CN113173158A - Vehicle positioning method based on look-around SLAM and vehicle kinematics - Google Patents
Vehicle positioning method based on look-around SLAM and vehicle kinematics Download PDFInfo
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- CN113173158A CN113173158A CN202110456206.5A CN202110456206A CN113173158A CN 113173158 A CN113173158 A CN 113173158A CN 202110456206 A CN202110456206 A CN 202110456206A CN 113173158 A CN113173158 A CN 113173158A
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- vehicle
- environment information
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- parking
- positioning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Abstract
The invention discloses a vehicle positioning method based on a look-around SLAM and vehicle kinematics, and relates to the technical field of intelligent vehicle parking. The invention comprises the following steps: determining whether to start a vehicle fusion positioning module according to the activation state of the low-speed automatic driving function of memory parking or passenger-assistant parking in a closed scene; the method comprises the steps that an ultrasonic probe and a look-around camera on a vehicle carry out obstacle positioning on the vehicle within a range of 360 degrees, so that current environment information of the vehicle is obtained; comparing the obtained current environment information with the original environment information obtained from the off-line map. The method is used for solving the problem of vehicle-level vehicle positioning in a specific scene by combining the vehicle kinematic positioning module, the look-around-based SLAM and the offline map, and has high market application value.
Description
Technical Field
The invention belongs to the technical field of intelligent vehicle parking, and particularly relates to a vehicle positioning method based on a panoramic SLAM and vehicle kinematics.
Background
The general parking system scheme in the existing market adopts wheel speed and steering wheel corner to realize vehicle positioning through the kinematic relationship of the vehicle, and the technical mode can obtain the real-time position and the vehicle body angle of the central point of the rear axle of the vehicle under a global coordinate system through a wheel speed sensor and a steering wheel corner sensor of 4 wheels and by combining the self dimension parameters of the vehicle, such as wheel base, vehicle width and the like, and simultaneously calculate the running distance value and the turning radius of the vehicle. The technical scheme has the defects of large accumulated error and incapability of correcting when in use, so that the method can be only applied to short-distance vehicle positioning, such as vehicle positioning with a full-automatic parking function; however, for memory parking and passenger parking, the accumulated error directly affects the realization of the function, even causes the problem of safety accidents. Therefore, it is necessary to research a vehicle positioning method based on the look-around SLAM and vehicle kinematics to solve the above problems.
Disclosure of Invention
The present invention is to provide a vehicle positioning method based on a look-around SLAM and vehicle kinematics, and aims to solve the problems in the background art.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a vehicle positioning method based on a look-around SLAM and vehicle kinematics, which comprises the following steps:
step one, judging whether a low-speed automatic driving function of memory type parking or passenger-assistant parking in a closed scene is activated or not, and if not, not starting a vehicle fusion positioning module; if the vehicle fusion positioning module is activated, starting the vehicle fusion positioning module, and entering the step two;
secondly, acquiring current vehicle position information as initialization data, establishing a global reference coordinate system according to the initialization data, activating a vehicle positioning software module based on vehicle kinematics and a vehicle positioning software module based on a look-around SLAM, and synchronously downloading original environment information of an offline map in a current closed scene;
thirdly, positioning the obstacle in the 360-degree range of the vehicle through an ultrasonic probe and a panoramic camera on the vehicle, so as to obtain the current environment information of the vehicle;
step four, comparing the acquired current environment information with the original environment information acquired from the off-line map, and judging whether the deviation value between the current environment information and the original environment information is larger than a preset threshold value; if the deviation value is larger than the preset threshold value, entering a fifth step, otherwise entering a sixth step;
step five, starting a safety mode of the vehicle, namely braking and stopping the vehicle and starting a parking and redundancy device;
step six, continuous curve correction is carried out on the current environment information according to the original environment information;
step seven, judging whether the memory parking or the passenger-replacing parking function is finished; if the vehicle fusion positioning module is finished, the vehicle fusion positioning module is closed, otherwise, the step three is carried out.
Further, in the second step, the original environment information needs to be marked with specific directions and coordinate information of each fixed reference obstacle and lane line.
Furthermore, in the third step, twelve ultrasonic probes are provided, wherein four ultrasonic probes are respectively installed at the head and the tail of the vehicle side by side, and two ultrasonic probes are respectively installed at two sides of the vehicle body of the vehicle side by side; the four all-round cameras are arranged, wherein one all-round camera is respectively arranged at the head and the tail of the self vehicle, and the other two all-round cameras are respectively arranged on the two rearview mirrors of the self vehicle.
Further, in the fourth step, the threshold is set as a range value.
The invention has the following beneficial effects:
the invention solves the problem of vehicle gauge-level vehicle positioning in a specific scene by combining a vehicle kinematic positioning module, a look-around-based SLAM and an offline map, realizes a vehicle gauge-level vehicle positioning mode with positioning redundancy without adding a sensor, improves the vehicle positioning safety performance of a low-speed automatic driving system, accelerates the mass production progress of the low-speed automatic driving system, and has higher market application value.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a vehicle positioning method based on a look-around SLAM and vehicle kinematics 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.
Referring to fig. 1, the present invention is a vehicle positioning method based on a look-around SLAM and vehicle kinematics, comprising the following steps:
step one, judging whether a low-speed automatic driving function of memory type parking or passenger-assistant parking in a closed scene is activated or not, and if not, not starting a vehicle fusion positioning module; if the vehicle fusion positioning module is activated, starting the vehicle fusion positioning module, and entering the step two;
secondly, acquiring current vehicle position information as initialization data, establishing a global reference coordinate system according to the initialization data, activating a vehicle positioning software module based on vehicle kinematics and a vehicle positioning software module based on a look-around SLAM, and synchronously downloading original environment information of an offline map in a current closed scene; wherein, the original environment information needs to be marked with the specific position and coordinate information of each fixed reference barrier and lane line;
thirdly, positioning the obstacle in the 360-degree range of the vehicle through an ultrasonic probe and a panoramic camera on the vehicle, so as to obtain the current environment information of the vehicle; the ultrasonic detection system comprises a vehicle body, ultrasonic probes, a power supply and a power supply, wherein the number of the ultrasonic probes is twelve, four ultrasonic probes are respectively installed on the head and the tail of the vehicle side by side, and two ultrasonic probes are respectively installed on two sides of the vehicle body of the vehicle side by side; the number of the all-round looking cameras is four, wherein one all-round looking camera is respectively arranged at the head and the tail of the vehicle, and the other two all-round looking cameras are respectively arranged on the two rearview mirrors of the vehicle;
step four, comparing the acquired current environment information with the original environment information acquired from the off-line map, and judging whether the deviation value between the current environment information and the original environment information is larger than a preset threshold value; if the deviation value is larger than the preset threshold value, entering a fifth step, otherwise entering a sixth step; the threshold is set as a range value, and the threshold can be adaptively changed along with different scenes;
step five, starting a safety mode of the vehicle, namely braking and stopping the vehicle and starting a parking and redundancy device;
step six, continuous curve correction is carried out on the current environment information according to the original environment information;
step seven, judging whether the memory parking or the passenger-replacing parking function is finished; if the vehicle fusion positioning module is finished, the vehicle fusion positioning module is closed, otherwise, the step three is carried out.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. A vehicle positioning method based on a look-around SLAM and vehicle kinematics is characterized by comprising the following steps:
step one, judging whether a low-speed automatic driving function of memory type parking or passenger-assistant parking in a closed scene is activated or not, and if not, not starting a vehicle fusion positioning module; if the vehicle fusion positioning module is activated, starting the vehicle fusion positioning module, and entering the step two;
secondly, acquiring current vehicle position information as initialization data, establishing a global reference coordinate system according to the initialization data, activating a vehicle positioning software module based on vehicle kinematics and a vehicle positioning software module based on a look-around SLAM, and synchronously downloading original environment information of an offline map in a current closed scene;
thirdly, positioning the obstacle in the 360-degree range of the vehicle through an ultrasonic probe and a panoramic camera on the vehicle, so as to obtain the current environment information of the vehicle;
step four, comparing the acquired current environment information with the original environment information acquired from the off-line map, and judging whether the deviation value between the current environment information and the original environment information is larger than a preset threshold value; if the deviation value is larger than the preset threshold value, entering a fifth step, otherwise entering a sixth step;
step five, starting a safety mode of the vehicle, namely braking and stopping the vehicle and starting a parking and redundancy device;
step six, continuous curve correction is carried out on the current environment information according to the original environment information;
step seven, judging whether the memory parking or the passenger-replacing parking function is finished; if the vehicle fusion positioning module is finished, the vehicle fusion positioning module is closed, otherwise, the step three is carried out.
2. The vehicle positioning method based on the look-around SLAM and the vehicle kinematics as claimed in claim 1, wherein in the second step, the specific position and coordinate information of each fixed reference obstacle and lane line needs to be marked in the original environment information.
3. The vehicle positioning method based on the look-around SLAM and the vehicle kinematics as claimed in claim 1, wherein in the third step, there are twelve ultrasonic probes, wherein four ultrasonic probes are respectively installed on the head and the tail of the vehicle side by side, and two ultrasonic probes are respectively installed on two sides of the body of the vehicle side by side; the four all-round cameras are arranged, wherein one all-round camera is respectively arranged at the head and the tail of the self vehicle, and the other two all-round cameras are respectively arranged on the two rearview mirrors of the self vehicle.
4. The method of claim 1, wherein the threshold is a range value in the fourth step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110456206.5A CN113173158A (en) | 2021-04-26 | 2021-04-26 | Vehicle positioning method based on look-around SLAM and vehicle kinematics |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110456206.5A CN113173158A (en) | 2021-04-26 | 2021-04-26 | Vehicle positioning method based on look-around SLAM and vehicle kinematics |
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| CN113173158A true CN113173158A (en) | 2021-07-27 |
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| CN202110456206.5A Withdrawn CN113173158A (en) | 2021-04-26 | 2021-04-26 | Vehicle positioning method based on look-around SLAM and vehicle kinematics |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354656A (en) * | 2014-10-20 | 2015-02-18 | 同济大学 | Obstacle detection and garage position distinguishing method of intelligent parking system and implement system thereof |
| CN106541945A (en) * | 2016-11-15 | 2017-03-29 | 广州大学 | A kind of unmanned vehicle automatic parking method based on ICP algorithm |
| CN107600067A (en) * | 2017-09-08 | 2018-01-19 | 中山大学 | A kind of autonomous parking system and method based on more vision inertial navigation fusions |
| CN109186586A (en) * | 2018-08-23 | 2019-01-11 | 北京理工大学 | One kind towards dynamically park environment while position and mixing map constructing method |
| US20200298836A1 (en) * | 2019-03-19 | 2020-09-24 | Hyundai Mobis Co., Ltd. | Apparatus and method for estimating position in automated valet parking system |
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2021
- 2021-04-26 CN CN202110456206.5A patent/CN113173158A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354656A (en) * | 2014-10-20 | 2015-02-18 | 同济大学 | Obstacle detection and garage position distinguishing method of intelligent parking system and implement system thereof |
| CN106541945A (en) * | 2016-11-15 | 2017-03-29 | 广州大学 | A kind of unmanned vehicle automatic parking method based on ICP algorithm |
| CN107600067A (en) * | 2017-09-08 | 2018-01-19 | 中山大学 | A kind of autonomous parking system and method based on more vision inertial navigation fusions |
| CN109186586A (en) * | 2018-08-23 | 2019-01-11 | 北京理工大学 | One kind towards dynamically park environment while position and mixing map constructing method |
| US20200298836A1 (en) * | 2019-03-19 | 2020-09-24 | Hyundai Mobis Co., Ltd. | Apparatus and method for estimating position in automated valet parking system |
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Application publication date: 20210727 |