CN112859107A - Vehicle navigation switching equipment of golf course self-driving vehicle - Google Patents
Vehicle navigation switching equipment of golf course self-driving vehicle Download PDFInfo
- Publication number
- CN112859107A CN112859107A CN202010784095.6A CN202010784095A CN112859107A CN 112859107 A CN112859107 A CN 112859107A CN 202010784095 A CN202010784095 A CN 202010784095A CN 112859107 A CN112859107 A CN 112859107A
- Authority
- CN
- China
- Prior art keywords
- navigation
- module
- vehicle
- golf course
- self
- 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
- 230000003287 optical effect Effects 0.000 claims abstract description 40
- 238000005259 measurement Methods 0.000 claims description 7
- 238000013507 mapping Methods 0.000 claims description 5
- 230000002708 enhancing effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Navigation (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to vehicle navigation switching equipment of a golf course 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 two-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 position result of the first navigation device and a second navigation position result of the second navigation device according to a first navigation position confidence value of the first navigation device and a second navigation position confidence value of the second navigation device so as to control the golf course self-driving vehicle to automatically drive in a self-driving area.
Description
Technical Field
The invention relates to an automatic driving vehicle, in particular to a vehicle navigation switching device of a golf course self-driving vehicle.
Background
An autonomous vehicle, also called an unmanned vehicle or a computer-driven vehicle, is a vehicle that can automatically travel with little or no human operation according to the result of environmental sensing. 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 real-time road conditions, so as to obtain an accurate navigation position result.
Currently, one of the mainstream applications of an autonomous vehicle is to perform high-level (level 4 or more) autonomous driving in a limited area. In such applications, autonomous vehicles are generally driven along a general vehicle road in a limited area, and the road surface condition and road environment of such a vehicle road are relatively simple, so that many general commercially available navigation devices have adaptability and provide a useful navigation position result.
However, when the autonomous vehicle is used as a golf car for both a lane and a lane of a golf course, since the road surface condition and the road environment are not simple, the existing navigation device has disadvantages in the use of the autonomous vehicle in the lane of the golf course due to factors such as the asphalt road of the lane, the height and the waviness of the lane, the lane finishing condition, the wind force, the rain force, the distance from the front and rear autonomous vehicles, and the like, and thus misjudgment and navigation are likely to occur when the autonomous vehicle travels in the lane.
In view of the above, the conventional navigation device cannot adapt to drastic changes in conditions such as the lane of a golf ball, the road surface state, and the overall environment of the lane of a golf ball, and thus has a problem that it is difficult to apply the autonomous vehicle technology to a golf course.
Disclosure of Invention
Therefore, it is an object of the present invention to provide a vehicle navigation switching apparatus of a golf course self-driving vehicle capable of stably providing an accurate navigation position result for a golf course self-driving vehicle applied to travel in a golf course.
The technical means adopted by the invention to solve the problems of the prior art is to provide a vehicle navigation switching device of a golf course self-driving vehicle, wherein a fairway of a golf course is taken as a self-driving area, and the navigation mode of the golf course self-driving vehicle is automatically switched in the self-driving area, and the vehicle navigation switching device of the golf course self-driving vehicle comprises: the first navigation device comprises a two-dimensional optical radar module, a photographing module, a first positioning module and a first path planning module, wherein the first positioning module is connected to the two-dimensional optical radar module and the photographing module, the first path planning module is connected to the first positioning module, and a first navigation position result and a first navigation position confidence value of the golf course self-driving vehicle in the self-driving area are obtained by the first navigation device according to the sensing of the two-dimensional optical radar module and the photographing module and the 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, 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 the second navigation device obtains a second navigation position result and a second navigation position confidence value of the golf course self-driving vehicle in the self-driving area 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, wherein the navigation selection switching module is connected to the motion control module, and 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 the first navigation position confidence value of the first navigation device and the second navigation position confidence value of the second navigation device, so that the motion control module controls the golf course self-driving vehicle to automatically drive in the self-driving area according to a single navigation position result of the first navigation device and the second navigation position result of the second navigation device, wherein the first navigation position confidence value of the first navigation device is based on the two-dimensional optical radar module, The second navigation position confidence 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 the extracted information of the vehicle dynamics and the road dynamics of the self-driving vehicle in the golf course.
In one embodiment of the invention, the vehicle navigation switching device of the golf course self-driving vehicle is provided, wherein the first positioning module is a synchronous positioning and mapping module.
In one embodiment of the invention, the vehicle navigation switching device of the golf course self-driving vehicle is provided, wherein the map data used by the first positioning module comprises high-precision electronic map data.
In one embodiment of the invention, the vehicle navigation switching device of the golf course self-driving vehicle is provided, wherein the high-precision electronic map data comprises laser point cloud map data, geographic information system map data and 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 invention, the vehicle navigation switching device of the golf course self-driving vehicle is provided, wherein the map data used by the second positioning module comprises geographic information system map data and longitude and latitude coordinate data.
By adopting the technical means, the vehicle navigation switching equipment of the golf course self-driving vehicle can automatically switch between 2D optical navigation (assisted by a camera) and satellite navigation at any time in a relatively economic construction cost mode according to the change of conditions such as the lane of golf, the road surface state, the whole lane of golf and the like, so as to use a navigation position result with a better navigation position reliability value. Therefore, no matter the golf course self-driving vehicle runs on a common road, a fairway of a golf course or goes between the common road and the fairway, the vehicle navigation switching equipment of the golf course self-driving vehicle can stably provide an accurate navigation position result so as to avoid misjudgment or navigation of the golf course self-driving vehicle, ensure the safety of passengers and provide good riding experience. As described above, the vehicle navigation switching apparatus for golf course self-driving vehicles according to the present invention employs the two-dimensional optical radar module, which is cheaper than the three-dimensional optical radar module, and can effectively reduce the cost, and the two-dimensional optical radar module is not necessarily installed on the roof of a vehicle, and the camera has a color recognition capability, so that it can assist in more accurately recognizing a specific mark in a golf course, and assist in recognizing the position of a golf ball self-driving vehicle when the weather is bad. Therefore, the navigation is carried out by using the optical navigation mode, and the delay or the error of the navigation instruction caused by the network transmission error can be avoided.
Drawings
Fig. 1 is a schematic diagram of a vehicle navigation switching apparatus of a golf course self-driving vehicle according to an embodiment of the present invention.
Fig. 2a is a schematic diagram of a golf course self-driving vehicle using a vehicle navigation switching apparatus of the golf course self-driving vehicle according to an embodiment of the present invention when applied to a golf course.
Fig. 2b is a schematic diagram of a golf course self-driving vehicle entering a fairway from a driveway using the vehicle navigation switching apparatus of the golf course self-driving vehicle according to an embodiment of the present invention.
Fig. 2c is a schematic diagram of a golf course self-driving vehicle using the vehicle navigation switching apparatus of the golf course self-driving vehicle when traveling on a fairway according to an embodiment of the present invention.
Fig. 2d is a schematic diagram of a golf course self-driving vehicle entering a lane from the fairway using the vehicle navigation switching apparatus of the golf course self-driving vehicle according to an embodiment of the present invention.
Fig. 2e is a schematic diagram of a golf course self-driving vehicle of the vehicle navigation switching apparatus of the golf course self-driving vehicle traveling in a lane according to an embodiment of the present invention.
Reference numerals
Vehicle navigation switching equipment of 100 golf course self-driving vehicle
1 first navigation device
11 two-dimensional optical radar module
12 photographic module
13 first positioning module
14 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
Self-driving area A
C golf course self-driving vehicle
L1 first navigation position confidence value
L2 second navigation position confidence 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 navigational position result
N2 second navigational position result
Detailed Description
Embodiments of the present invention will be described below with reference to fig. 1 to 2 e. 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 to 2e, a vehicle navigation switching apparatus 100 of a golf course self-driving vehicle according to an embodiment of the present invention takes a fairway of a golf course as a self-driving area a, and navigates a golf course self-driving vehicle C in the self-driving area a. The vehicle navigation switching apparatus 100 of the golf course 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 two-dimensional optical radar module 11, a photographing module 12, a first positioning module 13, and a first path planning module 14. The first positioning module 13 is connected to the two-dimensional optical radar module 11 and the photographing module 12, the first path planning module 14 is connected to the first positioning module 12, and the first navigation device 1 obtains a first navigation position result N1 and a first navigation position confidence value L1 of the golf course self-driving vehicle C in the self-driving area a according to the sensing of the two-dimensional optical radar module 11 and the photographing module 12 and the operation of the first positioning module 12 and the first path planning module 14.
Specifically, the two-dimensional optical radar module 11 is a module using a light detection and ranging (LiDAR). LiDAR is an optical remote sensing technology that measures the distance to a target by irradiating the target with pulsed laser light and measuring the reflected pulse with a sensor. The two-dimensional optical radar module 11 is a two-dimensional Mechanical Scanning type optical radar (2D Mechanical Scanning radar) in the present embodiment, which collects data over a wide range of 360 ° by Mechanical rotation of a laser/receiving assembly or guiding a light beam using a rotating mirror. Of course, the present invention is not limited thereto, and the two-dimensional optical radar module 11 may also be a two-dimensional Solid State optical radar (2D Solid State radar) having a planar sensing component without a rotating component, and thus having a small volume and a light weight. In any two-dimensional optical radar module 11, the price is lower than that of a three-dimensional optical radar module, and the two-dimensional optical radar module is not limited to be mounted on a vehicle roof, so that the cost can be effectively reduced. The photographing module 12 is used for obtaining photographing data through photographing, and comparing the sensing result of the photographing data and the sensing result of the two-dimensional optical radar module 11 with map data continuously to obtain a real-time and accurate result. In the present embodiment, the camera module 12 is an optical camera, and has better object recognition capability through machine vision algorithm, and can distinguish colors, marked lines, traffic signs, etc. Therefore, when applied to a golf course, the photographing module 12 can assist the two-dimensional optical radar module 11 to make a clear interpretation more accurate than that of the map data by using the color of the environment such as the lawn of the golf course and the identification of various marks on the field (for example, the color mark provided by the golf course for the golf self-driving vehicle), thereby effectively improving the accuracy of the determination and preventing erroneous determination. In the present invention, the two-dimensional optical radar module 11 and the camera module 12 can be provided in a plurality of numbers at the same time, so as to obtain a more complete and accurate sensing effect. The two-dimensional optical radar module 11 and the camera module 12 are not limited to be disposed to face in the same direction or in the front direction, but may be disposed to face in different directions or in any direction as required. For example, when the two-dimensional optical radar module 11 is configured to sense the front, the photographing module 12 can be configured to photograph in two directions, i.e., left and right, to assist the two-dimensional optical radar module 11, so as to solve the problem that the two-dimensional optical radar module 11 can only sense the front at the same time and cannot sense the left and right directions at the same time. The first positioning module 13 is a Simultaneous Localization and Mapping (SLAM) module in this embodiment, and the concept of Simultaneous Localization and Mapping is to track 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 14 is configured to perform Path Planning (Path Planning) to simulate a motion Path of the self-driving vehicle.
As shown in fig. 1, according to the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle of the embodiment of the present invention, the Map data used by the first positioning module 13 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 two-dimensional optical radar module 11 and the camera module 12, 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 position result N1 of the golf course self-driving vehicle C in 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 the second positioning module 22 obtains the second navigation position result N2 of the golf course self-driving vehicle C in the self-driving area a according to the sensing of the global satellite navigation system module 21 and the operation 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 locating module 22 of the vehicle navigation switching apparatus 100 for golf course self-driving vehicles 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 position result N2 of the golf course self-driving vehicle C in 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 be connected to the second navigation device 2 or switch the motion control module 32 from the second navigation device 2 to be connected to the first navigation device 1 according to the first navigation position confidence value L1 of the first navigation device 1 and the second navigation position confidence value L2 of the second navigation device 2, so that the motion control module 32 controls the golf course self-driving vehicle C to automatically drive in the self-driving area a according to a single navigation position result of the first navigation position result N1 of the first navigation device 1 and the second navigation position result N2 of the second navigation device 2.
According to the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle of the embodiment of the invention, the first navigation position Confidence value L1 is an estimated value of the Confidence Level (Confidence Level) of the first navigation position result N1 with respect to the first navigation device 1, and the second navigation position Confidence value L2 is an estimated value of the Confidence Level of the second navigation position result N2 with respect to the second navigation device 2. Confidence Level (Confidence Level) is an index used in statistics to evaluate the accuracy of a subject's results, i.e., the degree of Confidence. In the present invention, the first navigation position confidence value L1 of the first navigation device 1 and the second navigation position confidence value L2 of the second navigation device 2 are respectively used for evaluating the accuracy of the first navigation position result N1 of the first navigation device 1 and the second navigation position result N2 of the second navigation device 2, wherein the first navigation position confidence value L1 of the first navigation device 1 is obtained according to the calculation probability models of the two-dimensional optical radar module 11, the camera module 12 and the first positioning module 13, and the second navigation position confidence 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 road dynamics of the golf course self-driving vehicle C.
As shown in fig. 2a to 2e, in the case where the golf course self-driving vehicle C using the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle is applied to a golf course (the self-driving region a), when the golf course self-driving vehicle C travels a lane (as in fig. 2a), the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle can select a navigation position result (for example, the first navigation position result N1) whose navigation position confidence value is high, thereby controlling the golf course self-driving vehicle C to drive automatically in the self-driving region a. And, with drastic changes in road surface conditions and road environments (e.g., entering into lane from lane as shown in fig. 2b or returning to lane from lane as shown in fig. 2 d), the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle can be switched to select the navigation position result having the higher reliability value at present (e.g., changing from the first navigation position result N1 to the second navigation position result N2 or returning from the second navigation position result N2 to the first navigation position result N1), thereby controlling the golf course self-driving vehicle C to automatically drive in the self-driving region a. Of course, the method for selecting the result of the navigation position by switching is not limited to the above-described method for selecting the one with a higher reliability value of the navigation position. In another embodiment, a threshold (an upper threshold and/or a lower threshold) for switching may be set for each of the first navigation position reliability value L1 of the first navigation device 1 and the second navigation position reliability value L2 of the second navigation device 2, and the navigation selection switching module 31 may perform switching connection of navigation devices only when the navigation position reliability value of the currently selected navigation position result is lower than the lower threshold and/or the navigation position reliability value of the currently unselected navigation position result is higher than the upper threshold.
In this way, the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle of the present invention can adapt to the change of conditions such as the lane of golf, the road surface condition, and the entire lane of golf, and automatically switch between 2D optical navigation (assisted by a camera) and satellite navigation at any time in a manner that is economical in construction cost, so as to use the navigation position result (one of the first navigation position result N1 and the second navigation position result N2) having a better navigation position reliability value. Therefore, no matter the golf course self-driving vehicle C is running on a general road, a fairway of a golf course or going between the general road and the fairway, the vehicle navigation switching device 100 of the golf course self-driving vehicle can stably provide an accurate navigation position result so as to avoid misjudgment or navigation of the golf course self-driving vehicle C, thereby ensuring the safety of passengers and giving a good riding experience. As described above, the vehicle navigation switching apparatus 100 of the golf course self-driving vehicle of the present invention employs the two-dimensional optical radar module 11, which is less expensive than the three-dimensional optical radar module, can effectively reduce the cost, is provided with the two-dimensional optical radar module 11 without having to be provided on the roof of the vehicle, and can assist in more accurately identifying a specific mark in the golf course due to the color recognition capability of the camera, to assist in identifying the position of the golf ball self-driving vehicle in bad weather. Therefore, the navigation is carried out by using the optical navigation mode, and the delay or the error of the navigation instruction caused by the network transmission error can be avoided.
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 disclosure and it is intended that all such modifications be included within the spirit and scope of the present invention.
Claims (6)
1. A vehicle navigation switching apparatus for a golf course self-driving vehicle, said vehicle navigation switching apparatus having a fairway of a golf course as a self-driving region and automatically switching a navigation mode of said golf course self-driving vehicle in said self-driving region, said vehicle navigation switching apparatus for a golf course self-driving vehicle comprising:
the first navigation device obtains a first navigation position result and a first navigation position confidence value of the golf course self-driving vehicle in the self-driving area according to the sensing of the two-dimensional optical radar module and the photographing module and the 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, 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 position result and a second navigation position confidence value of the golf course self-driving vehicle in the self-driving area are obtained by the second navigation device 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
the motion control device comprises a navigation selection switching module and a motion control module, wherein the navigation selection switching module is connected with the motion control module, the navigation selection switching module is arranged to switch the motion control module from the first navigation device to be connected with the second navigation device or switch the motion control module from the second navigation device to be connected with the first navigation device according to the first navigation position confidence value of the first navigation device and the second navigation position confidence value of the second navigation device, so that the motion control module controls the golf course self-driving vehicle to automatically drive in the self-driving area according to a single navigation position result in the first navigation position result of the first navigation device and the second navigation position result of the second navigation device,
wherein the first navigation position confidence value of the first navigation device is obtained according to the operation probability models of the two-dimensional optical radar module, the photographing module and the first positioning module,
the second navigation position confidence value of the second navigation device is obtained according to the calculation information of the global satellite navigation system module and the second positioning module and the extracted information of the vehicle dynamics and the road dynamics of the self-driving vehicle in the golf course.
2. The vehicle navigation switching apparatus of a golf course self-driving vehicle as recited in claim 1, wherein said first positioning module is a synchronous positioning and mapping module.
3. The vehicle navigation switching apparatus of a golf course self-driving vehicle as recited in claim 1, wherein the map data used by the first positioning module comprises high precision electronic map data.
4. The vehicle navigation switching apparatus of golf course self-driving vehicles according to claim 3, wherein the high precision electronic map data comprises laser point cloud map data, geographic information system map data and longitude and latitude coordinate data.
5. The vehicle navigation switching apparatus of a golf course self-driving vehicle as claimed in claim 1, wherein said second positioning module comprises an inertial measurement unit, a kalman filter unit, a map matching unit and a position enhancing unit, said kalman filter unit is connected to said global satellite navigation system module and said inertial measurement unit, said map matching unit is connected to said kalman filter unit, and said position enhancing unit is connected to said map matching unit.
6. The vehicle navigation switching apparatus of golf course self-driving vehicles as claimed in any one of claims 1 or 5, wherein the map data used by the second positioning module comprises geographic information system map data and latitude and longitude coordinate data.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW108140974A TWI725611B (en) | 2019-11-12 | 2019-11-12 | Vehicle navigation switching device for golf course self-driving cars |
| TW108140974 | 2019-11-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112859107A true CN112859107A (en) | 2021-05-28 |
| CN112859107B CN112859107B (en) | 2023-11-24 |
Family
ID=75899249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010784095.6A Active CN112859107B (en) | 2019-11-12 | 2020-08-06 | Vehicle navigation switching device of golf course self-driving vehicle |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7209367B2 (en) |
| KR (1) | KR102373825B1 (en) |
| CN (1) | CN112859107B (en) |
| TW (1) | TWI725611B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022074732A (en) * | 2020-11-05 | 2022-05-18 | パナソニックホールディングス株式会社 | Self-position estimation device and mobile object |
| KR20230081416A (en) * | 2021-11-30 | 2023-06-07 | 주식회사 에스제이 테크 | Smart Golf-Cart System |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6246960B1 (en) * | 1998-11-06 | 2001-06-12 | Ching-Fang Lin | Enhanced integrated positioning method and system thereof for vehicle |
| WO2001061271A2 (en) * | 2000-02-15 | 2001-08-23 | Prolink, Inc. | Map-matching golf navigation system |
| CN101099162A (en) * | 2005-01-04 | 2008-01-02 | 迪尔公司 | Vision-aided system and method for guiding a vehicle |
| TW201501979A (en) * | 2013-07-08 | 2015-01-16 | Kang Li | Lane recognizing method based on electronic map, global navigation satellite system, and dynamic detection technology of vehicle |
| CN105783936A (en) * | 2016-03-08 | 2016-07-20 | 武汉光庭信息技术股份有限公司 | Road sign drawing and vehicle positioning method and system for automatic drive |
| CN106032990A (en) * | 2015-03-21 | 2016-10-19 | 吴红平 | Working method of real scene navigation system |
| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
| JP2018206004A (en) * | 2017-06-02 | 2018-12-27 | 村田機械株式会社 | Cruise control device of autonomous traveling carriage, and autonomous travelling carriage |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003265663A (en) | 2002-03-19 | 2003-09-24 | Sanyo Electric Co Ltd | Self-propelled vehicle |
| JP2004138517A (en) | 2002-10-18 | 2004-05-13 | Toyota Motor Corp | On-vehicle navigation device |
| US9465388B1 (en) * | 2014-03-03 | 2016-10-11 | Google Inc. | Remote assistance for an autonomous vehicle in low confidence situations |
| KR101625486B1 (en) * | 2014-11-14 | 2016-05-30 | 재단법인대구경북과학기술원 | Map-based positioning system and method thereof |
| TWI604980B (en) * | 2016-11-24 | 2017-11-11 | 國立臺北科技大學 | Vehicle control system and vehicle control method |
| US10621448B2 (en) * | 2017-08-02 | 2020-04-14 | Wing Aviation Llc | Systems and methods for determining path confidence for unmanned vehicles |
| TW201913599A (en) * | 2017-08-17 | 2019-04-01 | 崑山科技大學 | Automatic coach system and method in vehicle driving |
| TWI674984B (en) * | 2018-11-15 | 2019-10-21 | 財團法人車輛研究測試中心 | Driving track planning system and method for self-driving vehicles |
| TWI711804B (en) | 2019-05-15 | 2020-12-01 | 宜陞有限公司 | Vehicle navigation device for self-driving cars |
| CN110379193B (en) * | 2019-07-08 | 2021-07-20 | 华为技术有限公司 | Behavior planning method and behavior planning device for automatic driving vehicle |
-
2019
- 2019-11-12 TW TW108140974A patent/TWI725611B/en active
-
2020
- 2020-08-06 CN CN202010784095.6A patent/CN112859107B/en active Active
- 2020-08-25 JP JP2020142057A patent/JP7209367B2/en active Active
- 2020-09-07 KR KR1020200113703A patent/KR102373825B1/en active IP Right Grant
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6246960B1 (en) * | 1998-11-06 | 2001-06-12 | Ching-Fang Lin | Enhanced integrated positioning method and system thereof for vehicle |
| WO2001061271A2 (en) * | 2000-02-15 | 2001-08-23 | Prolink, Inc. | Map-matching golf navigation system |
| CN101099162A (en) * | 2005-01-04 | 2008-01-02 | 迪尔公司 | Vision-aided system and method for guiding a vehicle |
| TW201501979A (en) * | 2013-07-08 | 2015-01-16 | Kang Li | Lane recognizing method based on electronic map, global navigation satellite system, and dynamic detection technology of vehicle |
| CN106032990A (en) * | 2015-03-21 | 2016-10-19 | 吴红平 | Working method of real scene navigation system |
| CN105783936A (en) * | 2016-03-08 | 2016-07-20 | 武汉光庭信息技术股份有限公司 | Road sign drawing and vehicle positioning method and system for automatic drive |
| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
| JP2018206004A (en) * | 2017-06-02 | 2018-12-27 | 村田機械株式会社 | Cruise control device of autonomous traveling carriage, and autonomous travelling carriage |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20210058640A (en) | 2021-05-24 |
| KR102373825B1 (en) | 2022-03-14 |
| TW202118995A (en) | 2021-05-16 |
| JP7209367B2 (en) | 2023-01-20 |
| JP2021076584A (en) | 2021-05-20 |
| TWI725611B (en) | 2021-04-21 |
| CN112859107B (en) | 2023-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7209601B2 (en) | High-precision map generation method, high-precision map generation device, computer equipment, non-transitory computer-readable storage medium, and computer program | |
| EP3343172B1 (en) | Creation and use of enhanced maps | |
| CN111947642B (en) | Vehicle navigation apparatus for self-driving vehicle | |
| US9921585B2 (en) | Detailed map format for autonomous driving | |
| CN104848867B (en) | The pilotless automobile Combinated navigation method of view-based access control model screening | |
| US11474532B2 (en) | Systems and methods for detecting anomalies in a vehicle system | |
| RU2706763C1 (en) | Vehicle localization device | |
| CN112859107B (en) | Vehicle navigation switching device of golf course self-driving vehicle | |
| CN108628324A (en) | Unmanned vehicle navigation method, device, equipment based on map vector and storage medium | |
| KR102425735B1 (en) | Autonomous Driving Method and System Using a Road View or a Aerial View from a Map Server | |
| CN102565832A (en) | Method of augmenting GPS or gps/sensor vehicle positioning using additional in-vehicle vision sensors | |
| CN109477728A (en) | For determining method, apparatus of the vehicle relative to the lateral position in the lane on road surface and the computer readable storage medium with instruction | |
| US11703347B2 (en) | Method for producing an autonomous navigation map for a vehicle | |
| CN109154505B (en) | Method, apparatus, and computer-readable storage medium having instructions for determining a lateral position of a vehicle relative to a lane of a roadway | |
| US20210394782A1 (en) | In-vehicle processing apparatus | |
| JP2016080460A (en) | Moving body | |
| US20220266825A1 (en) | Sourced lateral offset for adas or ad features | |
| CN111832365A (en) | Lane mark determination method and device | |
| CN117859041A (en) | Method and auxiliary device for supporting vehicle functions in a parking space and motor vehicle | |
| CN113739804A (en) | Method and device for determining road level of vehicle in three-dimensional traffic area | |
| JP2022152736A (en) | Vehicle control device, vehicle control method, and computer program for vehicle control | |
| Nastro | Position and orientation data requirements for precise autonomous vehicle navigation | |
| Gu et al. | Correction of vehicle positioning error using 3D-map-GNSS and vision-based road marking detection | |
| CN116767224B (en) | Method, device, vehicle and storage medium for determining a travelable region | |
| CN109964132A (en) | Method, apparatus and system for the sensors configured in moving object |
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 |