CN111947642B - Vehicle navigation apparatus for self-driving vehicle - Google Patents
Vehicle navigation apparatus for self-driving vehicle Download PDFInfo
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- CN111947642B CN111947642B CN202010277612.0A CN202010277612A CN111947642B CN 111947642 B CN111947642 B CN 111947642B CN 202010277612 A CN202010277612 A CN 202010277612A CN 111947642 B CN111947642 B CN 111947642B
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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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
- G01C21/26—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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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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
- 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
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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
- 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
- G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to vehicle navigation equipment of a self-driving vehicle, which comprises a first navigation device, a second navigation device and a motion control device, wherein the first navigation device comprises a three-dimensional optical radar module, the second navigation device comprises a global satellite navigation system module, and the motion control device selects and uses one of a first navigation result of the first navigation device and a second navigation result of the second navigation device to control the self-driving vehicle to automatically drive in a self-driving area according to respective navigation confidence level values of the first navigation device and the second navigation device.
Description
Technical Field
The present invention relates to an autonomous vehicle, and more particularly, to a vehicle navigation apparatus for an autonomous vehicle.
Background
An autonomous vehicle, also called an unmanned vehicle, a computer-driven vehicle, is a vehicle capable of automatically traveling according to an environment sensing result and little or no human operation. In recent years, as research on decision making, command transmission, mechanism operation, and the like of vehicles has been invested, techniques for automatically driving vehicles have been dramatically developed.
The driving of the automatic driving vehicle depends on the navigation device, and the navigation device can make correct judgment under accurate positioning no matter the planning of the driving path or the strain of the real-time road condition, so as to obtain an accurate navigation result.
Currently, one of the mainstream applications of the automated driving vehicle is to perform high-level (level 4 or more) automated driving in a limited area. In such applications, the autonomous vehicle usually travels along a general vehicular road in a limited area, and the road surface condition and road environment of the vehicular road are simple, so that a general commercially available navigation device is capable of providing a usable navigation result.
However, when the autonomous vehicle is used as a golf car running on both the lane and the lane of a golf course, since the road surface condition, the road environment, and other conditions are not simple, the road asphalt and the turf of the lane are greatly changed, so that the conventional navigation device can provide a usable navigation result only on one side when the autonomous vehicle runs on the lane, and misjudgment and navigation are likely to occur when the autonomous vehicle runs on the lane.
Disclosure of Invention
In view of the above, the conventional navigation device cannot adapt to drastic changes in conditions such as road surface conditions and road environments, and has a problem that it is difficult to apply the autonomous vehicle technology to a golf course.
Accordingly, it is an object of the present invention to provide a vehicle navigation apparatus of a self-driving vehicle capable of stably providing an accurate navigation result for a self-driving vehicle that is applied to travel in a golf course.
The present invention provides a vehicle navigation device for a self-driving vehicle, which takes a fairway of a golf course as a self-driving area in which the self-driving vehicle is navigated, by technical means adopted to solve the problems of the prior art, the vehicle navigation device for the self-driving vehicle comprising: the first navigation device comprises a three-dimensional optical radar module, a first positioning module and a first path planning module, wherein the first positioning module is connected to the three-dimensional optical radar module, the first path planning module is connected to the first positioning module, and a first navigation result for the self-driving area is obtained according to sensing of the three-dimensional optical radar module and operation of the first positioning module and the first path planning module; the second navigation device comprises a global satellite navigation system module, a second positioning module and a second path planning module, wherein the second positioning module is connected with the global satellite navigation system module, the second path planning module is connected with the second positioning module, and a second navigation result for the self-driving area is obtained according to the sensing of the global satellite navigation system module and the operation of the second positioning module and the second path planning module; and a motion control device, including a navigation selection switching module and a motion control module, the navigation selection switching module is connected to the motion control module, the navigation selection switching module is configured to switch the motion control module from the first navigation device to be connected to the second navigation device or switch the motion control module from the second navigation device to be connected to the first navigation device according to respective navigation confidence level values of the first navigation device and the second navigation device, so that the motion control module controls the self-driving vehicle to automatically drive in the self-driving area according to one of a first navigation result of the first navigation device and a second navigation result of the second navigation device, wherein the navigation confidence level value of the first navigation device is obtained according to the operation probability models of the three-dimensional optical radar module and the first positioning module, the navigation reliability level value of the second navigation device is obtained according to the operation information of the global satellite navigation system module and the second positioning module and according to the vehicle dynamic and road dynamic extraction information of the self-driving vehicle.
In one embodiment of the present invention, a vehicle navigation apparatus for a self-driving vehicle is provided, wherein the first positioning module is an instant positioning and mapping module.
In one embodiment of the present invention, a vehicle navigation apparatus for a self-driving vehicle is provided, wherein the map data used by the first positioning module includes high-precision electronic map data.
In one embodiment of the present invention, a vehicle navigation apparatus for a self-driving vehicle is provided, wherein the high-precision electronic map data includes a laser point cloud map data, a geographic information system map data, and a longitude and latitude coordinate data.
In an embodiment of the present invention, the second positioning module includes an inertial measurement unit, a kalman filter unit, a map matching unit and a position enhancement unit, the kalman filter unit is connected to the gnss module and the inertial measurement unit, the map matching unit is connected to the kalman filter unit, and the position enhancement unit is connected to the map matching unit.
In one embodiment of the present invention, a vehicle navigation apparatus for a self-driving vehicle is provided, wherein the map data used by the second positioning module includes geographic information system map data and longitude and latitude coordinate data.
By adopting the technical means adopted by the invention, the vehicle navigation equipment of the self-driving vehicle can be switched to use the navigation result with better navigation reliability level value at any time according to the change of the conditions such as the road surface state, the road environment and the like. Therefore, no matter the self-driving vehicle runs on a common road or a golf course or goes and goes between the common road and the golf course, the vehicle navigation equipment of the self-driving vehicle can stably provide an accurate navigation result so as to avoid misjudgment or navigation of the self-driving vehicle, ensure the safety of passengers and provide good riding experience. In addition, since the vehicle navigation apparatus of the self-driving vehicle of the present invention uses two sets of navigation devices, the navigation device can individually select a navigation device with low versatility but high uniqueness and low price according to different road surface conditions and road environments, and a single navigation device with high versatility but high price does not need to be selected in order to simultaneously apply to various road conditions. Therefore, the vehicle navigation apparatus of the self-driving vehicle of the present invention is more advantageous in production cost than the related art.
Drawings
FIG. 1 is a schematic view of a vehicle navigation apparatus of a self-driving vehicle in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of a self-driving vehicle of the vehicle navigation apparatus of the self-driving vehicle of the embodiment of the present invention when applied to a golf course.
Reference numerals:
vehicle navigation apparatus of 100 self-driving vehicle
1 first navigation device
11 three-dimensional optical radar module
12 first positioning module
13 first path planning module
2 second navigation device
21 global satellite navigation system module
22 second positioning module
221 inertial measurement unit
222 Kalman filter unit
223 map matching unit
224 position enhancing unit
23 second path planning module
3 motion control device
31 navigation selection switching module
32 motion control module
C self-driving vehicle
L1 navigation confidence level value
L2 navigation confidence level value
M high-precision electronic map data
M1 laser point cloud map data
M2 geographic information system map data
M3 longitude and latitude coordinate data
N1 first navigation result
N2 second navigation result
Detailed Description
The following describes an embodiment of the present invention with reference to fig. 1 and 2. The description is not intended to limit the embodiments of the present invention, but is one example of the present invention.
As shown in fig. 1 and 2, a vehicle navigation apparatus 100 of a self-driving vehicle according to an embodiment of the present invention takes a fairway of a golf course as a self-driving area a in which a self-driving vehicle C is navigated. The vehicle navigation apparatus 100 of the self-driving vehicle includes: a first navigation device 1, a second navigation device 2 and a motion control device 3.
As shown in fig. 1, the first navigation device 1 includes a three-dimensional optical radar module 11, a first positioning module 12, and a first path planning module 13. The first positioning module 12 is connected to the three-dimensional optical radar module 11, the first path planning module 13 is connected to the first positioning module 12, and a first navigation result N1 for the self-driving area a is obtained according to sensing of the three-dimensional optical radar module 11 and operation of the first positioning module 12 and the first path planning module 13.
Specifically, the three-dimensional optical radar module 11 is a module using a light detection and ranging (LiDAR). LiDAR is an optical remote sensing technology that uses a pulsed laser to illuminate a target and a sensor to measure the distance between the reflected pulse and the target. The first positioning module 12 is a Simultaneous Localization and Mapping (SLAM) module in this embodiment, and the concept of Simultaneous Localization and Mapping tracks the location of an unknown environment map while constructing or updating the map, so as to achieve the purpose of Simultaneous Localization and Mapping. The first Path Planning module 13 is configured to perform Path Planning (Path Planning) to simulate a motion Path of the self-driving vehicle.
As shown in fig. 1, in the vehicle navigation apparatus 100 of the autonomous vehicle according to the embodiment of the present invention, the Map data used by the first positioning module 12 includes high precision electronic Map (HD Map) data M, wherein in the present embodiment, the high precision electronic Map data M includes Laser Point Cloud Map (Laser Point Cloud Map) data M1, Geographic Information System (GIS) Map data M2, and longitude and latitude coordinate data M3. Specifically, in the present embodiment, the first navigation device 1 uses the sensing information provided by the three-dimensional optical radar module 11 and the like, and uses the high-precision electronic map data M including the laser point cloud map data M1, the geographic information system map data M2 and the longitude and latitude coordinate data M3 to achieve autonomous positioning, so as to obtain the first navigation result N1 for the self-driving area a.
As shown in fig. 1, the second navigation device 2 includes a global satellite navigation system module 21, a second positioning module 22 and a second path planning module 23, the second positioning module 22 is connected to the global satellite navigation system module 21, the second path planning module 23 is connected to the second positioning module 22, and a second navigation result N2 for the self-driving area a is obtained according to the sensing of the global satellite navigation system module 21 and the operations of the second positioning module 22 and the second path planning module 23.
Specifically, the GNSS module 21 is a module using a Global Navigation Satellite System (GNSS), for example, the Global Positioning System (GPS) in the united states is one of the Global Navigation Satellite systems. As shown in fig. 1, the second positioning module 22 in this embodiment includes an inertial measurement unit 221, a Kalman Filter (Kalman Filter) unit 222, a Map Matching (Map Matching) unit 223, and a Position Enhancement (Position Enhancement) unit 224. The kalman filter unit 222 is connected to the gnss module 21 and the inertial measurement unit 221, the map matching unit 223 is connected to the kalman filter unit 222, and the position enhancing unit 224 is connected to the map matching unit 223. The second path planning module 23 is also a module for performing path planning, and is configured to simulate a motion path of the self-driving vehicle.
As shown in fig. 1, the map data used by the second positioning module 22 of the vehicle navigation apparatus 100 of the self-driving vehicle according to the embodiment of the present invention includes geographic information system map data M2 and longitude and latitude coordinate data M3. Similarly, the second navigation device 2 uses the sensing information provided by the gnss module 21 and the like, and uses the geographic information system map data M2 and the longitude and latitude coordinate data M3 to achieve autonomous positioning, so as to obtain the second navigation result N2 for the self-driving area a.
The motion control device 3 includes a navigation selection switching module 31 and a motion control module 32. The navigation selection switching module 31 is connected to the motion control module 32, and the navigation selection switching module 31 is configured to switch the motion control module 32 from the first navigation device 1 to the second navigation device 2 or switch the motion control module 32 from the second navigation device 2 to the first navigation device 1 according to the respective navigation confidence level values L1, L2 of the first navigation device 1 and the second navigation device 2, so that the motion control module 32 controls the self-driving vehicle C to automatically drive in the self-driving area a according to one of the first navigation result N1 of the first navigation device 1 and the second navigation result N2 of the second navigation device 2.
In the vehicle navigation apparatus 100 of the self-driving vehicle according to the embodiment of the present invention, the navigation Confidence Level values L1, L2 are estimated values of the Confidence Level (Confidence Level) of the first navigation result N1 of the first navigation device 1 and the second navigation result N2 of the second navigation device 2. Confidence Level (Confidence Level) is an index used in statistics to assess the accuracy, i.e., the degree of Confidence, of a subject's results. In the present invention, the navigation confidence level value L1 of the first navigation device 1 and the navigation confidence level value L2 of the second navigation device 2 are respectively used for evaluating the accuracy of the first navigation result N1 of the first navigation device 1 and the second navigation result N2 of the second navigation device 2, wherein the navigation confidence level value L1 of the first navigation device 1 is obtained according to the operational probability models of the three-dimensional optical radar module 11 and the first positioning module 12, and the navigation confidence level value L2 of the second navigation device 2 is obtained according to the operational information of the global satellite navigation system module 21 and the second positioning module 22 and the extracted information of the vehicle dynamics and the road dynamics of the self-driving vehicle C.
As shown in fig. 2, in the case where the self-driving vehicle C using the vehicle navigation apparatus 100 of the self-driving vehicle is applied to a golf course (the self-driving region a), when the self-driving vehicle C travels a lane, the vehicle navigation apparatus 100 of the self-driving vehicle may select a navigation result (for example, a first navigation result N1) having a high navigation reliability level value, thereby controlling the self-driving vehicle C to automatically drive in the self-driving region a. Moreover, as the road surface condition and the road environment change dramatically (e.g., enter into the lane from the lane or return to the lane from the lane), the vehicle navigation apparatus 100 of the self-driving vehicle can be switched to select the navigation result with the higher current navigation confidence level (e.g., change the first navigation result N1 to the second navigation result N2 or return the second navigation result N2 to the first navigation result N1) at any time, so as to control the self-driving vehicle C to automatically drive in the self-driving area a. Of course, the navigation result switching selection method is not limited to the above-mentioned method of selecting the navigation confidence level with a high value. In another embodiment, the navigation reliability level L1 of the first navigation device 1 and the navigation reliability level L2 of the second navigation device 2 may be individually set with thresholds (upper threshold and/or lower threshold) for switching, and the navigation selection switching module 31 may perform switching connection of the navigation devices only when the navigation reliability level of the currently selected navigation result is lower than the lower threshold and/or the navigation reliability level of the currently unselected navigation result is higher than the upper threshold.
In this way, the vehicle navigation apparatus 100 of the self-driving vehicle according to the present invention can switch to use the navigation result (one of the first navigation result N1 and the second navigation result N2) having a better navigation reliability level value at any time according to the change of the conditions such as the road surface state and the road environment. Therefore, no matter the self-driving vehicle C runs on a common road or a golf course or travels between the common road and the golf course, the vehicle navigation device 100 of the self-driving vehicle can stably provide an accurate navigation result so as to avoid misjudgment or navigation of the self-driving vehicle C, so that the safety of passengers is ensured, and good riding experience is provided. In addition, since the vehicle navigation apparatus 100 of the self-driving vehicle according to the present invention switches between the two sets of navigation devices (the first navigation device 1 and the second navigation device 2), it is possible to individually select a navigation device having low versatility but high uniqueness and being relatively inexpensive for different road surface conditions and road environments, and it is not necessary to select a single navigation device having high versatility but extremely high price so as to be able to simultaneously adapt to various road conditions. Therefore, the vehicle navigation apparatus 100 of the self-driving vehicle of the present invention is more advantageous in production cost than the related art.
While the foregoing description and description are of the preferred embodiment of the present invention, other modifications will be apparent to those skilled in the art from this description and it is intended that all such modifications be included within the spirit and scope of the present invention.
Claims (6)
1. A vehicular navigation apparatus for a self-driving vehicle, which navigates a self-driving vehicle (C) in a self-driving area (a) having a fairway of a golf course as the self-driving area (a), said vehicular navigation apparatus (100) for a self-driving vehicle comprising:
the first navigation device (1) comprises a three-dimensional optical radar module (11), a first positioning module (12) and a first path planning module (13), wherein the first positioning module (12) is connected to the three-dimensional optical radar module (11), the first path planning module (13) is connected to the first positioning module (12), and a first navigation result (N1) of the self-driving area (A) is obtained according to sensing of the three-dimensional optical radar module (11) and operation of the first positioning module (12) and the first path planning module (13);
a second navigation device (2) comprising a global satellite navigation system module (21), a second positioning module (22) and a second path planning module (23), wherein the second positioning module (22) is connected to the global satellite navigation system module (21), the second path planning module (23) is connected to the second positioning module (22), and a second navigation result (N2) for the self-driving area is obtained according to the sensing of the global satellite navigation system module (21) and the calculation of the second positioning module (22) and the second path planning module (23); and
a motion control device (3) comprising a navigation selection switch module (31) and a motion control module (32), wherein the navigation selection switch module (31) is connected to the motion control module (32), the navigation selection switch module (31) is configured to switch the motion control module (32) from the first navigation device (1) to the second navigation device (2) or switch the motion control module (32) from the second navigation device (2) to the first navigation device (2) according to respective navigation confidence levels of the first navigation device (1) and the second navigation device (2), so that the motion control module (32) controls the self-driving vehicle (C) according to a single navigation result of the first navigation device (1) (N1) and the second navigation device (2) (N2) ) Automatic driving in the self-driving area (A),
wherein the navigation confidence level (L1) of the first navigation device (1) is obtained according to the operation probability models of the three-dimensional optical radar module (11) and the first positioning module (12),
the navigation reliability level value (L2) of the second navigation device (2) is obtained according to the calculation information of the global satellite navigation system module (21) and the second positioning module (22) and the extracted information of the vehicle dynamics and the road dynamics of the self-driving vehicle (C).
2. The vehicle navigation apparatus of a self-driving vehicle as recited in claim 1, wherein the first positioning module (12) is an instant positioning and mapping module.
3. The vehicle navigation apparatus of a self-driving vehicle according to claim 1, wherein the map data used by the first positioning module (12) comprises high-precision electronic map data (M).
4. The vehicle navigation apparatus of a self-driving vehicle as claimed in claim 3, wherein the high-precision electronic map data (M) includes laser point cloud map data (M1), geographic information system map data (M2) and longitude and latitude coordinate data (M3).
5. The vehicle navigation apparatus of claim 1, wherein the second positioning module (22) comprises an inertial measurement unit (221), a kalman filter unit (222), a map matching unit (223), and a position enhancement unit (224), the kalman filter unit (222) is connected to the global satellite navigation system module (21) and the inertial measurement unit (221), the map matching unit (223) is connected to the kalman filter unit (222), and the position enhancement unit (224) is connected to the map matching unit (223).
6. The vehicle navigation apparatus of a self-driving vehicle as claimed in claim 1 or 5, wherein the map data used by the second positioning module (22) comprises geographic information system map data (M2) and longitude and latitude coordinate data (M3).
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| TW108116793 | 2019-05-15 | ||
| TW108116793A TWI711804B (en) | 2019-05-15 | 2019-05-15 | Vehicle navigation device for self-driving cars |
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| CN111947642A CN111947642A (en) | 2020-11-17 |
| CN111947642B true CN111947642B (en) | 2022-05-13 |
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| JP (1) | JP2020187126A (en) |
| KR (1) | KR102322538B1 (en) |
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| TWI725611B (en) * | 2019-11-12 | 2021-04-21 | 亞慶股份有限公司 | Vehicle navigation switching device for golf course self-driving cars |
| TWI748678B (en) * | 2020-10-06 | 2021-12-01 | 艾歐圖科技股份有限公司 | Enhanced autonomous vehicle localization system based on ground information |
| KR102698577B1 (en) * | 2021-11-30 | 2024-08-27 | 주식회사 에스제이 테크 | Smart Golf-Cart System |
| TWI824773B (en) * | 2022-10-14 | 2023-12-01 | 財團法人車輛研究測試中心 | Self-driving route planning system and method |
| CN116678423B (en) * | 2023-05-26 | 2024-04-16 | 小米汽车科技有限公司 | Multisource fusion positioning method, multisource fusion positioning device and vehicle |
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| JP2020187126A (en) | 2020-11-19 |
| KR102322538B1 (en) | 2021-11-05 |
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| KR20200133184A (en) | 2020-11-26 |
| TW202043704A (en) | 2020-12-01 |
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