CN116381707A - Laser radar-based vehicle end data fusion positioning method - Google Patents

Laser radar-based vehicle end data fusion positioning method Download PDF

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Publication number
CN116381707A
CN116381707A CN202310380222.XA CN202310380222A CN116381707A CN 116381707 A CN116381707 A CN 116381707A CN 202310380222 A CN202310380222 A CN 202310380222A CN 116381707 A CN116381707 A CN 116381707A
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vehicle
steering wheel
under different
laser radar
mapping relation
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覃斌
郑建明
张宇飞
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FAW Group Corp
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FAW Group Corp
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

A fusion positioning method of vehicle end data based on laser radar. Step S1, installing a laser sensor on a vehicle; step S2, the laser sensor measures the vehicle running distance, and after calculating the vehicle running distance, a mapping relation between the measured vehicle running distance and the calculated vehicle running distance is established; step S3, respectively measuring displacement vectors of the X direction and the Y direction under different steering wheel angles, and calculating the displacement vectors of the X direction and the Y direction under different steering wheel angles; step S4, after the mapping relation between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is established, a vehicle detouring track is drawn; step S5, correcting the mapping relation established in the step S4 based on the mapping relation established in the step S2; and S6, superposing the corrected mapping relation in the step S5 to form a running track, and completing positioning fusion of the vehicle detour track drawn in the step S4.

Description

Laser radar-based vehicle end data fusion positioning method
Technical Field
The invention relates to the technical field of automobile testing, in particular to a laser radar-based vehicle end data fusion positioning method.
Background
At present, the unmanned vehicle positioning technology branches a lot, and the main technology is as follows: 1) The satellite positioning technology has high environmental requirements, a target to be positioned is positioned in an open field, positioning signals can be lost indoors, and the satellite positioning technology cannot be applied to an indoor parking field; 2) The satellite fusion inertial navigation system positioning technology is characterized in that the technology fuses the data of the inertial navigation system on the basis of 1), and the unfixed satellite can be corrected through the inertial navigation data within a certain time, but the whole positioning precision can be reduced along with the increase of the positioning time length of the separated satellite, and the application of an indoor parking yard is weaker; 3) The visual recognition positioning technology has the advantages that the requirements on the consistency of environments, particularly illuminance, are higher based on visual recognition comparison, the algorithm is seriously depended on, the positioning accuracy is not high, and the related environments need to be learned in advance to generate a positioning map for reuse; 4) The Ultra Wideband (UWB) positioning technology is characterized in that a UWB receiver, a UWB reference tag and an active UWB tag are erected, and then a central processing unit is used for distance measurement, positioning, calculation and analysis, so that the arrangement is complex and the investment is high.
Therefore, the prior art has the following defects: 1) Cannot be applied to an indoor parking lot; 2) With the increase of the satellite positioning time, the overall positioning accuracy can be reduced; 3) The related environment needs to be learned in advance to generate a positioning map for reuse; 4) The investment is high due to the complex arrangement.
Disclosure of Invention
The invention solves the problems that the prior art cannot be applied to an indoor parking lot, the overall positioning accuracy is reduced along with the increase of the time length of separating from satellite positioning, map acquisition is required in advance, and the investment is high due to complex arrangement.
The invention discloses a laser radar-based vehicle end data fusion positioning method, which comprises the following steps:
step S1, after a laser sensor is installed on a vehicle, placing an obstacle in front of the vehicle;
step S2, driving the vehicle for a certain distance, measuring the driving distance of the vehicle by the laser sensor, and simultaneously, after calculating the driving distance of the vehicle, establishing a mapping relation between the measured driving distance of the vehicle and the calculated driving distance of the vehicle;
step S3, respectively measuring displacement vectors of the X direction and the Y direction under different steering wheel angles in the process of returning the vehicle to the initial position by bypassing, and simultaneously, calculating the displacement vectors of the X direction and the Y direction under different steering wheel angles;
step S4, after the mapping relation between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is established, a vehicle detouring track is drawn;
step S5, correcting the mapping relation established in the step S4 based on the mapping relation established in the step S2;
and S6, establishing a coordinate system by taking the starting position of the vehicle as an origin, superposing the corrected mapping relation of the step S5 to form a running track, and combining a laser radar SLAM technology to finish positioning fusion of the vehicle detour track drawn in the step S4.
Further, in an embodiment of the present invention, in the step S2, the calculation of the vehicle travel distance is performed by means of vehicle speed integration.
Further, in one embodiment of the present invention, in the step S3, the process of returning the vehicle to the starting position during the detour is specifically:
and after the positions of the wheels of the vehicle are marked at the starting position, the vehicle is returned to the starting position by bypassing the 8-shaped vehicle, so that the positions of the wheels of the vehicle are consistent with the marking points, and the steering wheel angles are consistent.
Further, in one embodiment of the present invention, in the step S3, the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles are:
Δx'＝R×sin(Δθ)；
Δy'＝R-R×cos(Δθ)；
where Δx ' is a calculated value, Δy ' is a calculated value, Y ' is a calculated value, R is a turning radius, and Δθ is a turning angle in unit time.
Further, in the step S4, the mapping relationship between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is:
Δx＝f(Δx',Δy')；
Δy＝f(Δx',Δy')；
wherein Δx 'is a calculated value, Δy' is a calculated value, Δx is a laser radar observed value, Δy is a laser radar observed value, and Δy is a Y-direction displacement.
Further, in an embodiment of the present invention, in the step S5, the correcting the mapping relationship established in the step S4 based on the mapping relationship established in the step S2 is:
V Laser ＝V RR +ΔV RR ＝V RL +ΔV RL ；
wherein V is Laser For calculating the value, the laser radar calculates the speed of the vehicle, V RR Is the right rear wheel speed, deltaV RR To calculate the value, right rear wheel speed error, V RL Is the left rear wheel speed, deltaV RL To calculate the value, the left rear wheel speed error.
The invention relates to a laser radar-based vehicle end data fusion positioning system, which comprises the following modules:
a module S1 for placing an obstacle in front of a vehicle after a laser sensor is mounted on the vehicle;
the module S2 is used for driving the vehicle for a certain distance, measuring the driving distance of the vehicle by the laser sensor, and simultaneously, after calculating the driving distance of the vehicle, establishing a mapping relation between the measured driving distance of the vehicle and the calculated driving distance of the vehicle;
the module S3 is used for respectively measuring displacement vectors of the X direction and the Y direction under different steering wheel angles in the process of returning the vehicle to the starting position by bypassing, and simultaneously calculating the displacement vectors of the X direction and the Y direction under different steering wheel angles;
the module S4 is used for drawing a vehicle detouring track after establishing the mapping relation between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles;
the module S5 corrects the mapping relation established by the module S4 based on the mapping relation established by the module S2;
and a module S6, wherein a coordinate system is established by taking the starting position of the vehicle as an origin, the corrected mapping relation of the module S5 is overlapped to form a running track, and meanwhile, the laser radar SLAM technology is combined, so that the positioning fusion of the vehicle detour track drawn by the module S4 is completed.
The invention relates to an electronic device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing any one of the method steps when executing the program stored in the memory.
A computer-readable storage medium according to the present invention stores a computer program which, when executed by a processor, implements the method steps of any of the methods described above.
The invention solves the problems that the prior art cannot be applied to an indoor parking lot, the overall positioning accuracy is reduced along with the increase of the time length of separating from satellite positioning, map acquisition is required in advance, and the investment is high due to complex arrangement. The method has the specific beneficial effects that:
1. according to the laser radar-based vehicle end data fusion positioning method, a satellite positioning technology is adopted in the prior art, the technology has high requirements on environment, a target to be positioned is positioned in an open field, positioning signals can be lost indoors, the positioning signals cannot be applied to an indoor parking field, accurate positioning indoors is achieved through fusion of data measured by a laser sensor and data calculated by a vehicle end, and the positioning accuracy cannot drift due to time;
2. according to the laser radar-based vehicle-end data fusion positioning method, map acquisition is needed in advance in the prior art, or the arrangement is complex, the map acquisition is not needed in advance, and road side equipment is not needed to be arranged for assisting in positioning, so that equipment fund investment is reduced;
the laser radar-based vehicle-end data fusion positioning method can also be applied to the technical field of vehicle-end data.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a travel track diagram according to an embodiment;
fig. 2 is a travel locus diagram corresponding to Δt according to the first embodiment;
FIG. 3 is an Ackerman steering geometry model diagram according to embodiment two;
FIG. 4 is a graph showing the relationship between the lateral and longitudinal displacements Δt according to the second embodiment;
fig. 5 is a wheel turning angle diagram according to the second embodiment.
Detailed Description
Various embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An embodiment one, a method for fusion positioning of vehicle end data based on a laser radar according to the embodiment is characterized by comprising the following steps:
step S1, after a laser sensor is installed on a vehicle, placing an obstacle in front of the vehicle;
step S2, driving the vehicle for a certain distance, measuring the driving distance of the vehicle by the laser sensor, and simultaneously, after calculating the driving distance of the vehicle, establishing a mapping relation between the measured driving distance of the vehicle and the calculated driving distance of the vehicle;
step S3, respectively measuring displacement vectors of the X direction and the Y direction under different steering wheel angles in the process of returning the vehicle to the initial position by bypassing, and simultaneously, calculating the displacement vectors of the X direction and the Y direction under different steering wheel angles;
step S4, after the mapping relation between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is established, a vehicle detouring track is drawn;
step S5, correcting the mapping relation established in the step S4 based on the mapping relation established in the step S2;
and S6, establishing a coordinate system by taking the starting position of the vehicle as an origin, superposing the corrected mapping relation of the step S5 to form a running track, and combining a laser radar SLAM technology to finish positioning fusion of the vehicle detour track drawn in the step S4.
In the present embodiment, in the step S2, the calculation of the vehicle travel distance is performed by integrating the vehicle speed.
In this embodiment, in the step S3, the process of returning the vehicle to the starting position during the detour is specifically:
and after the positions of the wheels of the vehicle are marked at the starting position, the vehicle is returned to the starting position by bypassing the 8-shaped vehicle, so that the positions of the wheels of the vehicle are consistent with the marking points, and the steering wheel angles are consistent.
In the present embodiment, the vehicle-end data includes wheel speed data, satellite positioning data, and steering wheel angle data, and if the vehicle does not have the data, the data can be acquired by externally connecting a sensor, and in general, the signals are necessary for the vehicle as an intelligent driving function.
The method comprises the following steps:
1) Installing a laser sensor on a vehicle, and taking the center of a rear axle as a coordinate origin;
2) Mileage calibration, namely obtaining a component relation in the X direction; a fixed obstacle is placed in front of the vehicle, the steering wheel is kept to be centered in angle, the vehicle slowly moves forwards for a certain distance, the vehicle speed is recorded in the driving process, and the driving distance l is measured by a laser range finder 0 The driving distance l is calculated by means of vehicle speed integration 1 Build l 0 And/l 1 Mapping relationships betweenTying;
3) Calibrating the deflection angle of the steering wheel to obtain a component relation in the Y direction; marking the positions of four wheels at the starting point, returning to the starting point after the driving vehicle bypasses the 8-shaped wheels as shown in fig. 1, ensuring that the parking positions of four parking spaces are consistent with the marking points and the steering wheel angles are consistent, recording steering wheel angle data theta during driving, and establishing displacement vectors under different steering wheel angles of different vehicle speeds as shown in fig. 2
Figure BDA0004171884850000071
In the process, the vector sum in the X direction and the Y direction is 0;
4) Displacement vector by calibration
Figure BDA0004171884850000072
And (3) drawing the driving track, wherein the final coordinate points are coincident or within the allowable deviation range.
In the second embodiment, the present embodiment is further limited to the method for fusion positioning of vehicle end data based on a lidar in the first embodiment, in the step S3, the displacement vectors in the X direction and the Y direction under different steering wheel angles are calculated as follows:
Δx'＝R×sin(Δθ)；
Δy'＝R-R×cos(Δθ)；
where Δx ' is a calculated value, Δy ' is a calculated value, Y ' is a calculated value, R is a turning radius, and Δθ is a turning angle in unit time.
In this embodiment, in the step S4, the mapping relationship between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is:
Δx＝f(Δx',Δy')；
Δy＝f(Δx',Δy')；
wherein Δx 'is a calculated value, Δy' is a calculated value, Δx is a laser radar observed value, Δy is a laser radar observed value, and Δy is a Y-direction displacement.
In this embodiment, in the step S5, the correction of the mapping relationship established in the step S4 based on the mapping relationship established in the step S2 is as follows:
V Laser ＝V RR +ΔV RR ＝V RL +ΔV RL ；
wherein V is Laser For calculating the value, the laser radar calculates the speed of the vehicle, V RR Is the right rear wheel speed, deltaV RR To calculate the value, right rear wheel speed error, V RL Is the left rear wheel speed, deltaV RL To calculate the value, the left rear wheel speed error.
In the present embodiment, the steering wheel angle and the wheel rotation angle relationship:
δ FL ＝f(δ s ，l w )；
δ FR ＝f(δ S ，l W )；
the following relationship exists for the rear axle center speed as the vehicle speed V, where V RR ，v RL The right rear wheel speed and the left rear wheel speed are respectively:
V＝(v RR +v RL )/2；
in the time range of Δt, the displacement occurring with the rear wheel center as the particle is Δs, the following relationship exists:
Δs＝V×Δt；
with the vehicle coordinate at the starting time, the forward direction is X positive, the left side is Y positive, coordinate axes are established, and deltas can be decomposed into deltax, and the deltay relationship is as follows:
Figure BDA0004171884850000091
as shown in fig. 3, according to the ackerman corner model, there is the following relation, the turning radius R, and the angular velocity W can be solved:
R RR ＝R-l W /2；
R RL ＝R+l w /2；
Figure BDA0004171884850000092
Figure BDA0004171884850000093
v RR ＝R RR ×w；
v RL ＝R RL ×w；
v PL ＝R FL ×w；
v PR ＝p FR ×w；
R＝l W ×(v RR +v RL )/2/(v RL -v RR )；
δ FR ＝ctan(L/R RR )；
δ FL ＝ctan(L/R RL )；
from the vehicle end data, as shown in fig. 4, the lateral and longitudinal displacements can be calculated:
Δθ＝w×Δt；
Δx′＝R×sin(Δθ)；
Δy′＝R-R×cos(Δθ)；
the following relationship can be established by taking laser radar measurement data as a true value and taking a vehicle end data calculation result as a calculation value:
Δx＝f(Δx′，Δy)；
Δy＝f(Δx′，Δy′)；
in order to further improve the accuracy of the data model, the actual vehicle speed is calculated by using the straight running working condition through laser radar measurement, and then is compared with the wheel rim vehicle speed, as shown in fig. 5, the error of the wheel rim vehicle speed is obtained, and the alignment is corrected in the calculation process, wherein the relation is as follows;
VLaser＝vRR+ΔvRR＝vRL+ΔvRL；
wherein δs is the steering wheel angle, the vehicle end observation value, L is the wheelbase, the vehicle end observation value, lw is the wheel base, the vehicle end observation value, V RR The wheel speed, subscript is the tire position, and there are FR\FL\RR\RL, respectivelyFront right/front left/rear right/rear left, vehicle end observation value, deltaV RR The wheel speed error is obtained by calculating a value with a subscript of the tire position, wherein Deltax is X-direction displacement in unit time, the laser radar observation value with Deltay is Y-direction displacement in unit time, the laser radar observation value with Deltat is unit time, the observation value with Deltax 'is X-direction displacement in unit time, the calculated value with Deltay' is X-direction displacement in unit time, the calculated value with V being the rear axle center vehicle speed, the calculated value with V Laser Calculating a vehicle speed for the light radar, wherein δFL is a left front wheel rotation angle, δFR is a right front wheel rotation angle, Δs is a displacement in unit time, Δθ is a rotation angle in unit time, R is a turning radius, and w is a turning angular speed;
the initial position of departure is the origin, the forward direction is X positive, the left side is Y positive, a coordinate system is established, and a running track can be formed by superposition of Deltax and Deltay, so that the positioning of the vehicle can be completed based on the track, and meanwhile, the positioning correction and fusion are completed through a laser radar SLAM technology.
In summary, the laser radar and the vehicle end data are fused to perform accurate positioning indoors.
The above describes in detail a vehicle-end data fusion positioning method based on a laser radar, and specific examples are applied to illustrate the principle and implementation of the present invention, and the above description of the examples is only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (9)

1. The fusion positioning method of the vehicle end data based on the laser radar is characterized by comprising the following steps of:
step S1, after a laser sensor is installed on a vehicle, placing an obstacle in front of the vehicle;
step S2, driving the vehicle for a certain distance, measuring the driving distance of the vehicle by the laser sensor, and simultaneously, after calculating the driving distance of the vehicle, establishing a mapping relation between the measured driving distance of the vehicle and the calculated driving distance of the vehicle;
step S3, respectively measuring displacement vectors of the X direction and the Y direction under different steering wheel angles in the process of returning the vehicle to the initial position by bypassing, and simultaneously, calculating the displacement vectors of the X direction and the Y direction under different steering wheel angles;
step S4, after the mapping relation between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is established, a vehicle detouring track is drawn;
step S5, correcting the mapping relation established in the step S4 based on the mapping relation established in the step S2;
and S6, establishing a coordinate system by taking the starting position of the vehicle as an origin, superposing the corrected mapping relation of the step S5 to form a running track, and combining a laser radar SLAM technology to finish positioning fusion of the vehicle detour track drawn in the step S4.
2. The method for fusion positioning of vehicle end data based on laser radar according to claim 1, wherein in the step S2, the calculated vehicle travel distance is obtained by means of vehicle speed integration.
3. The method for fusion positioning of vehicle-end data based on laser radar according to claim 1, wherein in the step S3, the following steps are specifically performed during the process of returning the vehicle to the starting position by bypassing:
and after the positions of the wheels of the vehicle are marked at the starting position, the vehicle is returned to the starting position by bypassing the 8-shaped vehicle, so that the positions of the wheels of the vehicle are consistent with the marking points, and the steering wheel angles are consistent.
4. The method for fusion positioning of vehicle end data based on laser radar according to claim 1, wherein in the step S3, the displacement vectors of the X direction and the Y direction under different steering wheel angles are calculated as follows:
Δx'＝R×sin(Δθ)；
Δy'＝R-R×cos(Δθ)；
where Δx ' is a calculated value, Δy ' is a calculated value, Y ' is a calculated value, R is a turning radius, and Δθ is a turning angle in unit time.
5. The method for fusion positioning of vehicle end data based on laser radar according to claim 1, wherein in the step S4, the mapping relationship between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles is:
Δx＝f(Δx',Δy')；
Δy＝f(Δx',Δy')；
wherein Δx 'is a calculated value, Δy' is a calculated value, Δx is a laser radar observed value, Δy is a laser radar observed value, and Δy is a Y-direction displacement.
6. The method for locating the fusion of vehicle-end data based on the laser radar according to claim 1, wherein in the step S5, the mapping relationship established in the step S4 is modified based on the mapping relationship established in the step S2 as follows:
V Laser ＝V RR +ΔV RR ＝V RL +ΔV RL ；
wherein V is Laser For calculating the value, the laser radar calculates the speed of the vehicle, V RR Is the right rear wheel speed, deltaV RR To calculate the value, right rear wheel speed error, V RL Is the left rear wheel speed, deltaV RL To calculate the value, the left rear wheel speed error.
7. The laser radar-based vehicle-end data fusion positioning system is characterized by comprising the following modules:
a module S1 for placing an obstacle in front of a vehicle after a laser sensor is mounted on the vehicle;
the module S2 is used for driving the vehicle for a certain distance, measuring the driving distance of the vehicle by the laser sensor, and simultaneously, after calculating the driving distance of the vehicle, establishing a mapping relation between the measured driving distance of the vehicle and the calculated driving distance of the vehicle;
the module S3 is used for respectively measuring displacement vectors of the X direction and the Y direction under different steering wheel angles in the process of returning the vehicle to the starting position by bypassing, and simultaneously calculating the displacement vectors of the X direction and the Y direction under different steering wheel angles;
the module S4 is used for drawing a vehicle detouring track after establishing the mapping relation between the measured displacement vectors in the X direction and the Y direction under different steering wheel angles and the calculated displacement vectors in the X direction and the Y direction under different steering wheel angles;
the module S5 corrects the mapping relation established by the module S4 based on the mapping relation established by the module S2;
and a module S6, wherein a coordinate system is established by taking the starting position of the vehicle as an origin, the corrected mapping relation of the module S5 is overlapped to form a running track, and meanwhile, the laser radar SLAM technology is combined, so that the positioning fusion of the vehicle detour track drawn by the module S4 is completed.
8. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for carrying out the method steps of any one of claims 1-6 when executing a program stored on a memory.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-6.
CN202310380222.XA 2023-04-11 2023-04-11 Laser radar-based vehicle end data fusion positioning method Pending CN116381707A (en)

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