CN107063256A - Vehicle synchronous builds figure and localization method - Google Patents
Vehicle synchronous builds figure and localization method Download PDFInfo
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- CN107063256A CN107063256A CN201710050566.9A CN201710050566A CN107063256A CN 107063256 A CN107063256 A CN 107063256A CN 201710050566 A CN201710050566 A CN 201710050566A CN 107063256 A CN107063256 A CN 107063256A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 64
- 230000004807 localization Effects 0.000 title claims abstract description 61
- 238000007405 data analysis Methods 0.000 claims abstract description 6
- 238000004458 analytical method Methods 0.000 claims description 18
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Automation & Control Theory (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
One vehicle synchronous builds figure and localization method, including：A satellite map is obtained, wherein the satellite map includes a satellite fix, all maps of a car are built, wherein all maps of the car that build further comprise：Obtain a sensing data, analyze the sensing data, to obtain the range data of motor vehicle environment, utilize the sensing data, and all maps of the car are built using SLAM, the wherein described all maps of car further comprise a self-position and at least an obstacle, wherein described obstacle does not have the object of infinity to obtain distance after the sensor data analysis, wherein described self-position is the position of the automobile in all maps of the car, and the self-position and the satellite fix of the satellite map with reference to all maps of the car examine the physical location of automobile.
Description
Technical field
Figure and localization method are built the present invention relates to a kind of vehicle synchronous, particularly a kind of automobile enters by perceiving peripheral information
The method of map structuring and self poisoning around row.
Background technology
The navigation of automobile and positioning are that automobile realizes intelligentized necessary functions.In pathfinding and addressing, the navigation of automobile
Function is the most frequently used, is also the instrument of most convenient for driver.Current navigation system is typically satellite navigation system
System, and the current accuracy of the technology of satellite navigation is also not reaching to and is accurately positioned vehicle body.That is, automobile leading at present
Boat and positioning are accurate not enough, it is easy to mistake and broken string situation occur.
In addition, because traditional navigation system also needs the data transfer and data that rely on internet to update, then for net
The not smooth area of network or the vehicle of Network adaptation difference, what navigation system can accomplish positions or limited.Intricately
Shape and remote districts, still will be travelled by the experience and technology of driver.Certainly, this is not to most applicable cases
Matching.Accurate navigation system is needed for provide specific information to driver in increasing scene.But, pass
The navigation map of system needs for what service provider was updated to map datum, then new data or the data often changed
Need manual maintenance.
In face of actual landform and driving real-time condition, the effect of navigation map is also only limitted to remind the traffic of target direction
Situation.Data in real-time traffic conditions also lack very much.Especially for the undetectable obstacle of satellite navigation, for example, go
People, animal, article, the ground caved in and it is raised, also have front automobile, all have no idea to perceive.These obstacles are for driving
Peace is all with certain risk.
Traditional navigation map is that the positioning of automobile itself is adapted into satellite map.That is, traditional positioning
The a certain position that method can only roughly navigate to automobile in map.Want accurately by bus location, it is necessary to using more smart
True data, then be accomplished by obtaining more accurate data, the requirement for service provider is just very high.
And the real-time of traditional navigation map is not high, substantially congestion road conditions are updated by local broadcast.But
The situation for being traveling is real-time update, for each automobile, and situation may be different.More, also row humans and animals
Appearance, can not all be differentiated.Particularly for obstacle nearby, substantially to rely on the judgement of driver
's.
The situation also moved backward, radar obstacle traditional at present judges to be only limitted to the use in reversing.And radar
Speed is relatively low compared to speed for laser, using being only limitted to the scene that low speed is parked.In addition, also backup camera is also used for
Disturbance in judgement thing, in the judgement of reverse image, the image procossing of camera is relatively immature.Mainly cost is of a relatively high,
And accuracy is not high.For miniature barrier, the accuracy rate of orthodox car radar and camera is not high, and identification gets up to have very big
Difficulty.High-end algorithm and image recognition technology are fixed against at present, and these are for the popularization in market or inappropriate.
The content of the invention
Figure and localization method are built it is an object of the present invention to provide a vehicle synchronous, passes through an at least sensing unit pair
Environment surrounding automobile is detected, autonomous to build all maps of a car, and to the self-position in all maps of the car and obstacle position
Put and be identified.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, with obtaining a satellite
Figure, is checked and is supplemented to the satellite fix in the satellite map, is examined with reference to all maps of the car.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, according in real time
The all maps of car and the satellite map, analyze type and the position of an obstacle, judge influence of the obstacle to driving safety.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, according to the sensor
An obtained sensing data, analysis environments situation builds all maps of the car, and position itself position according to landform in real time
Put.
Figure and localization method, the sensing data are built it is another object of the present invention to provide an a kind of vehicle synchronous
By preliminary filtering and analysis, analyzed by SLAM, structure obtains all maps of the car.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, is had using SLAM algorithms
Effect ground helps automobile to realize autonomous positioning and synchronously builds figure, to lift the security of running car.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, when automobile is in unknown ring
Since after movement a unknown position in border, self poisoning is carried out according to location estimation and map in moving process, simultaneously
Increment type map is built on the basis of self poisoning, autonomous positioning and the navigation of automobile is realized, makes up conventional navigation systems
It is not enough.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, according to the sensor
The all maps of the car that data are built are two-dimentional or three-dimensional, the real-time condition of all environment of comprehensive reacting vehicle.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, to all maps of the car
In the self-position and the obstacle positioned and recognized, the obstacle is judged.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, according to the obstacle
Position and type, initiate obstacle and remind, triggering prompting is carried out to relevant automotive system device.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, according in real time
The change of the obstacle of all maps of car, recognizes the type of the obstacle, is ready for dynamic response.
Figure and localization method are built it is another object of the present invention to provide an a kind of vehicle synchronous, with reference to the satellite
The self-position of the satellite fix of figure and all maps of the car, examines the physical location of automobile, updates location information
And there is provided accurate real time information for issue.
One side under this invention, figure and localization method are built the present invention further provides a vehicle synchronous, including：
Obtain a sensing data；
The sensing data is analyzed, to obtain the range data of motor vehicle environment；
The all maps of a car are built using the sensing data, wherein car week map is the topographic map of motor vehicle environment,
The wherein all maps of the car further comprise an at least obstacle, wherein the obstacle is to obtain phase after the sensor data analysis
Away from object of the distance without infinity；And
A self-position is positioned, wherein the self-position is the position of the automobile in all maps of the car, wherein right
Being configured to for all maps of the car is real-time, and the self-position and the Barrier synchronization are determined with obtaining the car all maps
Position and renewal.
Preferably, in the analysis sensing data, further comprise, preliminary place is done to the sensing data
Reason, finds out the data for building all maps of the car.
Preferably, all maps of the car that build use SLAM algorithms.
Preferably, the positioning self-position uses reckoning positioning of the sensing data to sensing station.
Preferably, the self-position is set when the positioning self-position uses initialization to build the car week
The center of map.
Preferably, the vehicle synchronous is built figure and further comprised with localization method after the self-position is positioned, root
According to all maps of the car, the identification and judgement of the obstacle are carried out.
It is noted that the vehicle synchronous builds figure and localization method, after the self-position is positioned further
Including according to the information and property of the obtained obstacle, making and correspondingly reminding and prepare.
It is noted that described make correspondingly reminds and is prepared as to make automotive control system prepare accordingly to answer jerking movement
Make.
It is noted that described make correspondingly reminds and is prepared as to broadcast the information of the obstacle in full car.
It is noted that all maps of the car are 2D forms.
It is noted that all maps of the car are 3D forms.
Other side under this invention, figure and localization method are built the present invention further provides a vehicle synchronous, including：
A satellite map is obtained, wherein the satellite map includes a satellite fix, wherein the satellite fix is to vapour
The positioning of car；
Obtain a sensing data；
The sensing data is analyzed, to obtain the range data of motor vehicle environment；
The all maps of a car are built using the sensing data, wherein car week map is the topographic map of motor vehicle environment,
The wherein described all maps of car further comprise a self-position and at least an obstacle, wherein the obstacle is the sensing data
Distance is obtained after analysis does not have the object of infinity, wherein the self-position is the automobile in all maps of the car
Position；And
Automobile is examined with reference to the self-position of all maps of the car and the satellite fix of the satellite map
Physical location, wherein to all maps of the car be configured in real time, with obtain all maps of the car to the self-position and
The positioning and renewal of the Barrier synchronization.
Preferably, all maps of the car that build use SLAM algorithms.
Preferably, the positioning self-position uses reckoning positioning of the sensing data to sensing station.
Preferably, the self-position is set when the positioning self-position uses initialization to build the car week
The center of map.
Preferably, the vehicle synchronous is built figure and further comprised with localization method after the self-position is positioned, root
According to all maps of the car, the identification and judgement of the obstacle are carried out.
Further wrapped after the self-position is positioned with localization method it is noted that the vehicle synchronous builds figure
Include, according to the information and property of the obtained obstacle, make and correspondingly remind and prepare.
Preferably, in the physical location for examining automobile, the self-position and the satellite of all maps of the car
The satellite fix of map is mutually examined.
It is noted that the physical location for examining automobile is that the satellite map is entered using the self-position
Row supplement.
It is noted that the physical location for examining automobile is that all maps of the car are entered using the satellite fix
Row supplement, so that effectively the obstacle to be identified.
Other side under this invention, the present invention provides a vehicle synchronous and builds figure and localization method, including：
A satellite map is obtained, wherein the satellite map includes a satellite fix, wherein the satellite fix is to vapour
The positioning of car；
The all maps of a car are built, wherein all maps of the car that build further comprise：Obtain a sensing data；Point
The sensing data is analysed, to obtain the range data of motor vehicle environment；And the sensing data is utilized, built using SLAM
The all maps of the car, wherein car week map is the topographic map of motor vehicle environment, wherein car week map further comprises one
Self-position and at least an obstacle, wherein the obstacle is not unlimited to obtain distance after the sensor data analysis
Remote object, wherein the self-position is the position of the automobile in all maps of the car；And
Automobile is examined with reference to the self-position of all maps of the car and the satellite fix of the satellite map
Physical location, wherein to all maps of the car be configured in real time, with obtain all maps of the car to the self-position and
The positioning and renewal of the Barrier synchronization.
Preferably, described to obtain the satellite map and all maps of the structure car, two steps are parallel.
Brief description of the drawings
Fig. 1 is the overall signal that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and localization method
Figure.
Fig. 2 is that the vehicle synchronous according to a preferred embodiment of the present invention is built described in the acquisition of figure and localization method
The schematic diagram of sensing data.
Fig. 3 is the real-time positioning that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and localization method
The schematic diagram positioned with obstacle.
Fig. 4 is that the vehicle synchronous according to a preferred embodiment of the present invention is built described in the structure of figure and localization method
The schematic diagram of all maps of car.
Fig. 5 is that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and the verification of localization method is positioned
Schematic diagram.
Fig. 6 is that the vehicle synchronous according to a preferred embodiment of the present invention builds a kind of feasible of figure and localization method
The schematic diagram of scene.
Fig. 7 is that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and the another of localization method can
The schematic diagram of row scene.
Fig. 8 is that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and the another of localization method can
The schematic diagram of row scene.
Fig. 9 is that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and the another of localization method can
The schematic diagram of row scene.
Figure 10 is that the vehicle synchronous according to a preferred embodiment of the present invention builds the another of figure and localization method
The schematic diagram of feasible scene.
Figure 11 is that the vehicle synchronous according to a preferred embodiment of the present invention builds figure and the above-mentioned of localization method can
The schematic elevation view of row scene.
Embodiment
Describe to be used to disclose the present invention below so that those skilled in the art can realize the present invention.It is excellent in describing below
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and do not carry on the back
From the other technologies scheme of the spirit and scope of the present invention.
It will be understood by those skilled in the art that the present invention exposure in, term " longitudinal direction ", " transverse direction ", " on ",
" under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", the orientation or position of the instruction such as " outer "
Relation is to be based on orientation shown in the drawings or position relationship, and it is for only for ease of the description present invention and simplifies description, rather than
Indicate or imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, thus it is above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " be interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
As shown in drawings, this preferred embodiment provides a vehicle synchronous to the Feasible Mode of a preferred embodiment of the present invention
Build figure and localization method.A sensing data 10 is obtained first, and preliminary treatment is done to the sensing data 10.Then to described
Sensing data 10 is analyzed, and finds out the data for building figure.Car week ground Figure 20 is built using the sensing data 10, wherein
The car week, ground Figure 20 was the topographic map of motor vehicle environment, and the sensing data 10 obtains different distance numbers after analyzing
According to, therefore obtain the topographic features of motor vehicle environment.The car week, ground Figure 20 further comprised a self-position 21, itself position
It is the position that the source position of sensing data 10, that is, automobile are oriented in car week ground Figure 20 to put 21.It is described
Car week, ground Figure 20 further comprised an at least obstacle 22, the obstacle 22 be obtain after the sensing data 10 analysis at a distance of away from
From the object without infinity.That is, after being analyzed in car week ground Figure 20 according to the sensing data 10, apart from institute
The object that stating self-position 21 has certain distance is detected out and showed in car week ground Figure 20 as the obstacle 22.It
Afterwards, according to car week ground Figure 20, the identification and judgement of the obstacle 22 is carried out, the information and property of the obstacle 22 is obtained.
According to the information and property of obstacle 22, automobile is correspondingly made prompting and prepared.
According to the sensing data 10, after the self-position 21 is marked and positioned by car week ground Figure 20, to institute
The obstacle 22 stated around self-position 21 is judged.It is noted that described in the preferred embodiments of the present invention
Obstacle 22 has the object of threat not only for vehicle safety travel, includes the shape and the object on road periphery of landform.Example
Such as, in motor vehicle environment pedestrian, animal, the curb in road roadside, in the road between collapsed position etc..That is, institute
State the landform and current intelligence in car week ground Figure 20 with motor vehicle environment.The property of so described obstacle 22 is analyzed to be obtained, with
Just influence degree of the meeting of obstacle 22 to driving safety is judged.Preferably, car week ground Figure 20 can be 2D form,
It can be 3D form.Car week ground Figure 20 is analyzed and built according to the feature of the sensing data 10.If described pass
There is the directionality above and below relative ground, then the car week, ground Figure 20 can be built as 3D shape in the content of sensor data 10
Formula.If the sensing data 10 has the features of the 2-D data in a certain height, then car week ground Figure 20 can be with
It is built as 2D form.
The sensing data 10 in this preferred embodiment derives from the data that automobile sensor is detected, particularly vapour
The radar sensor of car, camera data etc., certainly according to the requirement of precision and car week ground Figure 20 forms, can also come
Come from laser radar sensor, acoustic detector, range sensor etc..The sensing data 10 can be at least obtained two
Tie up direction range data, that is to say, that the preferred embodiments of the present invention can according to the feature of the sensing data 10 come
Build corresponding car week ground Figure 20.For the sensing data 10 acquisition mode the preferred embodiments of the present invention not
It is limited, the present invention mainly obtains the different objects of motor vehicle environment using the sensing data 10 and automobile distance is believed
Breath, also same object are different external with automobile distance, and the multidate information of change range information change over time.
It is noted that the distance in the present invention is described in the automobile and motor vehicle environment obtained according to the sensing data 10
The distance between obstacle 22, that is to say, that by automobile in itself centered on, it is all obtained from the detection being extended to other directions
The range data in collarette border.And the self-position 21 can be obtained by the sensing data 10 to automobile positioning in itself
Arrive, that is, reckoning positioning of the sensing data 10 to sensing station, setting when can also be by initializing, visiting
The self-position 21 is set before survey to detect and build the center of map.It should be noted that car week ground Figure 20
To be real-time, because the object of automobile and motor vehicle environment is in real-time change, car week ground Figure 20 is needed to be updated, with
So that the self-position 21 and the obstacle 22 are synchronously positioned in car week ground Figure 20.Therefore, in this preferred embodiment
The positioning to the self-position 21 and the obstacle 22 be synchronous, drastically increase the accuracy of bus location, and
And also greatly reduce difficulty for the identification and judgement of the obstacle 22.
The overall schematic of this preferred embodiment by obtaining the sensing data 10, and to described as shown in figure 1, pass
Sensor data 10 are analyzed, and are built car week ground Figure 20, are recognized the obstacle 22 in car week ground Figure 20, positioning
The self-position 21 in car week ground Figure 20, according to the self-position 21 and the obstacle 22, and the obstacle
22 property, judges whether to perform or prepares corresponding action.As shown in figure 1, automobile is under steam, by obtaining the biography
Sensor data 10, build car week ground Figure 20, and position the self-position 21 synchronously, in real time.This preferred embodiment
In, automobile under steam, using this preferred embodiment, car week ground Figure 20 in front of the form of structure.For convenience of explaining, originally
Car week ground Figure 20 in preferred embodiment is 2D, more specifically, being the progress landform at the height apart from ground 8.5cm
Identification.So, car week ground Figure 20 can distinguish the crossing of road, the curb of road, driving pedestrian, obstacle etc.
The obstacle 22.In this preferred embodiment, the sensing data 10 is preferably by four groups of laser radar sensor to certain
In the range of the obstacle 22 distance data.The obstacle 22 is recognized according to the feature of the sensing data 10
Property.For example, the sensing data 10 is the wheel row thing reflection radar number that four 45 ° of left fronts of traveling are parallel to each other
According to, then when building car week ground Figure 20, the sensing data 10, which analyzed as being left front, another vapour travelled
Car, car week ground Figure 20 marks another automobile for 45 ° as the obstacle 22 in the left front of the self-position 21.When
So, as 2D car week ground Figure 20, the ground level of the sensing data 10 can be conditioned, the car relatively low to chassis
Type, the sensing data 10 is using highly lower data, and for the vehicle of cross-country type, the sensing data 10 is used
High-end higher data.Therefore, car week ground Figure 20 does not enter more accurately to position the self-position 21, the barrier
Hinder 22, can be more adjusted showing car week ground Figure 20 of suitable automobile according to the difference of vehicle and environment.It is worth one
It is mentioned that, car week as shown in Figure 1, ground Figure 20 was the forward portion map of vehicle traveling direction, in the another of this preferred embodiment
Car week ground Figure 20 described in a little feasible patterns is the whole map of motor vehicle environment, and another in this preferred embodiment is feasible
The week of car described in pattern ground Figure 20 is the map at automobile rear, the car described in another feasible pattern of this preferred embodiment
All ground Figure 20 is the map of automobile side or both sides.In different application occasion, the form and type in car week ground Figure 20
Be set and adjust, these setting and adjustment include two-dimensional map, three-dimensional map, move backward map, side map, panoramic map,
The form also needed in other certain applications.
It is as shown in Figure 2 that this preferred embodiment provides a kind of feasible pattern for obtaining the sensing data 10.Before automobile
Four laser radar sensors are respectively added afterwards as the source of the sensing data 10.Realize relative to sound radar faster
Landform around ground probe vehicle, so as to the structure of express delivery car week ground Figure 20.Example in such as Fig. 2 this preferred embodiment
Son, four laser radar sensors are responsible for the sensing data 10 of collection front fan-shaped range, and then obtain the obstacle
22 distance.It is noted that the range data of infinity is without the obstacle in the sensing data 10
22.Obtain after the sensing data 10, car week ground Figure 20 is built by corresponding algorithm.It is excellent in this preferred embodiment
Choosing uses SLAM algorithms.Specifically, for the 2D sensing data 10, car week ground Figure 20 of structure is 2D shapes
Formula.For the 2D sensing data 10, car week ground Figure 20 of structure is 3D, if 3D SLAM meter certainly
Calculation amount is much, can also select to build car week ground Figure 20 described in the 2D SLAM in a certain height.
In addition, the vehicle synchronous of the present invention is built in figure and localization method, the institute in car week ground Figure 20 is recognized
State after self-position 21 and the obstacle 22, further comprise obtaining a satellite map 30, wherein the satellite map 30 is net
Network or local acquisition, wherein the satellite map 30 further comprises a satellite fix 31, wherein the satellite fix 31 is
To the location information of automobile in the satellite map 30.The vehicle synchronous is built figure and further comprised with localization method with reference to described
The self-position 21 in car week ground Figure 20 and the satellite fix 31 of satellite map 30 examine the physical location of automobile, to institute
The satellite fix 31 for stating satellite map 30 is updated so that the accuracy of the satellite fix 31 is higher.Also, with reference to
After the satellite map 30, the identification of the obstacle 22 in car week ground Figure 20 is also further examined so that described
The identification and judgement of obstacle 22 are more accurate.As shown in Fig. 2 in the preferred embodiment, when the sensing data 10 is obtained
After taking, car week ground Figure 20 is built using SLAM algorithms, and synchronously position the self-position 21.The satellite map 30
The satellite fix 31 is also acquired.The self-position 21 and the institute of the satellite map 30 by car week ground Figure 20
State the position of the cooperation of both satellite fixes 31, the actual positioning of verification automobile, and the obstacle 22.It is worth mentioning
It is, in the preferred embodiment, the map datum that the satellite map 30 is not limited only to the mode of SCN Space Cable Network download and obtained, also
Including replicating the map datum that the copy that lives is obtained, that is to say, that the satellite map 30 is obtained not by real-time calculating
, but by observing and drawing resulting map datum to the overall of landform.The satellite map 30 can also have not
Same form, such as 2D plane maps, 3D relief maps, panoramic map etc..
By car week ground Figure 20 and the cooperation and verification of the satellite map 30, the real position of automobile, automobile is real
When position can synchronously be positioned.That is, by recognizing car week ground Figure 20, position that can be with running car
Mutually examined with the satellite fix 31 identified in the satellite map 30.Certainly, car week described here ground Figure 20's is described
The verification of self-position 21 and the satellite fix 31 of the satellite map 30 is mutual.In other words, the satellite
The information of Figure 30 satellite fix 31 can be for supplementing the car week ground Figure 20 self-position 21, the car week
The information of the ground Figure 20 self-position 21 can be for supplementing the satellite fix 31 of the satellite map 30.For institute
Stating satellite map 30 can not be normally in the case of use, by the sensing data 10 come structure in complicated, remote, suspension etc.
It is very practical supplement to build car week ground Figure 20.Certainly, in the case of the satellite map 30 is normal, the car week
Figure 20 can identify the obstacle 22 of motor vehicle environment, and the lifting to the security of traveling is also to have very big help.Cause
This, car week ground Figure 20 for the obstacle 22 identification and judgement, and to the verification supplement of the satellite map 30 all
With good effect.Certainly, the obstacle 22 is needed by judging, for being judged as the barrier influential on driving safety
Hinder 22, automobile will be reminded and inform driver.For example, build after car week ground Figure 20, it is a certain by with car collision
The obstacle 22 is identified and judges, then automobile will get out ABS anti-lock braking systems, and remind the barrier for driver
Hinder 22 property and distance etc. information so that automobile can get out the situation of reply burst in advance, driver can also carry
Early make the smaller action of safer, risk.In another example, automobile builds car week ground Figure 20 in real time, by front
Driving with side is all identified as the obstacle 22, then the automatic Pilot of automobile can effectively judge Travel vehicle
Away from automated driving system can utilize the positioning of the self-position 21 and the obstacle 22 in car week ground Figure 20, certainly
Surely the track travelled and the operation accordingly driven.
The idiographic flow in structure car week ground Figure 20 of this preferred embodiment is as shown in Figure 4.Automobile starting sensor, is obtained
The sensing data 10 is taken, the processing handled the sensing data 10 is carried out to the sensing data 10
SLAM is analyzed, and car week ground Figure 20 is built using analysis result, real to the self-position 21 in car week ground Figure 20
Shi Dingwei, is identified to the obstacle 22 in car week ground Figure 20, enters for the obstacle 22 for having security threat
Row is reminded.For being configured in real time for car week ground Figure 20, that is to say, that the flow of structure can be circulation, so as to
Car week ground Figure 20 is obtained in real time to the self-position 21 renewal synchronous with the obstacle 22 and feedback.More specifically
Ground, using the sensor of automobile, such as laser radar sensor, obtains the sensing data 10.The sensing data 10
Carried out preliminary processing, particularly filter, amplify, extracting etc. processing so that the sensing data 10 more effectively by
It is used in structure car week ground Figure 20.According to car week ground Figure 20 requirement, the sensing data 10 can obtain vapour
Different objects around car and automobile distance information, also same object are different external with automobile distance, Yi Jisui
The multidate information of time change range information change.The sensing data 10 is done in data analysis, this preferred embodiment
SLAM algorithms are used, location estimation and structure can carried out according to the data during traveling from unknown environment
Map, while can position itself builds increment type map.After car week, ground Figure 20 was determined, the self-position 21 and described
Obstacle 22 is also identified.Intuitively the self-position 21 can be provided, and the obstacle 22 will be recognized further.Value
Obtain one to be mentioned that, the car week, ground Figure 20 was real-time, because the object of automobile and motor vehicle environment is in real-time change, was needed
The car week, ground Figure 20 was updated, to cause the self-position 21 and the obstacle 22 in car week ground Figure 20 synchronously
Positioning.Afterwards, according to the property of the self-position 21 and the obstacle 22, and the obstacle 22, judge whether perform or
Person prepares corresponding action.When the obstacle 22 is risky to traffic safety, the obstacle 22 is reminded out.Here pair
The risky obstacle of traffic safety can for pedestrian, driving, curb, road is fallen into, the thing etc. that is in the way can cause personnel in motion or
The impaired object of property.When the obstacle 22 is identified, it is necessary to which when making response to risk, automobile is directed to the obstacle 22
Do corresponding preparation.When being necessary, the obstacle 22 is broadcasted, and then reminds driver.
Car week ground Figure 20 of this preferred embodiment and the flow that the satellite map 30 is mutually examined are as shown in Figure 5.
After the sensing data 10 is acquired and is analyzed, the car week, ground Figure 20 was fabricated.To institute in car week ground Figure 20
Self-position 21 is stated to be positioned in real time.Obstacle 22 described in the automobile and motor vehicle environment obtained according to the sensing data 10
The distance between calculated, that is to say, that with automobile sheet as the self-position 21, then be extended to other directions
The range data of surrounding environment obtained from detection.And the self-position 21 can be by the sensing data 10 to automobile
The positioning of itself and obtain, that is, reckoning positioning of the sensing data 10 to sensing station, can also be by initial
Setting during change, sets the self-position 21 to detect and build the center of map before detection.It should be noted that
The car week, ground Figure 20 was real-time, because the object of automobile and motor vehicle environment is in real-time change, needed car week ground
Figure 20 is updated, to cause the self-position 21 synchronously to be positioned in car week ground Figure 20.The self-position 21 can
With in real time, synchronously reaction automobile be located at landform where, relative to the satellite map 30 the satellite fix 31 and
Speech, the self-position 21 changes accurate for the positioning of automobile, and it is very high to update efficiency.When the satellite map 30 is obtained
After obtaining, the satellite fix 31 to the satellite map 30 is done and confirmed.For described in the satellite map 30 of acquisition
Satellite fix 31 and the car week ground Figure 20 the self-position 21 examined, by the car week ground Figure 20 described in certainly
Both cooperations of the satellite fix 31 of body position 21 and the satellite map 30, examine the actual positioning of automobile, and
The position of the obstacle 22.The information of the satellite fix 31 of the satellite map 30 can be for all maps of the supplement car
20 self-position 21, the information of the self-position 21 in car week ground Figure 20 can be for supplementing the satellite
Figure 30 satellite fix 31.When the satellite map 30 can not be used normally in complicated, remote, suspension etc.
Under, it is very practical supplement that car week ground Figure 20 is built by the sensing data 10.Certainly, in the satellite
In the case of Figure 30 is normal, the car week, ground Figure 20 can identify the obstacle 22 of motor vehicle environment, to the security of traveling
Lifting be also to have very big help.Therefore, car week ground Figure 20 for the obstacle 22 identification and judgement, it is and right
The verification supplement of the satellite map 30 all has effect well.Certainly, the obstacle 22 is needed by judging, for judging
For the obstacle 22 influential on driving safety, automobile will be by reminding and inform driver when necessary.It is worth mentioning
It is to obtain the satellite map 30 and obtain the satellite fix 31 with building car week ground Figure 20 can concurrently enter
OK.That is, the step of obtaining the satellite map 30 and obtain satellite fix 31, is not necessarily intended to search in structure Soviet Union
After fox car week ground Figure 20, as long as obtaining the satellite map before with reference to car week ground Figure 20 and the satellite map 30
30 and obtain the satellite fix 31.
The vehicle synchronous of the preferred embodiments of the present invention builds feasible scene such as Fig. 6 to Figure 11 of figure and localization method.
Such as a kind of scene of Fig. 6 running cars illustrated, road starts bending at one.For driver, it may be unfamiliar with
The extension on road, or excessive velocities are easily caused danger.So in this preferred embodiment, the sensing data is obtained first
10, the processing handled the sensing data 10 carries out SLAM analyses to the sensing data 10, is tied using analysis
Fruit builds car week ground Figure 20.Extension so to road is sufficiently detected and showed.In this application scene, the car
The all ground Figure 20 obstacle 21 is the curb of road on both sides of the road, the analysis by the sensing data 10 to distance, structure
Build out car week ground Figure 20.It is synchronous during position with running car also, the self-position 21 is positioned in real time.
When driving in front of bending mouth, the car week, ground Figure 20 was fabricated, and the quilt of the obstacle 22 in car week ground Figure 20
Identification, learns that there is bending road in front.So automobile will prepare the corresponding actions of brakes, so that the mistake of automotive safety
It is curved.In addition, have auxiliary drive, or automatic Pilot automobile, according to the car week ground Figure 20 situation, will prepare turn,
The action of braking, signal etc. series.With the advance of automobile in the road, the self-position 21 in car week ground Figure 20
Also update in real time.That is, in this application scene, with running car, the car week, ground Figure 20 was built in real time,
It is synchronous with driving path to ensure obtained car week ground Figure 20.Moreover, the self-position in car week ground Figure 20
21 and the obstacle 22 also grasped in real time by automobile.It can also be carried out for the obstacle 22 when distance exceedes secure threshold
Alarm, timely and effectively to be handled the obstacle 22.This preferred embodiment can be synchronous renewal motor vehicle environment
Environmental data, helps the situation around being grasped in real time in running car.
Another feasible scene of this preferred embodiment is as shown in Figure 7.The right of way signal crossing at one, has two to turn right and passes through
Road, traditional satellite map for trickle distance detection it is not accurate enough in the case of, having very much can be with navigational error.This
In preferred embodiment, after the sensing data 10 is acquired and is analyzed, the car week, ground Figure 20 was fabricated.The car week
The self-position 21 is positioned in real time in Figure 20.Because the car week, ground Figure 20 can be according to real-time position by structure
Build, then the self-position 21 is also real-time.The accuracy rate of the self-position 21 is at a relatively high.For example, the sensor
Data 10 analyzed as being front and also have two crossings, then when car week ground Figure 20 is fabricated, and the self-position 21 will be
After two crossings.In addition, the curb of road is detected as the obstacle 22, the distance of automobile and the obstacle 22
Also the data for building car week ground Figure 20 will be used as.And the self-position 21 can be by the sensing data 10 to vapour
Car positioning in itself and obtain, that is, reckoning positioning of the sensing data 10 to sensing station, can also be by first
Setting during beginningization, sets the self-position 21 to detect and build the center of map before detection.
After the satellite map 30 is obtained, the satellite fix 31 to the satellite map 30 is done and confirmed.It is right
Core is carried out in the self-position 21 of the satellite fix 31 of the satellite map 30 of acquisition and car week ground Figure 20
Real, by the self-position 21 in car week ground Figure 20 and the satellite fix 31 of the satellite map 30, both match somebody with somebody
The position of conjunction, the actual positioning of verification automobile, and the obstacle 22.The satellite fix 31 of the satellite map 30
Information can be for supplementing the car week ground Figure 20 self-position 21, the self-position 21 in car week ground Figure 20
Information can be for supplementing the satellite fix 31 of the satellite map 30.That is, the institute in car week ground Figure 20
State the satellite fix 31 that self-position 21 will be supplemented in the satellite map 30.So in the preferred embodiment this
When before Jing Zhong, running car to two crossings, the car all ground Figure 20 self-position 21 is positioned in two crossings
Before.So, accurately positioning can help automobile to be pointed out at the crossing of required turning, will not be caused because of the error of navigation
Loss.
The vehicle synchronous of the preferred embodiments of the present invention builds another feasible scene such as Fig. 8 of figure and localization method.
The crossing that right-hand rotation is directly passed through, having has current pedestrian in front of very big probability automobile.And pedestrian is also according to people's row
Zebra crossing passes through crossing, then automobile then needs to pay attention to pedestrian and avoided.In this preferred embodiment, obtain first described
Sensing data 10, the processing handled the sensing data 10 carries out SLAM analyses to the sensing data 10,
Car week ground Figure 20 is built using analysis result.So it is detected in the obstacle 22 of motor vehicle environment.This application scene
In, the obstacle 21 in car week ground Figure 20 is the pedestrian in front of road curb on both sides of the road and traveling, passes through the sensing
Analysis of the device data 10 to distance, constructs car week ground Figure 20.Also, the self-position 21 is by fixed in real time
It is synchronous when position, position with running car.During pedestrian is by crossing, the car week, ground Figure 20 can be visited always
Survey, and automobile is supplied to labeled as the obstacle 22.That is, in this application scene of this preferred embodiment, the obstacle
22 be dynamic, and the obstacle 22 changes in car week ground Figure 20.And it is fabricated by car week ground Figure 20,
And the obstacle 22 in car week ground Figure 20 is identified, and the presence of the obstacle 22 and mobile direction are learnt in advance.
So automobile will prepare the corresponding actions of brakes, to ensure the safety of automobile and pedestrian.Driven in addition, having auxiliary,
Or the automobile of automatic Pilot, according to car week ground Figure 20 situation, the dynamic of turning, braking, signal etc. series will be prepared
Make.The self-position 21 and the obstacle 22 in car week ground Figure 20 are also grasped by automobile in real time.For the obstacle
22 can also be alarmed when distance exceedes secure threshold, timely and effectively to be handled the obstacle 22.Automobile
Obstacle 22 described in angle detection from itself, when burst, that is, the fireballing dynamic obstacle 22 can also
Detection well.For the situation for needing to alarm, the obstacle 22 can be broadcasted, facilitate all electronic systems of automobile or drive
Sail people and make corresponding reaction.Particularly provide more fully described car all maps to DAS (Driver Assistant System) and automated driving system
20, and the more real-time data of obstacle 21.
The vehicle synchronous of the preferred embodiments of the present invention builds feasible scene such as Fig. 9 of figure and localization method.Turning left
With the unified current crossing of straight trip signal, there is another automobile having in front of very big probability automobile just in backward going.This is excellent
Select in embodiment, the sensing data 10 is obtained first, the processing handled the sensing data 10 is passed to described
Sensor data 10 carry out SLAM analyses, and car week ground Figure 20 is built using analysis result.So in the barrier of motor vehicle environment
22 are hindered to be detected.In this application scene, the obstacle 21 in car week ground Figure 20 is the driving of left front, is passed by described
Analysis of the sensor data 10 to distance, constructs car week ground Figure 20.Also, the self-position 21 is by fixed in real time
It is synchronous when position, position with running car.During by crossing, the car week, ground Figure 20 can be detected always, and be marked
The driving of note opposite is supplied to automobile for the obstacle 22.That is, in this application scene of this preferred embodiment, the obstacle
22 be dynamic, and the obstacle 22 changes in car week ground Figure 20.And it is fabricated by car week ground Figure 20,
And the obstacle 22 in car week ground Figure 20 is identified, and the presence of the obstacle 22 and mobile direction are learnt in advance.
So automobile will prepare the corresponding actions of brakes, to ensure the safety of automobile and pedestrian.Driven in addition, having auxiliary,
Or the automobile of automatic Pilot, according to car week ground Figure 20 situation, the dynamic of turning, braking, signal etc. series will be prepared
Make.The self-position 21 and the obstacle 22 in car week ground Figure 20 are also grasped by automobile in real time.For the obstacle
22 can also be alarmed when distance exceedes secure threshold, timely and effectively to be handled the obstacle 22.Automobile
Obstacle 22 described in angle detection from itself, when burst, that is, the fireballing dynamic obstacle 22 can also
Detection well.For the situation for needing to alarm, the obstacle 22 can be broadcasted, facilitate all electronic systems of automobile or drive
Sail people and make corresponding reaction.Particularly provide more fully described car all maps to DAS (Driver Assistant System) and automated driving system
20, and the more real-time data of obstacle 21.It is noted that all applying the situation of this preferred embodiment in both sides' automobile
Under, identification of the both sides to mutual automobile is mutual.That is, the automobile turned left can identify the automobile of opposite straight trip,
The automobile of straight trip can identify the automobile that opposite is turned left.Because the car week, ground Figure 20 regard the automobile on opposite as the obstacle
22 identifications, and then may determine that whether there is generation influence on travel safety.More, both sides' automobile is after being mutually distinguishable,
Order and the path of driving can be coordinated, problem is more effectively solved.
The vehicle synchronous of the preferred embodiments of the present invention build figure and localization method another feasible scene such as Figure 10 and
Figure 11.In the case of having obstacle in the middle of traveling road, automobile needs to pay attention to and avoided.In this preferred embodiment, first
The sensing data 10 is obtained, the processing handled the sensing data 10 is carried out to the sensing data 10
SLAM is analyzed, and car week ground Figure 20 is built using analysis result.As shown in Figure 10, the form that car week ground Figure 20 is 2D.
When the sensing data 10 has three-dimensional feature, the car week, ground Figure 20 can be built as 3D form.If described
The amount of calculation of sensing data 10 is little, then preferably build car week ground Figure 20 of 3D form.When the processing of automobile
Device can not meet calculating and require, or the amount of calculation of the sensing data 10 is excessive, and the car week, ground Figure 20 was still with 2D's
Form is fabricated.It is noted that either car week ground Figure 20 of which kind of form, to the self-position 21 and described
The degree of accuracy of positioning and the identification of obstacle 22 be do not have it is influential.So it is detected, leads in the obstacle 22 of motor vehicle environment
Analysis of the sensing data 10 to distance is crossed, car week ground Figure 20 is constructed.Also, the quilt of self-position 21
Positioning in real time, it is synchronous during position with running car.The obstacle 22 in car week ground Figure 20 is identified, in advance
Know the presence of the obstacle 22.So automobile prepares the control system for preparing brakes, ABS anti-lock braking systems and correlation
Good corresponding actions, to ensure the safety of automobile.In addition, have auxiliary drive, or automatic Pilot automobile, according to the car
All ground Figure 20 situation, will prepare the action of turning, braking, signal etc. series.Itself position in car week ground Figure 20
Put 21 and the obstacle 22 also grasped in real time by automobile.It can also enter for the obstacle 22 when distance exceedes secure threshold
Row alarm, timely and effectively to be handled the obstacle 22.And according to the obstacle 22 and the self-position 21
Positioning, autonomous driving vehicle may determine that and detour in which way., can be with for example, in the case of not carrying out car over there
Select piggybacking traveling.For example, in the case of having carry out car over there, selection braking in advance waits the opportunity for bypassing the obstacle 22.
Obstacle 22 described in angle detection of the automobile from itself, when burst, that is, the fireballing dynamic obstacle 22
It can be very good detection.For need alarm situation, the obstacle 22 can be broadcasted, facilitate automobile all electronic systems or
Person driver makes corresponding reaction.Particularly more fully described car week is provided to DAS (Driver Assistant System) and automated driving system
Ground Figure 20, and the more real-time data of obstacle 21.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing
And it is not intended to limit the present invention.The purpose of the present invention completely and is effectively realized.The function and structural principle of the present invention exists
Show and illustrate in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. a vehicle synchronous builds figure and localization method, including：
Obtain a sensing data；
The sensing data is analyzed, to obtain the range data of motor vehicle environment；
The all maps of a car are built using the sensing data, wherein car week map is the topographic map of motor vehicle environment, wherein
The all maps of the car further comprise an at least obstacle, wherein the obstacle be obtain after the sensor data analysis at a distance of away from
From the object without infinity；And
A self-position is positioned, wherein the self-position is the position of the automobile in all maps of the car, wherein to described
Car week map be configured in real time, with obtain all maps of the car to the positioning of the self-position and the Barrier synchronization and
Update.
2. figure and localization method are built according to the vehicle synchronous in claim 1, wherein the analysis sensing data
In, further comprise, preliminary treatment is done to the sensing data, find out the data for building all maps of the car.
3. figure and localization method are built according to the vehicle synchronous in claim 1, wherein all maps of the car that build are adopted
Use SLAM algorithms.
4. figure and localization method are built according to the vehicle synchronous in claim 1, wherein the positioning self-position is adopted
Reckoning positioning with the sensing data to sensing station.
5. figure and localization method are built according to the vehicle synchronous in claim 1, wherein the positioning self-position is adopted
Center of the self-position to build the car all maps is set during with initialization.
6. building figure and localization method according to the vehicle synchronous in claim 1, laggard the one of the self-position is being positioned
Step includes, and according to all maps of the car, carries out the identification and judgement of the obstacle.
7. building figure and localization method according to the vehicle synchronous in claim 6, laggard the one of the self-position is being positioned
Step includes, according to the information and property of the obtained obstacle, makes and correspondingly reminds and prepare.
8. figure and localization method are built according to the vehicle synchronous in claim 7, wherein described make correspondingly is reminded and accurate
Standby is automotive control system is prepared corresponding emergency action.
9. figure and localization method are built according to the vehicle synchronous in claim 7, wherein described make correspondingly is reminded and accurate
Standby is to broadcast the information of the obstacle in full car.
10. the vehicle synchronous in claim 2,3,4,5 or 6 builds figure and localization method, wherein car week map
For 2D forms.
11. the vehicle synchronous in claim 2,3,4,5 or 6 builds figure and localization method, wherein car week map
For 3D forms.
12. a vehicle synchronous builds figure and localization method, including：
A satellite map is obtained, wherein the satellite map includes a satellite fix, wherein the satellite fix is to automobile
Positioning；
Obtain a sensing data；
The sensing data is analyzed, to obtain the range data of motor vehicle environment；
The all maps of a car are built using the sensing data, wherein car week map is the topographic map of motor vehicle environment, wherein
The all maps of the car further comprise a self-position and at least an obstacle, wherein the obstacle is the sensor data analysis
Obtaining distance afterwards does not have the object of infinity, wherein the self-position is the position of the automobile in all maps of the car
Put；And
The reality of automobile is examined with reference to the self-position of all maps of the car and the satellite fix of the satellite map
Position, wherein being configured in real time to all maps of the car, to obtain all maps of the car to the self-position and described
The positioning and renewal of Barrier synchronization.
13. figure and localization method are built according to the vehicle synchronous in claim 12, wherein described build all maps of the car
Using SLAM algorithms.
14. figure and localization method are built according to the vehicle synchronous in claim 12, wherein the positioning self-position
Reckoning positioning using the sensing data to sensing station.
15. figure and localization method are built according to the vehicle synchronous in claim 12, wherein the positioning self-position
Center of the self-position to build the car all maps is set when using initialization.
16. building figure and localization method according to the vehicle synchronous in claim 12, the laggard of the self-position is being positioned
One step includes, and according to all maps of the car, carries out the identification and judgement of the obstacle.
17. building figure and localization method according to the vehicle synchronous in claim 16, the laggard of the self-position is being positioned
One step includes, according to the information and property of the obtained obstacle, makes and correspondingly reminds and prepare.
18. figure and localization method are built according to the vehicle synchronous in claim 12, wherein the actual bit for examining automobile
In putting, all self-positions of map of the car and the satellite fix of the satellite map are mutually examined.
19. figure and localization method are built according to the vehicle synchronous in claim 18, wherein the actual bit for examining automobile
It is set to and the satellite map is supplemented using the self-position.
20. figure and localization method are built according to the vehicle synchronous in claim 18, wherein the actual bit for examining automobile
It is set to and all maps of the car is supplemented using the satellite fix, so that effectively the obstacle is identified.
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