CN114323040A - Positioning method of unmanned vehicle - Google Patents
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- CN114323040A CN114323040A CN202111371234.3A CN202111371234A CN114323040A CN 114323040 A CN114323040 A CN 114323040A CN 202111371234 A CN202111371234 A CN 202111371234A CN 114323040 A CN114323040 A CN 114323040A
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Abstract
The application discloses a positioning method of an unmanned vehicle, which comprises the following steps: obtaining basic information of the vehicle, determining a driving lane of the vehicle, collecting position information of the vehicle, transmitting data, constructing a map coordinate and accurately positioning the vehicle. The positioning method of the unmanned vehicle is adopted, the problem of poor positioning accuracy of the unmanned vehicle is solved, when the GPS is adopted for positioning the vehicle, the detection of a lane to which the vehicle belongs can be carried out, the positioning accuracy of the vehicle can be improved, the vehicle can be conveniently controlled remotely, when the vehicle runs, the position of the vehicle can be judged according to the position information of a road sign and the vehicle and the position information between the vehicles, the positioning accuracy of the vehicle is effectively improved, the problem that effective positioning is difficult to realize when the vehicle runs on a road section with poor GPS signals is avoided, the high-precision positioning function of the vehicle can be realized, and the running safety of the unmanned vehicle is ensured.
Description
Technical Field
The application relates to the technical field of unmanned vehicle application, in particular to a positioning method of an unmanned vehicle.
Background
An unmanned vehicle refers to an autonomous vehicle, also known as a robotic vehicle or autonomous vehicle, which is a vehicle that senses its environment and travels with little or no manual input, and incorporates a variety of sensors to sense the surrounding environment, such as radar, lidar, sonar, global positioning systems, odometers and inertial measurement units, advanced control systems to interpret the sensed information to identify appropriate navigation paths, obstacles and related signs, and long haul trucks have adopted and implemented the leading edge of autonomous driving technology.
When the unmanned automobile runs, a satellite positioning system is generally utilized to position the position of the automobile, but the accurate confirmation of the position of the automobile is difficult to realize, the control of the automobile is inconvenient, the manual control of the automobile is needed, and when the unmanned automobile runs in an area with poor signals, the whole-course positioning of the automobile is difficult to realize, and the potential safety hazard of driving is increased. Therefore, a positioning method for an unmanned vehicle is proposed to solve the above problems.
Disclosure of Invention
The embodiment provides a positioning method of an unmanned vehicle, which is used for solving the problem of poor positioning accuracy of the unmanned vehicle in the prior art.
According to an aspect of the present application, there is provided a positioning method of an unmanned vehicle, the positioning method comprising the steps of:
(1) acquiring basic information of a vehicle, and determining the information of the vehicle through a GPS (global positioning system) carried by the unmanned vehicle;
(2) determining a vehicle driving lane, and confirming the vehicle driving lane through a vehicle sensing system;
(3) collecting vehicle position information, detecting the positions of surrounding vehicles through a vehicle radar system, and positioning the positions through the running speed of the vehicles;
(4) data transmission is carried out, and the relative position information and the speed information of the vehicle are transmitted to a map module;
(5) constructing a map coordinate, collecting information in map information, and judging the position of a vehicle according to the position information of the road signs;
(6) and accurately positioning the vehicle according to the GPS positioning system and the relative position information of the vehicle.
Further, the basic information of the position of the unmanned vehicle is determined by a GPS positioning system in the step (1), and the position information is transmitted to a map module.
Further, in the step (2), a vehicle sensing system carried by the unmanned vehicle is used for carrying out lane confirmation, and lane information is transmitted to the map module.
Furthermore, in the step (2), a plurality of vehicle sensing units are arranged to sense the side lines of the lane, and the vehicle deflection direction is sequentially confirmed according to the sequence of the vehicle sensing system sensing the lane.
Further, in the step (2), the lane where the vehicle is located is confirmed according to the road information, and the position of the vehicle is transmitted to the map module.
Further, in the step (3), the vehicle speed is monitored through a vehicle speed detection unit carried by the vehicle, and the position information of the surrounding vehicle is detected through a vehicle radar system, so that the detection of the relative position is realized.
Further, when the vehicle position information is confirmed in the step (3), the speed and the position information between the adjacent vehicles are shared, and the position between the vehicles is confirmed according to the speed and the position information.
Further, in the step (4), the vehicle position information is transmitted, and the vehicle position information is matched and taught with a GPS.
Further, the step (5) displays the position information of each unmanned vehicle in the constructed map information, and detects the position between the position information of each vehicle and the corresponding road sign.
Further, in the step (6), the precise position of the vehicle is displayed on the map information, and the distance generated by the vehicle deflection can be precisely located through the landmark position information and the position of the relative vehicle information.
According to the embodiment of the application, the positioning method of the unmanned vehicle is adopted, the problem of poor positioning precision of the unmanned vehicle is solved, the GPS positioning system is adopted for positioning the vehicle, the detection of the lane to which the vehicle belongs can be carried out, the positioning precision of the vehicle can be improved, the vehicle can be conveniently controlled remotely, the position of the vehicle can be judged according to the position information of the road sign and the vehicle and the position information between the vehicles during the driving of the vehicle, the positioning precision of the vehicle is effectively improved, the problem that effective positioning is difficult to realize during the driving of the road section with poor GPS signals is avoided, the high-precision positioning function of the vehicle can be realized, and the driving safety of the unmanned vehicle is ensured.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a method according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The positioning method in the present embodiment may be applied to various positioning methods, for example, the following unmanned cabin vehicle is provided in the present embodiment, and the positioning method in the present embodiment may be used for the following unmanned cabin vehicle.
Including automobile body, the wheel that supports the automobile body, driving system, the central control system of drive wheel and the indoor on-vehicle laser positioning system based on the reflector panel, the indoor on-vehicle laser positioning system based on the reflector panel includes data acquisition module, data processing module, position acquisition module and coordinate acquisition module: the data acquisition module is used for acquiring laser data of the vehicle-mounted laser device in the driving process of the indoor vehicle, wherein the laser data comprises distance point cloud data from the surface of each object to the surface of the reflector; the data processing module is used for extracting point cloud data according to the reflection intensity of the reflector and filtering the extracted point cloud data to filter out point cloud data with high reflection intensity and low reflection intensity of the reflector; the position acquisition module is used for acquiring the central position of the reflector based on the point cloud with high reflection intensity, and acquiring the position of the reflector and the position of the vehicle-mounted laser device based on the central position of the reflector; and the coordinate acquisition module is used for acquiring the coordinate position of the kinematic center of the indoor vehicle in the vehicle running process based on the position of the reflector and the position of the vehicle-mounted laser device. The invention carries out positioning through the indoor vehicle-mounted laser positioning system based on the reflector, thereby completing positioning without a satellite system, and leading the unmanned driving to be carried out in a shielded indoor space. Preferably, the acquiring of the laser data of the vehicle-mounted laser device during the driving process of the indoor vehicle depends on the acquisition of a reflector system, and specifically includes: the reflector comprises a plurality of cylindrical reflectors with the diameter of 5cm-10cm and a reverse plate with the length of not less than 40cm, and a reflective film is adhered to the outer surface of the cylinder of the reflector; the arrangement of the plurality of reflectors is based on a vehicle running route, so that at least 3 reflectors can be arranged in the range of the vehicle-mounted laser device during the running of the vehicle.
Of course, the present embodiment can be applied to unmanned indoor vehicles of other structures. Here, details are not repeated, and the positioning method according to the embodiment of the present application is described below.
The unmanned cab vehicle is a Chinese invention patent (application number: CN 201910436948.4). The positioning method in the present application can be applied to the unmanned indoor vehicle in the above patent.
Referring to fig. 1, a positioning method of an unmanned vehicle includes the following steps:
(1) acquiring basic information of a vehicle, and determining the information of the vehicle through a GPS (global positioning system) carried by the unmanned vehicle;
(2) determining a vehicle driving lane, and confirming the vehicle driving lane through a vehicle sensing system;
(3) collecting vehicle position information, detecting the positions of surrounding vehicles through a vehicle radar system, and positioning the positions through the running speed of the vehicles;
(4) data transmission is carried out, and the relative position information and the speed information of the vehicle are transmitted to a map module;
(5) constructing a map coordinate, collecting information in map information, and judging the position of a vehicle according to the position information of the road signs;
(6) and accurately positioning the vehicle according to the GPS positioning system and the relative position information of the vehicle.
And (2) determining the basic position information of the unmanned vehicle through a GPS (global positioning system) in the step (1), and transmitting the position information to a map module.
And (3) in the step (2), a vehicle sensing system carried by the unmanned vehicle is used for confirming the lane, and the lane information is transmitted to the map module.
And (3) in the step (2), a plurality of vehicle sensing units are arranged to sense the side line of the lane, and the vehicle deflection direction is confirmed in sequence according to the sequence of the vehicle sensing system sensing the lane.
And (3) in the step (2), the lane where the vehicle is located is confirmed according to the road information, and the position of the vehicle is transmitted to the map module.
And (4) in the step (3), the vehicle speed is monitored through a vehicle speed detection unit carried by the vehicle, and the position information of the surrounding vehicles is detected through a vehicle radar system, so that the detection of the relative position is realized.
And (4) when the vehicle position information is confirmed in the step (3), sharing of speed and position information between adjacent vehicles is realized, and the position between the vehicles is confirmed according to the sharing.
And (4) transmitting the vehicle position information in the step (4), and performing matching and correcting on the vehicle position information with a GPS (global positioning system).
And (5) displaying the position information of each unmanned vehicle in the constructed map information, and detecting the position between the position information of each vehicle and the corresponding road sign.
In the step (6), the accurate position of the vehicle is displayed on the map information, and the distance generated by the vehicle deflection can be accurately positioned through the landmark position information and the position of the relative vehicle information.
The application has the advantages that:
1. the positioning method of the unmanned vehicle is adopted, the problem of poor positioning accuracy of the unmanned vehicle is solved, and the positioning accuracy of the vehicle can be ensured while the vehicle is positioned by adopting a GPS (global positioning system);
2. the method and the device can detect the lane to which the vehicle belongs, improve the positioning accuracy of the vehicle, facilitate the control of the vehicle through remote distance, realize the high-precision positioning function of the vehicle and ensure the driving safety of the unmanned vehicle;
3. the vehicle positioning method and the vehicle positioning device can judge the position of the vehicle according to the relative position information between the road sign and the vehicle and the position information between the vehicles during driving of the vehicle, effectively improve the positioning accuracy of the vehicle, and avoid the problem that effective positioning is difficult to realize during driving of a road section with poor GPS signals.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of locating an unmanned vehicle, comprising: the positioning method comprises the following steps:
(1) acquiring basic information of a vehicle, and determining the information of the vehicle through a GPS (global positioning system) carried by the unmanned vehicle;
(2) determining a vehicle driving lane, and confirming the vehicle driving lane through a vehicle sensing system;
(3) collecting vehicle position information, detecting the positions of surrounding vehicles through a vehicle radar system, and positioning the positions through the running speed of the vehicles;
(4) data transmission is carried out, and the relative position information and the speed information of the vehicle are transmitted to a map module;
(5) constructing a map coordinate, collecting information in map information, and judging the position of a vehicle according to the position information of the road signs;
(6) and accurately positioning the vehicle according to the GPS positioning system and the relative position information of the vehicle.
2. The method of claim 1, wherein the step of: and (2) determining the basic position information of the unmanned vehicle through a GPS (global positioning system) in the step (1), and transmitting the position information to a map module.
3. The method of claim 1, wherein the step of: and (3) in the step (2), a vehicle sensing system carried by the unmanned vehicle is used for confirming the lane, and the lane information is transmitted to the map module.
4. The method of claim 1, wherein the step of: and (3) in the step (2), a plurality of vehicle sensing units are arranged to sense the side line of the lane, and the vehicle deflection direction is confirmed in sequence according to the sequence of the vehicle sensing system sensing the lane.
5. The method of claim 1, wherein the step of: and (3) in the step (2), the lane where the vehicle is located is confirmed according to the road information, and the position of the vehicle is transmitted to the map module.
6. The method of claim 1, wherein the step of: and (4) in the step (3), the vehicle speed is monitored through a vehicle speed detection unit carried by the vehicle, and the position information of the surrounding vehicles is detected through a vehicle radar system, so that the detection of the relative position is realized.
7. The method of claim 1, wherein the step of: and (4) when the vehicle position information is confirmed in the step (3), sharing of speed and position information between adjacent vehicles is realized, and the position between the vehicles is confirmed according to the sharing.
8. The method of claim 1, wherein the step of: and (4) transmitting the vehicle position information in the step (4), and performing matching and correcting on the vehicle position information with a GPS (global positioning system).
9. The method of claim 1, wherein the step of: and (5) displaying the position information of each unmanned vehicle in the constructed map information, and detecting the position between the position information of each vehicle and the corresponding road sign.
10. The method of claim 1, wherein the step of: in the step (6), the accurate position of the vehicle is displayed on the map information, and the distance generated by the vehicle deflection can be accurately positioned through the landmark position information and the position of the relative vehicle information.
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| CN202111371234.3A CN114323040A (en) | 2021-11-18 | 2021-11-18 | Positioning method of unmanned vehicle |
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