CN111238472B - Real-time high-precision positioning method and device for full-automatic parking - Google Patents
Real-time high-precision positioning method and device for full-automatic parking Download PDFInfo
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- CN111238472B CN111238472B CN202010068001.5A CN202010068001A CN111238472B CN 111238472 B CN111238472 B CN 111238472B CN 202010068001 A CN202010068001 A CN 202010068001A CN 111238472 B CN111238472 B CN 111238472B
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- 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
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- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Abstract
The invention discloses a real-time high-precision positioning method and a device for full-automatic parking, wherein the method comprises the following steps: setting an origin of a parking space, and constructing a coordinate system by taking the origin as the origin of the coordinate system; acquiring sensor data, and performing data fusion processing on the sensor data to obtain positioning available data; deriving a current vehicle position based on vehicle mileage, speed, steering wheel angle, gear, gyroscope data, and acceleration in the location-available data; and correcting the deduced current vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, and outputting the current accurate position of the vehicle. The invention can identify the parking space information, the surrounding obstacles and other information through image identification and ultrasonic identification technology, and then fuse the information with other sensor data during positioning, thereby realizing real-time high-precision positioning.
Description
Technical Field
The invention relates to the technical field of full-automatic parking, in particular to a real-time high-precision positioning method and device for full-automatic parking.
Background
At present, the centimeter-level high-precision positioning in the field of automatic parking is mainly realized by the following modes:
RTK (Real Time Kinematic) carrier phase difference technique: the method is a new common satellite Positioning measurement method, and utilizes a GPS (Global Positioning System) carrier phase observation value to carry out real-time dynamic relative Positioning technology, and the RTK works on the principle that a reference station transmits the observation value and coordinate information of a measuring station to a rover station through a data chain. The rover station not only receives data from the reference station through a data chain, but also collects GPS observation data, forms differential observation values in the system for real-time processing, and simultaneously gives centimeter-level positioning results, so that centimeter-level positioning accuracy can be obtained in real time in an outdoor open area.
UWB (Ultra Wide Band ) technology: a wireless carrier communication technology, UWB is a kind of transmission rate high, the transmission power is lower, the wireless location technology with stronger penetrability, can carry on the accurate positioning indoors and underground. The UWB positioning technology utilizes anchor nodes and bridge nodes with known positions which are arranged in advance to communicate with newly added blind nodes, and utilizes a TDOA (time difference of arrival) positioning algorithm to carry out positioning by measuring transmission delay differences between different base stations and a mobile terminal.
Positioning technology based on Bluetooth: the Bluetooth positioning is realized based on the RSSI (Received Signal Strength Indication) positioning principle, the Bluetooth indoor technology is to utilize a plurality of Bluetooth local area network access points installed indoors to maintain the network in a basic network connection mode based on multiple users, ensure that the Bluetooth local area network access points are always the main equipment of the piconet, and then obtain the position information of the users by measuring the Signal Strength.
Laser radar positioning: an environment model is constructed through SLAM (simultaneous localization and mapping) technology, and the position of a vehicle is determined by the environment model.
Therefore, the important premise of the existing RTK positioning technology is to ensure that the RTK positioning technology cannot be used for positioning when an indoor parking lot automatically parks a car because the indoor parking lot cannot receive a GPS signal in a GPS signal coverage area. Although the UWB technology and the bluetooth positioning technology can realize high-precision positioning indoors, a base station network needs to be deployed in advance, so that not only is the investment cost increased, but also high-precision positioning can be realized only in an area covered by the base station network, and certain limitations exist. Lidar positioning is not completely popularized at present, equipment is expensive, and the service life of the equipment is limited.
Therefore, how to effectively realize high-precision positioning in indoor and outdoor parking lots is a problem to be solved urgently.
Disclosure of Invention
In view of the above, the invention provides a real-time high-precision positioning method for full-automatic parking, which identifies information such as parking space information and surrounding obstacles by image identification and ultrasonic identification technologies, and then fuses the information with data of other sensors during positioning to realize real-time high-precision positioning, thereby effectively solving the problems that the prior art depends on a GPS signal, is unavailable in an indoor area, or depends on a base station network, cannot be used in an area where the network cannot cover, or has high cost.
The invention provides a real-time high-precision positioning method for full-automatic parking, which comprises the following steps:
setting an original point of a parking space;
constructing a coordinate system by taking the origin as the origin of the coordinate system;
acquiring sensor data, wherein the sensor data comprises: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar;
performing data fusion processing on the sensor data to obtain positioning available data;
deriving a current vehicle position based on vehicle mileage, speed, steering wheel angle, gear, gyroscope data, and acceleration in the location-available data;
and correcting the deduced current vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, and outputting the current accurate vehicle position.
Preferably, the setting of the origin of the parking space includes:
one of the vertices of the parking space is set as the origin.
Preferably, the data fusion processing is performed on the sensor data to obtain data available for positioning, and the data fusion processing includes:
and obtaining positioning available data by utilizing a fusion algorithm based on the time, the continuity and the updating state of the sensor data.
Preferably, said deriving the current vehicle position based on vehicle range, speed, steering wheel angle, gear, gyroscope data and acceleration in the location-available data comprises:
deriving a distance traveled by the vehicle based on the vehicle range, speed, and acceleration;
deducing the driving direction of the vehicle based on the gear and the steering wheel angle;
deriving an angle of the vehicle based on the gyroscope data;
the current vehicle position is derived based on the distance traveled by the vehicle, the direction of travel of the vehicle, and the angle of the vehicle.
A real-time high precision positioning apparatus for fully automatic parking, comprising:
the setting module is used for setting the original point of the parking space;
the construction module is used for constructing a coordinate system by taking the origin as the origin of the coordinate system;
an acquisition module to acquire sensor data, wherein the sensor data comprises: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar;
the fusion processing module is used for carrying out data fusion processing on the sensor data to obtain positioning available data;
the deduction module is used for deducing the current position of the vehicle based on the mileage, the speed, the steering wheel angle, the gear, the gyroscope data and the acceleration of the vehicle in the available positioning data;
and the positioning module is used for correcting the deduced current vehicle position and outputting the current accurate vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system.
Preferably, the setting module is specifically configured to:
one of the vertices of the parking space is set as the origin.
Preferably, the fusion processing module is specifically configured to:
and obtaining positioning available data by utilizing a fusion algorithm based on the time, the continuity and the updating state of the sensor data.
Preferably, the derivation module is specifically configured to:
deriving a distance traveled by the vehicle based on the vehicle range, speed, and acceleration;
deducing the driving direction of the vehicle based on the gear and the steering wheel angle;
deriving an angle of the vehicle based on the gyroscope data;
the current vehicle position is derived based on the distance traveled by the vehicle, the direction of travel of the vehicle, and the angle of the vehicle.
In summary, the present invention discloses a real-time high-precision positioning method for full-automatic parking, when real-time high-precision positioning for full-automatic parking is required, firstly setting an origin of a parking space, then constructing a coordinate system with the origin as an origin of the coordinate system, and acquiring sensor data, wherein the sensor data includes: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar; carrying out data fusion processing on the sensor data to obtain positioning available data, and deducing the current vehicle position based on vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data and acceleration in the positioning available data; and correcting the deduced current vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, and outputting the current accurate position of the vehicle. According to the invention, the parking space information, the surrounding obstacles and other information are identified through image identification and ultrasonic identification technologies, and are fused with other sensor data during positioning, so that real-time high-precision positioning is realized, and the problems that the existing technology depends on GPS signals, is unavailable in an indoor area, or depends on a base station network, cannot be used in an area where the network cannot cover, or is high in cost are effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart illustrating an embodiment of a real-time high-precision positioning method for full-automatic parking according to the present invention;
FIG. 2 is a schematic diagram of an application example of a real-time high-precision positioning method for full-automatic parking according to the present invention;
FIG. 3 is a schematic diagram of an application example of a real-time high-precision positioning method for full-automatic parking according to the present invention;
FIG. 4 is a schematic diagram of an application example of a real-time high-precision positioning method for full-automatic parking according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a real-time high-precision positioning method and device for full-automatic parking according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, which is a flowchart of a method of embodiment 1 of the present invention, the method for real-time high-precision positioning for full-automatic parking may include the following steps:
s101, setting an original point of a parking space;
when real-time high-precision positioning of full-automatic parking is required to be achieved, firstly, a parking space origin is set before positioning processing. The set parking space origin can be the center of mass of the vehicle, and can also be any vertex in the parking space, such as the vertex of the upper right corner of the parking space. When the parking place origin is set, the dependence on a GPS and a base station network is not needed.
S102, constructing a coordinate system by taking the origin as the origin of the coordinate system;
after the origin of the parking space is set, a coordinate system is established by the origin. The position information output by the positioning processing is a point in the constructed coordinate system; the camera and the ultrasonic radar identify the parking space and the obstacle information under the coordinate system. One implementation manner of constructing the coordinate system may be to use one vertex of the farthest end of the parking space as an origin to establish the coordinate system, where the position provided by the positioning method is the position in the coordinate system.
S103, acquiring sensor data, wherein the sensor data comprises: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar;
after a coordinate system is constructed, when the vehicle needs to be positioned in real time and with high precision, the data of each sensor is further acquired. Wherein the acquired sensor data comprises: vehicle mileage, speed, steering wheel angle, gear, gyroscope data, acceleration, and parking space information identified by the camera and obstacle information identified by the ultrasonic radar.
S104, performing data fusion processing on the sensor data to obtain positioning available data;
after the sensor data is acquired, the data acquired by each sensor is further subjected to fusion processing to obtain data which can be used for positioning.
Specifically, available positioning data is obtained by using a fusion algorithm according to the time, continuity and update state of each sensor data. The method mainly comprises two aspects of processing, wherein one is to judge whether single sensor data is available, each sensor has respective updating frequency, each frame of data has timestamp information, and by taking a gyroscope as an example, continuous 5 frames of data are observed, if the timestamp interval of adjacent 2 frames of data is within 10ms, the gyroscope data is considered to be available, otherwise, the gyroscope data is considered to be unavailable. The second is to determine the priority of using the multi-sensor to identify the same object position, for example, there is a pillar 5 meters on the left side of the vehicle, the distance jitter between the vehicle and the pillar identified by several consecutive frames of data of the camera is not large, all is about 5 meters, the distance fluctuation identified by several consecutive frames of data of the ultrasonic radar is large, and may be 6 meters or 7 meters, and at this time, the data identified by the camera is used as the data available for positioning.
S105, deducing the current vehicle position based on the vehicle mileage, speed, steering wheel angle, gear, gyroscope data and acceleration in the available positioning data;
after the available data for positioning is determined, the current vehicle position is further deduced according to the vehicle mileage, speed, steering wheel angle, gear, gyroscope data and acceleration in the available data for positioning.
Specifically, the distance traveled by the vehicle is derived based on the vehicle mileage, speed, and acceleration, the direction traveled by the vehicle is derived based on the gear and steering wheel angle, the angle of the vehicle is derived based on the gyroscope data, and the current vehicle position is derived based on the distance traveled by the vehicle, the direction traveled by the vehicle, and the angle of the vehicle. It should be noted that the update of the sensing data of the vehicle is also periodic, and when the sensing data of the vehicle is not updated, the current vehicle position can be estimated by using the sensing data of the historical vehicle, that is, the sensing data of the previous period.
And S106, based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, correcting the deduced current vehicle position, and outputting the current accurate vehicle position.
The method is characterized in that the current vehicle position is deduced by using vehicle sensing data, accumulated errors exist along with the increase of time, the deduced vehicle position is corrected by further using the positions of the camera, the ultrasonic-identified parking space vertex and the obstacle in a coordinate system for more accurately positioning the position of the vehicle, the reliability of the parking space vertex and the obstacle is mainly referred to for correction, and finally the accurate position of the current vehicle is output.
In summary, in the above embodiment, when real-time high-precision positioning of full-automatic parking is required to be achieved, first setting an origin of a parking space, then constructing a coordinate system with the origin as an origin of the coordinate system, and acquiring sensor data, where the sensor data includes: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar; carrying out data fusion processing on the sensor data to obtain positioning available data, and deducing the current vehicle position based on vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data and acceleration in the positioning available data; and correcting the deduced current vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, and outputting the current accurate position of the vehicle. According to the invention, the parking space information, the surrounding obstacles and other information are identified through image identification and ultrasonic identification technologies, and are fused with other sensor data during positioning, so that real-time high-precision positioning is realized, and the problems that the existing technology depends on GPS signals, is unavailable in an indoor area, or depends on a base station network, cannot be used in an area where the network cannot cover, or is high in cost are effectively solved.
In order to further explain the technical scheme provided by the invention in more detail, the following specific examples are taken as examples for explanation:
as shown in fig. 2, P2 is selected as the target parking space, a coordinate system is established with the end point O of P2 as the origin, and the initial positions of the car and the isolation pillars in the coordinate system are set.
As shown in fig. 3, during parking, the position of the car in the parking space coordinate system is calculated according to the mileage and direction information, when the car approaches the isolation pillars, the image recognition and the ultrasonic radar recognize the position relationship between the isolation pillars and the car, the position of the car can be calculated according to the relationship, and when the position is found to have a large deviation from the calculated position of the car, the calculated position of the car is corrected.
As shown in fig. 4, when the parking space end point is approached, the image recognizes the positional relationship between the parking space end point and the automobile, the position of the vehicle can be calculated based on the relationship, and when a large deviation is found between the position and the estimated vehicle position, the estimated vehicle position is corrected.
As shown in fig. 5, which is a schematic structural diagram of an embodiment 1 of the real-time high-precision positioning device for full-automatic parking according to the present invention, the device may include the following steps:
a setting module 501, configured to set an origin of a parking space;
when real-time high-precision positioning of full-automatic parking is required to be achieved, firstly, a parking space origin is set before positioning processing. The set parking space origin can be the center of mass of the vehicle, and can also be any vertex in the parking space, such as the vertex of the upper right corner of the parking space. When the parking place origin is set, the dependence on a GPS and a base station network is not needed.
A constructing module 502, configured to construct a coordinate system with an origin as an origin of the coordinate system;
after the origin of the parking space is set, a coordinate system is established by the origin. The position information output by the positioning processing is a point in the constructed coordinate system; the camera and the ultrasonic radar identify the parking space and the obstacle information under the coordinate system. One implementation manner of constructing the coordinate system may be to use one vertex of the farthest end of the parking space as an origin to establish the coordinate system, where the position provided by the positioning method is the position in the coordinate system.
An obtaining module 503, configured to obtain sensor data, where the sensor data includes: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar;
after a coordinate system is constructed, when the vehicle needs to be positioned in real time and with high precision, the data of each sensor is further acquired. Wherein the acquired sensor data comprises: vehicle mileage, speed, steering wheel angle, gear, gyroscope data, acceleration, and parking space information identified by the camera and obstacle information identified by the ultrasonic radar.
A fusion processing module 504, configured to perform data fusion processing on the sensor data to obtain positioning available data;
after the sensor data is acquired, the data acquired by each sensor is further subjected to fusion processing to obtain data which can be used for positioning.
Specifically, available positioning data is obtained by using a fusion algorithm according to the time, continuity and update state of each sensor data. The method mainly comprises two aspects of processing, wherein one is to judge whether single sensor data is available, each sensor has respective updating frequency, each frame of data has timestamp information, and by taking a gyroscope as an example, continuous 5 frames of data are observed, if the timestamp interval of adjacent 2 frames of data is within 10ms, the gyroscope data is considered to be available, otherwise, the gyroscope data is considered to be unavailable. The second is to determine the priority of using the multi-sensor to identify the same object position, for example, there is a pillar 5 meters on the left side of the vehicle, the distance jitter between the vehicle and the pillar identified by several consecutive frames of data of the camera is not large, all is about 5 meters, the distance fluctuation identified by several consecutive frames of data of the ultrasonic radar is large, and may be 6 meters or 7 meters, and at this time, the data identified by the camera is used as the data available for positioning.
A derivation module 505 for deriving a current vehicle position based on vehicle mileage, speed, steering wheel angle, gear, gyroscope data, and acceleration among the available data for positioning;
after the available data for positioning is determined, the current vehicle position is further deduced according to the vehicle mileage, speed, steering wheel angle, gear, gyroscope data and acceleration in the available data for positioning.
Specifically, the distance traveled by the vehicle is derived based on the vehicle mileage, speed, and acceleration, the direction traveled by the vehicle is derived based on the gear and steering wheel angle, the angle of the vehicle is derived based on the gyroscope data, and the current vehicle position is derived based on the distance traveled by the vehicle, the direction traveled by the vehicle, and the angle of the vehicle. It should be noted that the update of the sensing data of the vehicle is also periodic, and when the sensing data of the vehicle is not updated, the current vehicle position can be estimated by using the sensing data of the historical vehicle, that is, the sensing data of the previous period.
And the positioning module 506 is configured to correct the derived current vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, and output the current accurate position of the vehicle.
The method is characterized in that the current vehicle position is deduced by using vehicle sensing data, accumulated errors exist along with the increase of time, the deduced vehicle position is corrected by further using the positions of the camera, the ultrasonic-identified parking space vertex and the obstacle in a coordinate system for more accurately positioning the position of the vehicle, the reliability of the parking space vertex and the obstacle is mainly referred to for correction, and finally the accurate position of the current vehicle is output.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A real-time high-precision positioning method for full-automatic parking is characterized by comprising the following steps:
setting an original point of a parking space;
constructing a coordinate system by taking the origin as the origin of the coordinate system;
acquiring sensor data, wherein the sensor data comprises: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar;
performing data fusion processing on the sensor data to obtain positioning available data;
the data fusion processing of the sensor data comprises: utilizing a fusion algorithm according to the time, the continuity and the updating state of the data of each sensor;
judging whether the data of the single sensor is available, wherein each sensor has respective updating frequency, if the updating frequency is in a preset range, the data of the gyroscope is considered to be available, otherwise, the data of the gyroscope is considered to be unavailable;
judging the use priority of the multiple sensors for identifying the same object position;
deriving a current vehicle position based on vehicle mileage, speed, steering wheel angle, gear, gyroscope data, and acceleration in the location-available data;
and correcting the deduced current vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system, and outputting the current accurate vehicle position.
2. The method of claim 1, wherein the setting a parking place origin comprises:
one of the vertices of the parking space is set as the origin.
3. The method of claim 1, wherein performing a data fusion process on the sensor data to obtain data available for localization comprises:
and obtaining positioning available data by utilizing a fusion algorithm based on the time, the continuity and the updating state of the sensor data.
4. The method of claim 1, wherein deriving the current vehicle position based on vehicle range, speed, steering wheel angle, gear, gyroscope data, and acceleration in the location-available data comprises:
deriving a distance traveled by the vehicle based on the vehicle range, speed, and acceleration;
deducing the driving direction of the vehicle based on the gear and the steering wheel angle;
deriving an angle of the vehicle based on the gyroscope data;
the current vehicle position is derived based on the distance traveled by the vehicle, the direction of travel of the vehicle, and the angle of the vehicle.
5. A real-time high-precision positioning device for full-automatic parking, comprising:
the setting module is used for setting the original point of the parking space;
the construction module is used for constructing a coordinate system by taking the origin as the origin of the coordinate system;
an acquisition module to acquire sensor data, wherein the sensor data comprises: the vehicle mileage, speed, steering wheel rotation angle, gear, gyroscope data, acceleration, parking space information identified by a camera and obstacle information identified by an ultrasonic radar;
the fusion processing module is used for carrying out data fusion processing on the sensor data to obtain positioning available data;
the data fusion processing of the sensor data comprises: utilizing a fusion algorithm according to the time, the continuity and the updating state of the data of each sensor;
judging whether the data of the single sensor is available, wherein each sensor has respective updating frequency, if the updating frequency is in a preset range, the data of the gyroscope is considered to be available, otherwise, the data of the gyroscope is considered to be unavailable;
judging the use priority of the multiple sensors for identifying the same object position;
the deduction module is used for deducing the current position of the vehicle based on the mileage, the speed, the steering wheel angle, the gear, the gyroscope data and the acceleration of the vehicle in the available positioning data;
and the positioning module is used for correcting the deduced current vehicle position and outputting the current accurate vehicle position based on the positions of the parking space information identified by the camera and the obstacle information identified by the ultrasonic radar in the available positioning data in the coordinate system.
6. The apparatus of claim 5, wherein the setup module is specifically configured to:
one of the vertices of the parking space is set as the origin.
7. The apparatus according to claim 5, wherein the fusion processing module is specifically configured to:
and obtaining positioning available data by utilizing a fusion algorithm based on the time, the continuity and the updating state of the sensor data.
8. The apparatus of claim 5, wherein the derivation module is specifically configured to:
deriving a distance traveled by the vehicle based on the vehicle range, speed, and acceleration;
deducing the driving direction of the vehicle based on the gear and the steering wheel angle;
deriving an angle of the vehicle based on the gyroscope data;
the current vehicle position is derived based on the distance traveled by the vehicle, the direction of travel of the vehicle, and the angle of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010068001.5A CN111238472B (en) | 2020-01-20 | 2020-01-20 | Real-time high-precision positioning method and device for full-automatic parking |
Applications Claiming Priority (1)
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| CN112339748B (en) * | 2020-11-09 | 2021-10-26 | 东风汽车集团有限公司 | Method and device for correcting vehicle pose information through environment scanning in automatic parking |
| CN112506195B (en) * | 2020-12-02 | 2021-10-29 | 吉林大学 | Vehicle autonomous positioning system and positioning method based on vision and chassis information |
| CN113147738A (en) * | 2021-02-26 | 2021-07-23 | 重庆智行者信息科技有限公司 | Automatic parking positioning method and device |
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| US9002564B2 (en) * | 2013-04-23 | 2015-04-07 | Ford Global Technologies, Llc | Enhanced park assist wheel speed compensation technique |
| JP2016060219A (en) * | 2014-09-12 | 2016-04-25 | アイシン精機株式会社 | Vehicle position detector |
| CN105242276A (en) * | 2015-09-15 | 2016-01-13 | 清华大学苏州汽车研究院（吴江） | Ultrasonic sensor-based parking assisting system |
| TW201742031A (en) * | 2016-05-27 | 2017-12-01 | 鴻海精密工業股份有限公司 | An intelligent parking system and method |
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| CN106945660B (en) * | 2017-02-24 | 2019-09-24 | 宁波吉利汽车研究开发有限公司 | A kind of automated parking system |
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