CN110220529B - 一种路侧自动驾驶车辆的定位方法 - Google Patents
一种路侧自动驾驶车辆的定位方法 Download PDFInfo
- Publication number
- CN110220529B CN110220529B CN201910519842.0A CN201910519842A CN110220529B CN 110220529 B CN110220529 B CN 110220529B CN 201910519842 A CN201910519842 A CN 201910519842A CN 110220529 B CN110220529 B CN 110220529B
- Authority
- CN
- China
- Prior art keywords
- point cloud
- vehicle
- data
- target vehicle
- cloud data
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001914 filtration Methods 0.000 claims abstract description 8
- 238000012216 screening Methods 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims description 2
- 238000012854 evaluation process Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 6
- 230000003068 static effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910519842.0A CN110220529B (zh) | 2019-06-17 | 2019-06-17 | 一种路侧自动驾驶车辆的定位方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910519842.0A CN110220529B (zh) | 2019-06-17 | 2019-06-17 | 一种路侧自动驾驶车辆的定位方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110220529A CN110220529A (zh) | 2019-09-10 |
CN110220529B true CN110220529B (zh) | 2023-05-23 |
Family
ID=67817281
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910519842.0A Active CN110220529B (zh) | 2019-06-17 | 2019-06-17 | 一种路侧自动驾驶车辆的定位方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110220529B (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111932943B (zh) * | 2020-10-15 | 2021-05-14 | 深圳市速腾聚创科技有限公司 | 动态目标的检测方法、装置、存储介质及路基监测设备 |
CN113176548B (zh) * | 2020-10-20 | 2022-03-22 | 苏州思卡信息系统有限公司 | 基于多边形建模的路侧雷达的实时滤除背景的方法 |
CN113176547B (zh) * | 2020-10-20 | 2022-03-22 | 苏州思卡信息系统有限公司 | 基于贝塞尔建模的路侧雷达的实时滤除背景的方法 |
CN112666569B (zh) * | 2020-12-01 | 2023-03-24 | 天津优控智行科技有限公司 | 一种无人驾驶系统激光雷达连续点云的压缩方法 |
WO2022141910A1 (zh) * | 2021-01-01 | 2022-07-07 | 杜豫川 | 一种基于行车安全风险场的车路激光雷达点云动态分割及融合方法 |
CN113466878A (zh) * | 2021-06-21 | 2021-10-01 | 三一专用汽车有限责任公司 | 作业机械的定位方法、装置、作业机械及电子设备 |
TWI797705B (zh) * | 2021-08-06 | 2023-04-01 | 飛鳥車用電子股份有限公司 | 高效率及高準確的雷達訊號處理方法 |
CN113866743B (zh) * | 2021-12-06 | 2022-03-15 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | 一种用于车路协同感知的路侧激光点云精简方法和系统 |
CN114973564A (zh) * | 2022-04-28 | 2022-08-30 | 北京机械设备研究所 | 一种无光照条件下的远距离人员入侵检测方法以及装置 |
CN118038415B (zh) * | 2024-04-12 | 2024-07-05 | 厦门中科星晨科技有限公司 | 基于激光雷达的车辆识别方法、装置、介质及电子设备 |
CN118151163A (zh) * | 2024-05-10 | 2024-06-07 | 莱州亚通重型装备有限公司 | 基于雷达技术的井下煤矿钻机夹持器自动定位方法及系统 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108646729A (zh) * | 2018-04-12 | 2018-10-12 | 深圳先进技术研究院 | 一种机器人及其路径规划方法、机器人系统 |
CN108986450A (zh) * | 2018-07-25 | 2018-12-11 | 北京万集科技股份有限公司 | 车辆环境感知方法、终端及系统 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9266611B2 (en) * | 2013-06-20 | 2016-02-23 | University Of Florida Research Foundation, Inc. | Flight path development for remote sensing vehicles in a moving reference frame |
KR101534927B1 (ko) * | 2013-10-08 | 2015-07-07 | 현대자동차주식회사 | 차량 인지 장치 및 방법 |
CN106371106A (zh) * | 2016-08-16 | 2017-02-01 | 长春理工大学 | 单线激光雷达人形目标识别方法、装置和汽车 |
FR3067495B1 (fr) * | 2017-06-08 | 2019-07-05 | Renault S.A.S | Procede et systeme d'identification d'au moins un objet en deplacement |
CN109211298B (zh) * | 2017-07-04 | 2021-08-17 | 百度在线网络技术(北京)有限公司 | 一种传感器标定方法和装置 |
CN109509260B (zh) * | 2017-09-14 | 2023-05-26 | 阿波罗智能技术(北京)有限公司 | 动态障碍物点云的标注方法、设备及可读介质 |
US10962650B2 (en) * | 2017-10-31 | 2021-03-30 | United States Of America As Represented By The Administrator Of Nasa | Polyhedral geofences |
CN108828608B (zh) * | 2018-03-29 | 2021-08-17 | 苏州大学张家港工业技术研究院 | 车辆检测方法中激光雷达背景数据滤除方法 |
CN110333524A (zh) * | 2018-03-30 | 2019-10-15 | 北京百度网讯科技有限公司 | 车辆定位方法、装置及设备 |
CN109386155B (zh) * | 2018-09-20 | 2020-08-14 | 同济大学 | 面向自动化停车场的无人泊车搬运机器人的对位方法 |
-
2019
- 2019-06-17 CN CN201910519842.0A patent/CN110220529B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108646729A (zh) * | 2018-04-12 | 2018-10-12 | 深圳先进技术研究院 | 一种机器人及其路径规划方法、机器人系统 |
CN108986450A (zh) * | 2018-07-25 | 2018-12-11 | 北京万集科技股份有限公司 | 车辆环境感知方法、终端及系统 |
Also Published As
Publication number | Publication date |
---|---|
CN110220529A (zh) | 2019-09-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110220529B (zh) | 一种路侧自动驾驶车辆的定位方法 | |
CN110296713B (zh) | 路侧自动驾驶车辆定位导航系统及单个、多个车辆定位导航方法 | |
CN113032502B (zh) | 一种基于改进轨迹段dbscan聚类的船舶异常检测方法 | |
CN109241069B (zh) | 一种基于轨迹自适应聚类的路网快速更新的方法及系统 | |
CN105404844B (zh) | 一种基于多线激光雷达的道路边界检测方法 | |
WO2018133851A1 (zh) | 一种点云数据处理方法、装置及计算机存储介质 | |
CN109084786B (zh) | 一种地图数据的处理方法 | |
CN112380312B (zh) | 基于栅格检测的激光地图更新方法、终端及计算机设备 | |
CN112066982B (zh) | 一种在高动态环境下的工业移动机器人定位方法 | |
CN110196044A (zh) | 一种基于gps闭环检测的变电站巡检机器人建图方法 | |
CN105955257A (zh) | 基于固定路线的公交车自动驾驶系统及其驾驶方法 | |
Gikas et al. | A novel geodetic engineering method for accurate and automated road/railway centerline geometry extraction based on the bearing diagram and fractal behavior | |
CN114488194A (zh) | 一种智能驾驶车辆结构化道路下目标检测识别方法 | |
CN109272482B (zh) | 一种基于序列图像的城市路口车辆排队检测系统 | |
CN108765961B (zh) | 一种基于改进型限幅平均滤波的浮动车数据处理方法 | |
CN110736999B (zh) | 基于激光雷达的铁路道岔检测方法 | |
CN101404120A (zh) | 判断浮动车行驶状态的方法及装置 | |
CN111717244A (zh) | 一种列车自动驾驶感知方法和系统 | |
CN115015911B (zh) | 一种基于雷达图像的导航地图制作和使用方法及系统 | |
CN104395944A (zh) | 定向车道的识别 | |
CN111721279A (zh) | 一种适用于输电巡检工作的末端路径导航方法 | |
CN102981160A (zh) | 一种确定空中目标航迹的方法及装置 | |
CN211427151U (zh) | 一种应用于封闭场地无人驾驶货运车辆上的自动引导系统 | |
Deusch et al. | Improving localization in digital maps with grid maps | |
CN109215342A (zh) | 一种智能车路况信息接收与分析能力测试平台 |
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 | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240314 Address after: Building 3, 7th Floor, Gaosheng Plaza, No. 163 Yingbin Avenue, Xinhua Street, Huadu District, Guangzhou City, Guangdong Province, 510802 Patentee after: Guangzhou Carl Power Technology Co.,Ltd. Country or region after: China Address before: No. 1 Jinlong Avenue, Pinghuan Community, Malian Street, Shenzhen City, Guangdong Province, 518118 Patentee before: Shenzhen Shuxiang Technology Co.,Ltd. Country or region before: China |