CN110517531A - A kind of parking lot localization method based on accurately diagram data - Google Patents
A kind of parking lot localization method based on accurately diagram data Download PDFInfo
- Publication number
- CN110517531A CN110517531A CN201910838826.8A CN201910838826A CN110517531A CN 110517531 A CN110517531 A CN 110517531A CN 201910838826 A CN201910838826 A CN 201910838826A CN 110517531 A CN110517531 A CN 110517531A
- Authority
- CN
- China
- Prior art keywords
- locationmap
- gps
- vehicle
- data
- information
- 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
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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Abstract
The present invention relates to a kind of parking lot localization methods and device based on accurately diagram data, and present invention firstly receives GPS coordinate signals, and vehicle-surroundings map datum is obtained from accurately diagram data according to GPS coordinate signal, generate LocationMap；Then external sensor data is obtained, and the external sensor data is merged with LocationMap, positions the hierarchical information of vehicle, denoising is carried out to LocationMap using the hierarchical information；Finally using the LocationMap amendment GPS latitude and longitude information and altitude information after denoising, current vehicle position and level are obtained.External sensor data, GPS data, accurately diagram data progress fusion treatment are avoided the problem of positioning accuracy deficiency caused by being perceived due to single mode, improve vehicle location precision in automatic Pilot by the present invention.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of parking lot based on accurately diagram data
Localization method.
Background technique
With the rise of automatic Pilot technology, the safe driving map based on lane grade has come into everybody visual field,
And by higher and higher attention.Therefore, the safety of automatic Pilot is just brought into schedule, such as encounter barrier this how decision
It remains to arrive at the destination, anticollision etc..However, the hardware in automated driving system perceives, such as ultrasonic radar, binocular are taken the photograph
As first-class etc., their perception all has qualifications, and sensing range is limited, and map can be very good to make up these hardware
The deficiency of perception, therefore using map as a kind of sensor of automated driving system, it is reasonable and economical.
Currently, high-precision map can make up the deficiency of hardware perception, but accurately can the information of map sensor
Can accurate output depends on vehicle location correctly be matched on map, external for there is the Multilayer parking field areas blocked
The location information (especially height above sea level) that the hardware such as sensor are passed in such circumstances often will appear mistake, once mistake, vehicle occurs
Location information cannot be guaranteed that the cartographic information of the vehicle-surroundings of output is also incorrect.
Summary of the invention
The present invention for the technical problems in the prior art, it is fixed to provide a kind of multilayer based on accurately diagram data
Position method, this method propose multilayer location models, the GPS signal (longitude, latitude, height above sea level) based on external sensor and feel
The obstacle information known carries out algorithm fusion with map data mining platform is positioned in engine map, corrects and confirm the longitude and latitude of vehicle, sea
It pulls out and hierarchical information.
The technical scheme to solve the above technical problems is that
In a first aspect, the present invention provides a kind of parking lot localization method based on accurately diagram data, including with
Lower step:
S1 receives GPS coordinate signal, and vehicle-surroundings are obtained from accurately diagram data according to GPS coordinate signal
Diagram data generates LocationMap；The institute in the preset range of GPS coordinate position periphery is included at least in the LocationMap
There are parking space information and lane sideline information；
S2 obtains external sensor data, and the external sensor data is merged with LocationMap, positions vehicle
Hierarchical information, using the hierarchical information to LocationMap carry out denoising；
S3 obtains vehicle present bit using the LocationMap amendment GPS latitude and longitude information and altitude information after denoising
It sets and level.
Further, the step S1 includes following sub-step:
S101 obtains GPS signal, loads vehicle-surroundings map datum from accurately chart database according to GPS coordinate；
S102 carries out scene Recognition according to vehicle-surroundings map datum, judges whether current vehicle position is multilayer
Parking lot, if so then execute step S103；
S103 identifies crucial map elements in peripheral map data and saves, generates LocationMap.
Further, the step 2 includes following sub-step:
S201 obtains vehicle position periphery key map elements according to external sensor data；
S202, by the vehicle position periphery key map elements identified according to external sensor data with
Crucial map elements in LocationMap are matched；
S203 determines the hierarchical information where current vehicle according to matching result, and denoises to LocationMap
Processing.
Further, the denoising includes deleting in LocationMap to mismatch with level where current vehicle
Vehicle position periphery key map elements.
Further, the step 3 includes following sub-step:
GPS altitude information is corrected using the hierarchical information；
GPS lateral deviation constraint is carried out using the lane sideline in the LocationMap after denoising；
It is laterally and vertical that GPS is carried out using the angular coordinate on other parking stalls of vehicle-surroundings in the LocationMap after denoising
To deviation constraint；
Revised GPS coordinate signal is exported, the location information of current vehicle is obtained.
Second aspect, the present invention provide a kind of parking lot positioning system based on accurately diagram data, comprising:
LocationMap generation module, for receiving GPS coordinate signal, and according to GPS coordinate signal from high-precision map
Vehicle-surroundings map datum is obtained in data, generates LocationMap；GPS coordinate position is included at least in the LocationMap
Set all parking space informations and lane sideline information in the preset range of periphery；
Data Fusion module, obtain external sensor data, and by the external sensor data with
LocationMap fusion, positions the hierarchical information of vehicle, carries out denoising to LocationMap using the hierarchical information；
GPS amendment and locating module correct GPS latitude and longitude information and altitude information using the LocationMap after denoising,
Obtain current vehicle position and level.
Further, the LocationMap generation module includes following submodule:
Data loading module obtains GPS signal, loads vehicle-surroundings from accurately chart database according to GPS coordinate
Map datum；
Scene judgment module carries out scene Recognition according to vehicle-surroundings map datum, judges that current vehicle position is
No is parking lot；
Generation module identifies crucial map elements in peripheral map data and saves, generates LocationMap.
Further, the Data Fusion module, comprising:
External data obtains module, according to external sensor data, obtains vehicle position periphery key map elements；
Matching module, by the vehicle position periphery key map elements identified according to external sensor data with
Crucial map elements in LocationMap are matched；
Processing module determines the hierarchical information where current vehicle according to matching result, and carries out to LocationMap
Denoising.
Further, the GPS amendment and locating module, comprising:
GPS correction module corrects GPS altitude information using the hierarchical information；Using in the LocationMap after denoising
Lane sideline carry out GPS lateral deviation constraint；Utilize the angle on other parking stalls of vehicle-surroundings in the LocationMap after denoising
Point coordinate carries out the horizontal and vertical deviation constraint of GPS；
It positions output module and obtains the location information of current vehicle for exporting revised GPS coordinate signal.
The third aspect, the present invention also provides a kind of parking lot positioning devices based on accurately diagram data, including
Processor and memory；
The memory is non-transient computer readable storage medium, for storing computer software programs；
The processor realizes the present invention for reading and execute the computer software programs stored in the memory
A kind of parking lot localization method based on accurately diagram data described in one side.
The beneficial effects of the present invention are: the hardware in automated driving system perceives, such as ultrasonic radar, binocular camera
Etc., their perception all has qualifications, and sensing range is limited, and high-precision map can make up hardware perception not
Foot.But accurately can the information of map sensor accurately export and correctly be matched on map depending on vehicle location,
For blocking such as: overhead, parking lot region, the location information that the hardware such as external sensor are passed in such circumstances
(especially height above sea level) often will appear mistake, once mistake occurs, the location information of vehicle cannot be guaranteed, the vehicle-surroundings of output
Cartographic information is also incorrect.The present invention, which is utilized, generates LocationMap first with GPS data and accurately diagram data, so
Processing is filtered to LocationMap using external sensor data afterwards, to obtain the relative position of vehicle, is then recycled
LocationMap is modified GPS data to obtain the exact position of vehicle.The present invention is by external sensor data, GPS number
According to, accurately diagram data carries out fusion treatment, avoid caused by perceiving due to single mode that positioning accuracy is insufficient to ask
Topic, improves vehicle location precision in automatic Pilot.
Detailed description of the invention
Fig. 1 is a kind of parking lot localization method process based on accurately diagram data provided in an embodiment of the present invention
Figure；
Fig. 2 is LocationMap product process figure provided in an embodiment of the present invention；
Fig. 3 is Data Fusion flow chart provided in an embodiment of the present invention；
Fig. 4 is GPS provided in an embodiment of the present invention amendment and positioning flow figure；
Fig. 5 is a kind of parking lot positioning system structure based on accurately diagram data provided in an embodiment of the present invention
Schematic diagram.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment one
As shown in Figure 1, the embodiment of the present invention provides a kind of parking lot localization method based on accurately diagram data,
The following steps are included:
S1 receives GPS coordinate signal, and vehicle-surroundings are obtained from accurately diagram data according to GPS coordinate signal
Diagram data generates LocationMap；In the LocationMap include at least GPS coordinate position periphery preset range (such as
Using GPS coordinate position as 100 meters, 50 meters, 30 meters of center) in all parking space informations and lane sideline information；
S2 obtains external sensor data, and the external sensor data is merged with LocationMap, positions vehicle
Hierarchical information, using the hierarchical information to LocationMap carry out denoising；
S3 obtains vehicle present bit using the LocationMap amendment GPS latitude and longitude information and altitude information after denoising
It sets and level.
Hardware in automated driving system perceives, such as ultrasonic radar, binocular camera etc., their perception are all
There are qualifications, sensing range is limited, and high-precision map can make up the deficiency of hardware perception.But high-precision map passes
Can the information of sensor accurately export correctly be matched on map depending on vehicle location, for blocking such as: overhead,
The regions such as parking lot, the location information (especially height above sea level) that the hardware such as external sensor are passed in such circumstances often will appear
Mistake, once mistake occurs, the location information of vehicle cannot be guaranteed that the cartographic information of the vehicle-surroundings of output is also incorrect.This
Invention generates LocationMap using first with GPS data and accurately diagram data, then utilizes external sensor data
Processing is filtered to LocationMap, to obtain the relative position of vehicle, then recycles LocationMap to GPS data
It is modified to obtain the exact position of vehicle.The present invention by external sensor data, GPS data, accurately diagram data carry out
Fusion treatment is avoided the problem of positioning accuracy deficiency caused by being perceived due to single mode, improves vehicle in automatic Pilot
Positioning accuracy.
Further, the step S1, as shown in Fig. 2, including following sub-step:
S101 obtains GPS signal, loads vehicle-surroundings map datum from accurately chart database according to GPS coordinate；
S102 carries out scene Recognition according to vehicle-surroundings map datum, judges whether current vehicle position is multilayer
Parking lot, if so then execute step S103；
S103 identifies crucial map elements in peripheral map data and saves, generates LocationMap.
After obtaining GPS signal, high-precision map is loaded, and carry out according to the map datum of vehicle-surroundings in high-precision map
Scene Recognition, if it is determined that vehicle present position is parking lot, then is likely to occur described in the application background technique
Problem.It is a certain range of all near GPS longitude and latitude by high-precision map at this time according to the longitude and latitude data information of GPS
Map elements carry out Multi-layer technology, and retain crucial map elements, such as parking space information, wall, pillar, lane line etc..
Further, the step S2, as shown in figure 3, including following sub-step:
S201 obtains vehicle position periphery key map elements according to external sensor data；
S202, by the vehicle position periphery key map elements identified according to external sensor data with
Crucial map elements in LocationMap are matched；
S203 determines the hierarchical information where current vehicle according to matching result, and denoises to LocationMap
Processing.
Denoising described here includes deleting in LocationMap the unmatched vehicle of level where with current vehicle
Position periphery key map elements.
By denoising, data processing amount is reduced, improves calculation process speed.
Further, the step S3, as shown in figure 4, including following sub-step:
GPS altitude information is corrected using the hierarchical information；
GPS lateral deviation constraint is carried out using the lane sideline in the LocationMap after denoising；
It is laterally and vertical that GPS is carried out using the angular coordinate on other parking stalls of vehicle-surroundings in the LocationMap after denoising
To deviation constraint；
Revised GPS coordinate signal is exported, the location information of current vehicle is obtained.
Embodiment two
As shown in figure 5, the embodiment of the present invention provides a kind of parking lot positioning system based on accurately diagram data,
Include:
LocationMap generation module, for receiving GPS coordinate signal, and according to GPS coordinate signal from high-precision map
Vehicle-surroundings map datum is obtained in data, generates LocationMap；GPS coordinate position is included at least in the LocationMap
Set all parking space informations and lane sideline information in the preset range of periphery；
Data Fusion module, obtain external sensor data, and by the external sensor data with
LocationMap fusion, positions the hierarchical information of vehicle, carries out denoising to LocationMap using the hierarchical information；
GPS amendment and locating module correct GPS latitude and longitude information and altitude information using the LocationMap after denoising,
Obtain current vehicle position and level.
Further, the LocationMap generation module includes following submodule:
Data loading module obtains GPS signal, loads vehicle-surroundings from accurately chart database according to GPS coordinate
Map datum；
Scene judgment module carries out scene Recognition according to vehicle-surroundings map datum, judges that current vehicle position is
No is parking lot；
Generation module identifies crucial map elements in peripheral map data and saves, generates LocationMap.
Further, the Data Fusion module, comprising:
External data obtains module, according to external sensor data, obtains vehicle position periphery key map elements；
Matching module, by the vehicle position periphery key map elements identified according to external sensor data with
Crucial map elements in LocationMap are matched；
Processing module determines the hierarchical information where current vehicle according to matching result, and carries out to LocationMap
Denoising.
Further, the GPS amendment and locating module, comprising:
GPS correction module corrects GPS altitude information using the hierarchical information；Using in the LocationMap after denoising
Lane sideline carry out GPS lateral deviation constraint；Utilize the angle on other parking stalls of vehicle-surroundings in the LocationMap after denoising
Point coordinate carries out the horizontal and vertical deviation constraint of GPS；
It positions output module and obtains the location information of current vehicle for exporting revised GPS coordinate signal.
Embodiment three
The embodiment of the present invention provides a kind of parking lot positioning device based on accurately diagram data, including processor
And memory；
The memory is non-transient computer readable storage medium, for storing computer software programs；
The processor realizes that the present invention is real for reading and executing the computer software programs stored in the memory
Apply a kind of parking lot localization method based on accurately diagram data described in example one.
It should be noted that the logical order in above-mentioned memory can be realized simultaneously by way of SFU software functional unit
When sold or used as an independent product, it can store in a computer readable storage medium.Based on such reason
Solution, the technical solution of the embodiment of the present invention substantially the part that contributes to existing technology or the technical solution in other words
Part can be embodied in the form of software products, which is stored in a storage medium, if including
Dry instruction is used so that a computer equipment (can be personal computer, server or the network equipment etc.) executes this hair
The all or part of the steps of bright each embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only deposits
Reservoir (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or
The various media that can store program code such as CD.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of parking lot localization method based on accurately diagram data, which comprises the following steps:
S1 receives GPS coordinate signal, and obtains vehicle-surroundings map number from accurately diagram data according to GPS coordinate signal
According to generation LocationMap；It includes at least in the LocationMap and all stops in the preset range of GPS coordinate position periphery
Parking space information and lane sideline information；
S2 obtains external sensor data, and the external sensor data is merged with LocationMap, positions vehicle
Hierarchical information carries out denoising to LocationMap using the hierarchical information；
S3, using the LocationMap amendment GPS latitude and longitude information and altitude information after denoising, obtain current vehicle position and
Level.
2. the method according to claim 1, wherein the step S1 includes following sub-step:
S101 obtains GPS signal, loads vehicle-surroundings map datum from accurately chart database according to GPS coordinate；
S102 carries out scene Recognition according to vehicle-surroundings map datum, judges whether current vehicle position is Multilayer parking
, if so then execute step S103；
S103 identifies crucial map elements in peripheral map data and saves, generates LocationMap.
3. the method according to claim 1, wherein the step 2 includes following sub-step:
S201 obtains vehicle position periphery key map elements according to external sensor data；
S202, the vehicle position periphery key map elements and LocationMap that will be identified according to external sensor data
In crucial map elements matched；
S203 determines the hierarchical information where current vehicle according to matching result, and carries out denoising to LocationMap.
4. according to the method described in claim 3, it is characterized in that, the denoising includes deleting in LocationMap
With level unmatched vehicle position periphery key map elements where current vehicle.
5. the method according to claim 1, wherein the step 3 includes following sub-step:
GPS altitude information is corrected using the hierarchical information；
GPS lateral deviation constraint is carried out using the lane sideline in the LocationMap after denoising；
It is horizontal and vertical partially that GPS is carried out using the angular coordinate on other parking stalls of vehicle-surroundings in the LocationMap after denoising
Difference constraint；
Revised GPS coordinate signal is exported, the location information of current vehicle is obtained.
6. a kind of parking lot positioning system based on accurately diagram data characterized by comprising
LocationMap generation module, for receiving GPS coordinate signal, and according to GPS coordinate signal from accurately diagram data
Middle acquisition vehicle-surroundings map datum generates LocationMap；GPS coordinate position week is included at least in the LocationMap
All parking space informations and lane sideline information in the preset range of side；
Data Fusion module obtains external sensor data, and the external sensor data is melted with LocationMap
It closes, positions the hierarchical information of vehicle, denoising is carried out to LocationMap using the hierarchical information；
GPS amendment and locating module are obtained using the LocationMap amendment GPS latitude and longitude information and altitude information after denoising
Current vehicle position and level.
7. system according to claim 6, which is characterized in that the LocationMap generation module includes following submodule
Block:
Data loading module obtains GPS signal, loads vehicle-surroundings map from accurately chart database according to GPS coordinate
Data；
Scene judgment module, according to vehicle-surroundings map datum carry out scene Recognition, judge current vehicle position whether be
Parking lot；
Generation module identifies crucial map elements in peripheral map data and saves, generates LocationMap.
8. system according to claim 6, which is characterized in that the Data Fusion module, comprising:
External data obtains module, according to external sensor data, obtains vehicle position periphery key map elements；
Matching module, by the vehicle position periphery key map elements identified according to external sensor data with
Crucial map elements in LocationMap are matched；
Processing module determines the hierarchical information where current vehicle according to matching result, and denoises to LocationMap
Processing.
9. system according to claim 6, which is characterized in that the GPS amendment and locating module, comprising:
GPS correction module corrects GPS altitude information using the hierarchical information；Utilize the vehicle in the LocationMap after denoising
Road sideline carries out GPS lateral deviation constraint；It is sat using the angle point on other parking stalls of vehicle-surroundings in the LocationMap after denoising
Mark carries out the horizontal and vertical deviation constraint of GPS；
It positions output module and obtains the location information of current vehicle for exporting revised GPS coordinate signal.
10. a kind of parking lot positioning device based on accurately diagram data, which is characterized in that including processor and storage
Device；
The memory is non-transient computer readable storage medium, for storing computer software programs；
The processor realizes claim 1-5 for reading and executing the computer software programs stored in the memory
A kind of parking lot localization method based on accurately diagram data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838826.8A CN110517531B (en) | 2019-09-05 | 2019-09-05 | Multilayer parking lot positioning method based on high-precision map data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838826.8A CN110517531B (en) | 2019-09-05 | 2019-09-05 | Multilayer parking lot positioning method based on high-precision map data |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110517531A true CN110517531A (en) | 2019-11-29 |
| CN110517531B CN110517531B (en) | 2021-08-17 |
Family
ID=68631032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910838826.8A Active CN110517531B (en) | 2019-09-05 | 2019-09-05 | Multilayer parking lot positioning method based on high-precision map data |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110517531B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229411A (en) * | 2020-10-15 | 2021-01-15 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN113763744A (en) * | 2020-06-02 | 2021-12-07 | 荷兰移动驱动器公司 | Parking position reminding method and vehicle-mounted device |
| CN114049691A (en) * | 2021-11-05 | 2022-02-15 | 深圳市神州路路通网络科技有限公司 | Parking charging query method, system, equipment and computer readable storage medium |
| CN114114369A (en) * | 2022-01-27 | 2022-03-01 | 智道网联科技(北京)有限公司 | Autonomous vehicle positioning method and apparatus, electronic device, and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008241418A (en) * | 2007-03-27 | 2008-10-09 | Matsushita Electric Ind Co Ltd | Navigation device, navigation method, and navigation program |
| US20140074393A1 (en) * | 2011-03-03 | 2014-03-13 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Local map generating device, local map generating system, global map generating device, global map generating system, and program |
| CN107016877A (en) * | 2017-05-25 | 2017-08-04 | 北京小米移动软件有限公司 | Method and device for carrying out vehicle location in parking lot |
| CN107703528A (en) * | 2017-09-25 | 2018-02-16 | 武汉光庭科技有限公司 | Low precision GPS vision positioning method and system is combined in automatic Pilot |
| CN108845343A (en) * | 2018-07-03 | 2018-11-20 | 河北工业大学 | The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map |
| CN109857111A (en) * | 2019-02-18 | 2019-06-07 | 广州小鹏汽车科技有限公司 | High-precision locating method and system based on shared SLAM map |
| CN110147705A (en) * | 2018-08-28 | 2019-08-20 | 北京初速度科技有限公司 | A kind of vehicle positioning method and electronic equipment of view-based access control model perception |
-
2019
- 2019-09-05 CN CN201910838826.8A patent/CN110517531B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008241418A (en) * | 2007-03-27 | 2008-10-09 | Matsushita Electric Ind Co Ltd | Navigation device, navigation method, and navigation program |
| US20140074393A1 (en) * | 2011-03-03 | 2014-03-13 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Local map generating device, local map generating system, global map generating device, global map generating system, and program |
| CN107016877A (en) * | 2017-05-25 | 2017-08-04 | 北京小米移动软件有限公司 | Method and device for carrying out vehicle location in parking lot |
| CN107703528A (en) * | 2017-09-25 | 2018-02-16 | 武汉光庭科技有限公司 | Low precision GPS vision positioning method and system is combined in automatic Pilot |
| CN108845343A (en) * | 2018-07-03 | 2018-11-20 | 河北工业大学 | The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map |
| CN110147705A (en) * | 2018-08-28 | 2019-08-20 | 北京初速度科技有限公司 | A kind of vehicle positioning method and electronic equipment of view-based access control model perception |
| CN109857111A (en) * | 2019-02-18 | 2019-06-07 | 广州小鹏汽车科技有限公司 | High-precision locating method and system based on shared SLAM map |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113763744A (en) * | 2020-06-02 | 2021-12-07 | 荷兰移动驱动器公司 | Parking position reminding method and vehicle-mounted device |
| US11963066B2 (en) | 2020-06-02 | 2024-04-16 | Mobile Drive Netherlands B.V. | Method for indicating parking position and vehicle-mounted device |
| CN112229411A (en) * | 2020-10-15 | 2021-01-15 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN112229411B (en) * | 2020-10-15 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN114049691A (en) * | 2021-11-05 | 2022-02-15 | 深圳市神州路路通网络科技有限公司 | Parking charging query method, system, equipment and computer readable storage medium |
| CN114114369A (en) * | 2022-01-27 | 2022-03-01 | 智道网联科技(北京)有限公司 | Autonomous vehicle positioning method and apparatus, electronic device, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110517531B (en) | 2021-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110517531A (en) | A kind of parking lot localization method based on accurately diagram data | |
| CN107121980B (en) | A kind of automatic driving vehicle paths planning method based on virtual constraint | |
| US20200166364A1 (en) | Map Data Correcting Method and Device | |
| CN109870689A (en) | Millimetre-wave radar and the matched lane grade localization method of high-precision map vector and system | |
| CN103021261B (en) | Automatic digital map correction method and device | |
| CN111220143B (en) | Method and device for determining position and posture of imaging equipment | |
| CN106918342A (en) | Automatic driving vehicle driving path localization method and alignment system | |
| US20210278220A1 (en) | Method for determining the position of a vehicle | |
| CN111750881A (en) | Vehicle pose correction method and device based on light pole | |
| CN109086278A (en) | A kind of map constructing method, system, mobile terminal and storage medium for eliminating error | |
| CN112034479A (en) | Positioning method and system applied to intelligent inspection unmanned aerial vehicle under coal mine | |
| CN110608746A (en) | Method and device for determining the position of a motor vehicle | |
| CN110031012A (en) | Method, system, equipment and the storage medium of the high-precision map of automobile real-time matching | |
| CN110271553A (en) | Method and apparatus for steadily positioning vehicle | |
| US11287281B2 (en) | Analysis of localization errors in a mobile object | |
| CN107764273A (en) | A kind of automobile navigation localization method and system | |
| CN115950441B (en) | Fusion positioning method and device for automatic driving vehicle and electronic equipment | |
| CN113435227A (en) | Map generation and vehicle positioning method, system, device and storage medium | |
| CN114677663A (en) | Vehicle positioning method and device, electronic equipment and computer-readable storage medium | |
| CN109945890A (en) | More positioning systems switch and merge bearing calibration and its device | |
| CN109631925B (en) | Main and auxiliary road determining method and device, storage medium and electronic equipment | |
| CN107133359B (en) | Vehicle rollover warning feature point and electronic map matching method and device | |
| CN115027483B (en) | Overlapped road recognition and vehicle running control method, device and equipment | |
| CN113390422B (en) | Automobile positioning method and device and computer storage medium | |
| CN116027375B (en) | Positioning method and device for automatic driving vehicle, electronic equipment and storage medium |
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 |