types and passes through vision as graticule is referred to
Sensor further identifies that this refers to the type of graticule, for example, being turned left by visual sensor identification with reference to graticule type
Curve.The road traffic marking of the present embodiment includes longitudinal lane line, stop line, zebra stripes, left/right rotation and straight trip index line, text
Word index line.
2, the shape information of graticule is referred to by laser radar identification using current vehicle position as visual angle；The shape information is
Curve in plane, and the mathematical model equation of road traffic marking can be described, the present embodiment uses cubic equation y=ax3+
bx2+ cx+d describes the shape information of road traffic marking, wherein x, y are respectively indicated: using the center of vehicle as coordinate origin,
Lateral distance and fore-and-aft distance of each point relative to vehicle, a, b, c, d respectively represent corresponding coefficient on road traffic marking.
For not being available the road traffic marking of parameter model description, it will be segmented and be described.
3, according to the location information of vehicle (location information of vehicle previous frame, due between present frame and previous frame when
Between be spaced shorter, the mobile distance of vehicle should be shorter within interval time, it is possible to the positioning of vehicle previous frame
Information is the reference zone of current vehicle position), it determines locating region of the vehicle in high-precision map, examines in this region
Rope road traffic marking finds the road traffic marking stored in high-precision map according to the type of reference graticule；And according to
The shape information of the road traffic marking and the one-to-one relationship of present position, find position corresponding with shape information,
Using the position as vehicle location to be determined.
Road traffic marking is stored in the high-precision map of the present embodiment, and obtained using different positions as visual angle
The shape information of road traffic marking；Due to from road traffic marking in terms of different visual angles, available different shape information,
The corresponding shape information in each visual angle, for example for left-hand rotation graticule, go to see this left-hand rotation graticule from different angles, can obtain
The parameter of different cubic equation models, the cubic equation model may be all unequal.
Road traffic is seen due to being stored in high-precision map from different visual angles (including using the position of vehicle as visual angle)
The shape information of graticule, when going to see with reference to graticule as visual angle using vehicle, in the cubic equation and map of obtained reference graticule
When the cubic equation of the reference graticule of storage is consistent, indicate that the cubic equation for the reference graticule found in map at this time is with vehicle
Current position is what visual angle obtained, at this point it is possible to the position where searching vehicle in high-precision map.
Method of the invention can be used when the presence of the satellite-signal in positioning system is blocked and can not be accurately positioned
The mode that visual sensor and laser radar combine, can aided positioning system positioned, make horizontal and vertical positioning accurate
Degree is maintained within 10cm, meets the needs of intelligent driving.
The present invention also provides a kind of positioning systems combined based on map with FUSION WITH MULTISENSOR DETECTION, including such as place an order
Member:
It is used as a road traffic marking near selected distance vehicle and refers to graticule, identified described with reference to graticule
Type, the type include the unit of the shape of roadmarking, color characteristic；
For identifying the unit of the shape information with reference to graticule using current vehicle position as visual angle；
For the location information according to vehicle, locating region of the vehicle in high-precision map is determined, in this region
Retrieve road traffic marking, found according to the type of reference graticule stored in high-precision map with it is described refer to graticule type pair
The road traffic marking answered；And it according to the one-to-one relationship of the shape information of road traffic marking and present position, looks for
To position corresponding with the shape information, using the position as vehicle location to be determined；It is deposited in the high-precision map
Contain road traffic marking, and the road traffic marking obtained using different positions as visual angle shape information unit.
For above-mentioned positioning system as a kind of software architecture, each unit therein is the step 1- step with above-mentioned localization method
3 corresponding processes or program.Therefore, no longer the positioning system is described in detail.
For above-mentioned positioning system as a kind of program, can exist to block in the satellite-signal in positioning system can not carry out essence
When determining position, in such a way that visual sensor and laser radar combine, can aided positioning system positioned, make transverse direction
It is maintained within 10cm with longitudinal register precision, meets the needs of intelligent driving.
Specific embodiment is presented above, but the present invention is not limited to embodiment described above.The present invention
Basic ideas be above-mentioned basic scheme, for those of ordinary skill in the art, introduction according to the present invention is designed each
The model of kind deformation, formula, parameter do not need to spend creative work.The case where not departing from the principle and spirit of the invention
Under to embodiment carry out change, modification, replacement and modification still fall in protection scope of the present invention.
Claims (10)
1. a kind of localization method combined based on map with FUSION WITH MULTISENSOR DETECTION, which comprises the steps of:
1) road traffic marking near selected distance vehicle, which is used as, refers to graticule, identifies the type with reference to graticule,
The type includes the shape of roadmarking, color characteristic；
2) shape information with reference to graticule is identified by visual angle of current vehicle position；
3) it according to the location information of vehicle, determines locating region of the vehicle in high-precision map, retrieves in this region
Road traffic marking finds the road corresponding with the reference graticule type stored in high-precision map according to the type of reference graticule
Road traffic marking；And according to the one-to-one relationship of the shape information of road traffic marking and present position, find and institute
The corresponding position of shape information is stated, using the position as vehicle location to be determined；It is stored in the high-precision map
Road traffic marking, and the shape information of road traffic marking obtained using different positions as visual angle.
2. the localization method according to claim 1 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that step
It is rapid 1) in the type with reference to graticule identified by visual sensor.
3. the localization method according to claim 1 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that step
It is rapid 2) in the shape information with reference to graticule identified by laser radar.
4. the localization method according to claim 3 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that institute
State the curve that shape information is expressed as in plane.
5. the localization method according to claim 1 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that institute
Stating road traffic marking includes longitudinal lane line, stop line, zebra stripes, left/right rotation and straight trip index line, text index line.
6. the localization method according to claim 1 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that step
It is rapid 1) in, the shape and color of each road traffic marking are acquired using the method for deep learning, obtains including each road traffic mark
The shape of line and the sample set of color, by the way that by the road traffic marking currently acquired, compared with sample set, identification refers to graticule
Type.
7. the localization method according to claim 4 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that institute
The curve stated in plane is expressed as y=ax3+bx2+ cx+d, wherein x, y are respectively indicated: using the center of vehicle as coordinate origin, road
Lateral distance and fore-and-aft distance of each point relative to vehicle, a, b, c, d respectively represent corresponding coefficient on the traffic marking of road.
8. a kind of positioning system combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that in visual sensor and swash
In optical detection and ranging system, including such as lower unit:
It is used as a road traffic marking near selected distance vehicle and refers to graticule, identify the class with reference to graticule
Type, the type include the unit of the shape of roadmarking, color characteristic；
For identifying the unit of the shape information with reference to graticule using current vehicle position as visual angle；
For the location information according to vehicle, determines locating region of the vehicle in high-precision map, retrieve in this region
Road traffic marking, found according to the type of reference graticule stored in high-precision map with it is described with reference to graticule type it is corresponding
Road traffic marking；And according to the one-to-one relationship of the shape information of road traffic marking and present position, find with
The corresponding position of the shape information, using the position as vehicle location to be determined；It is stored in the high-precision map
Road traffic marking, and the unit of the shape information of road traffic marking obtained using different positions as visual angle.
9. the positioning system according to claim 8 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that institute
State the curve that shape information is expressed as in plane.
10. the positioning system according to claim 8 combined based on map with FUSION WITH MULTISENSOR DETECTION, which is characterized in that
The road traffic marking includes longitudinal lane line, stop line, zebra stripes, left/right rotation and straight trip index line, text index line.
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| 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 |
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| CN110992813A (en) * | 2019-12-25 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Map creation method and system for unmanned surface mine system |
| CN113971846A (en) * | 2020-07-22 | 2022-01-25 | 郑州宇通客车股份有限公司 | Positioning failure detection method and device for automatic driving vehicle |
| CN114743395A (en) * | 2022-03-21 | 2022-07-12 | 中汽创智科技有限公司 | Signal lamp detection method, device, equipment and medium |
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| CN110992813A (en) * | 2019-12-25 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Map creation method and system for unmanned surface mine system |
| CN113971846A (en) * | 2020-07-22 | 2022-01-25 | 郑州宇通客车股份有限公司 | Positioning failure detection method and device for automatic driving vehicle |
| CN114743395A (en) * | 2022-03-21 | 2022-07-12 | 中汽创智科技有限公司 | Signal lamp detection method, device, equipment and medium |
| CN114743395B (en) * | 2022-03-21 | 2024-03-08 | 中汽创智科技有限公司 | Signal lamp detection method, device, equipment and medium |
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