CN114563006B - Vehicle global positioning method and device based on reference line matching - Google Patents

Vehicle global positioning method and device based on reference line matching Download PDF

Info

Publication number
CN114563006B
CN114563006B CN202210266814.4A CN202210266814A CN114563006B CN 114563006 B CN114563006 B CN 114563006B CN 202210266814 A CN202210266814 A CN 202210266814A CN 114563006 B CN114563006 B CN 114563006B
Authority
CN
China
Prior art keywords
line
vehicle body
reference line
center
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210266814.4A
Other languages
Chinese (zh)
Other versions
CN114563006A (en
Inventor
李迅
蒋杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Huilian Intelligent Technology Co ltd
Original Assignee
Changsha Huilian Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Huilian Intelligent Technology Co ltd filed Critical Changsha Huilian Intelligent Technology Co ltd
Priority to CN202210266814.4A priority Critical patent/CN114563006B/en
Publication of CN114563006A publication Critical patent/CN114563006A/en
Application granted granted Critical
Publication of CN114563006B publication Critical patent/CN114563006B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a global positioning method and a global positioning device for a vehicle based on reference line matching, wherein the method comprises the following steps: s01, acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line; s02, calculating a reference point closest to the GPS initial position on a global reference line; s03, determining a GPS coordinate of the center of the vehicle body according to the nearest reference point, and converting global reference line projection of a specified length in the vehicle advancing direction into a vehicle body coordinate system; s04, calculating an included angle between the converted global reference line and the visual guide line, and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle; s05, obtaining final positioning information output under the geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point. The invention has the advantages of simple implementation method, low cost, low calculation cost, high positioning efficiency and precision, strong environmental adaptability and the like.

Description

Vehicle global positioning method and device based on reference line matching
Technical Field
The invention relates to the technical field of global positioning navigation, in particular to a vehicle global positioning method and device based on reference line matching.
Background
In the running process of an unmanned vehicle or an automatic driving vehicle, the road area needs to be automatically identified, the position of the vehicle in the road is positioned, and then a decision layer of the vehicle plans a vehicle running path according to the position of the vehicle and the road environment. The global positioning is the unknown initial position, and the current position information of the vehicle is estimated by the motion of the vehicle.
In the prior art, the automatic driving of a vehicle usually adopts the following modes to realize global positioning:
1. global positioning is carried out by utilizing GPS signals or combining GPS and IMU (inertial navigation), and the current global position of the vehicle is obtained by positioning. However, the GPS signal is directly used for positioning, and errors are caused by the interference of the earth atmosphere, the multipath effect and the like, so that a certain deviation exists between the coordinates obtained by positioning and the actual coordinate values, the deviation is more obvious when the GPS signal is weak, a plurality of sensors are needed in the combined navigation positioning mode, the implementation cost is high, and the positioning process is complex.
2. The method for matching and positioning by utilizing the high-precision map and the real-time on-site point cloud data comprises the steps of constructing the high-precision map, and then performing feature matching with the on-site acquired point cloud data to obtain global coordinates. However, the manufacturing cost of the high-precision map is high, a large amount of computing resources are required for the point cloud data feature matching, and the problems that the adaptability to frequent changes of the surrounding environment is poor exist, such as when the surrounding environment of the road changes (such as building construction near the road), the method cannot accurately realize positioning.
In summary, in the prior art, the global positioning method of the vehicle depends on the GPS signal, the positioning is easy to deviate in the environments of weak GPS signal and the like, or complex drawing and feature point matching processes are needed, so that the positioning efficiency is low, the calculation cost is high, the environmental adaptability is poor, and meanwhile, the positioning difficulty of a curve scene with larger curvature is high due to the fact that the vehicle can possibly run under various complex road conditions, and the conventional global positioning method is difficult to accurately realize the positioning under the curve scene with large curvature. Therefore, it is needed to provide a global positioning method for vehicles, so that positioning accuracy, efficiency and environmental adaptability can be considered, and meanwhile, the accurate positioning requirement under complex road conditions such as large-curvature curves can be met.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the global positioning method and the global positioning device for the vehicle based on the reference line matching, which have the advantages of simple implementation method, low cost, small calculation cost, high positioning efficiency, high precision and strong environmental adaptability, and can meet the accurate positioning requirement under complex road conditions such as large-curvature curves and the like.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a global positioning method of a vehicle based on reference line matching comprises the following steps:
s01, acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line, wherein the global reference line is a GPS signal point set of a target route acquired in advance, and the visual guide line is generated according to a central line of a road area grid chart acquired in the running process of the vehicle;
s02, calculating a reference point on the global reference line closest to the GPS initial position to obtain a closest reference point;
s03, determining a vehicle body center GPS coordinate according to the nearest reference point, and converting global reference line projection with specified length in the vehicle advancing direction into a vehicle body coordinate system according to the vehicle body center GPS coordinate to obtain a converted global reference line;
s04, calculating an included angle between the converted global reference line and the visual guide line, and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle;
s05, obtaining final positioning information output under a geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point.
Further, the step S02 includes: and taking a plurality of sampling points on the global reference line at intervals, respectively calculating the distance between each sampling point and the GPS initial position, and taking the sampling point corresponding to the minimum distance as the nearest reference point.
Further, in the step S03, the nearest reference point is taken as a vehicle body center GPS coordinate, a Y-axis is taken as a vehicle advancing direction, an X-axis is parallel to the ground and perpendicular to the Y-axis, and a global reference line of a specified length in the vehicle advancing direction is projected and converted to a vehicle body coordinate system by taking the nearest reference point as a vehicle body center.
Further, in the step S03, a global reference line with a specified length in the vehicle forward direction is projected and converted to a vehicle body coordinate system by taking the nearest reference point as a vehicle body center according to the following formula:
wherein x is r m 、y r m 、Yaw angle, x in the abscissa, ordinate, geodetic system of the nearest reference point, respectively i r ,y i r ,/>Respectively yaw angles, x of global reference line coordinate points before conversion in an abscissa, an ordinate and a geodetic coordinate system c i ，y c i Respectively, the abscissa and the ordinate of the vehicle body coordinate.
Further, the step S04 includes:
taking a central coordinate of a vehicle body under a vehicle body coordinate system as a round dot, taking a plurality of reference points on the converted global reference line projected to the vehicle body coordinate system, and taking a plurality of sampling points on the visual guide line;
forming a plurality of first vectors between all reference points on the converted global reference line respectively, and forming a plurality of second vectors between all sampling points on the visual guide line respectively;
and respectively calculating the included angles between the first vectors and the second vectors, and comprehensively calculating the included angles to obtain the final included angle between the converted global reference line and the visual index line.
Further, the step S04 further includes calculating a direction of an included angle between the converted global reference line and the visual guiding line, and the step includes:
constructing a three-dimensional coordinate system by taking the upward direction perpendicular to the ground as the positive direction of the Z axis;
in the constructed three-dimensional coordinate system, assigning a Z axis of the first vector and the Z axis of the second vector to expand the Z axis into a three-dimensional form, and obtaining an expanded first vector and an expanded second vector;
and calculating cross products of the expanded first vector and the expanded second vector, and judging the direction of the included angle according to the positive and negative of the cross products.
Further, the calculating the distance between the vehicle body center and the road boundary and/or the distance between the vehicle body center and the road center line in the step S05 includes:
taking the coordinates of a central point of the vehicle body as a round point in a vehicle body coordinate system, taking a target point C at a specified distance right in front of the center of the vehicle body, and constructing a straight line LC through the target point C, wherein the slope KC of the straight line LC is-tan theta, and theta is the included angle between the converted global reference line and the visual guide line;
calculating coordinates of left and right road boundary points on the straight line LC according to the coordinate sequence of the road boundary points;
according to the coordinates of the left and right road boundary points, respectively calculating the distance between the left and right road boundary points and the target point C;
and calculating the distance between the center of the vehicle body and the left and right road boundaries and/or the distance between the center of the vehicle body and the center line of the road according to the distance between the left and right road boundary points and the target point C.
Further, when the conversion is performed to the geodetic coordinate system in the step S05, the method is according to the formulaCalculating to obtain the abscissa x under the geodetic coordinate system v According to formula->Calculating to obtain the lower ordinate y of the geodetic coordinate system v And according to formula->Calculating to obtain the yaw angle +.>Wherein x is r m 、y r m 、/>Yaw angle, x in the abscissa, ordinate, geodetic system of the nearest reference point, respectively i r ,y i r ,/>And the yaw angles are respectively the abscissa, the ordinate and the geodetic coordinate system of the coordinate point of the global reference line before conversion, theta is the included angle between the global reference line after conversion and the visual guide line, and b is the distance from the center of the vehicle body to the center line of the road.
A reference line matching-based global positioning apparatus for a vehicle, comprising:
the acquisition module is used for acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line, wherein the global reference line is a GPS signal point set of a target route acquired in advance, and the visual guide line is generated according to a central line of a road area grid graph acquired in the running process of the vehicle;
the nearest reference point calculation module is used for calculating a reference point on the global reference line, which is nearest to the GPS initial position, so as to obtain a nearest reference point;
the projection conversion module is used for determining a vehicle body center GPS coordinate according to the nearest reference point, and converting the global reference line projection with the designated length in the vehicle advancing direction into a vehicle body coordinate system according to the vehicle body center GPS coordinate to obtain a converted global reference line;
the matching calculation module is used for calculating an included angle between the converted global reference line and the visual guide line and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle;
and the positioning output module is used for obtaining final positioning information output under a geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point.
Or the global positioning device of the vehicle comprises a processor for storing a computer program and a memory for executing the computer program, the processor for executing the method as described above.
A computer readable storage medium storing a computer program which when executed performs a method as described above.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, global positioning optimization is realized based on the matching of global reference line and visual guide line information, global reference line information and visual guide line information are obtained, a GPS initial position is utilized to position the nearest reference point of the global reference line, the global reference line is projected to a vehicle body coordinate system according to the nearest reference point, then the visual guide line and global reference line information are matched, so that the visual guide line is utilized to carry out local precise positioning, the included angle between the global reference line and the visual guide line is used for calculating the distance between the center of the vehicle body and the central line of a road, and then the nearest reference point is combined to convert the distance to obtain positioning information under the final global positioning coordinate system.
2. According to the invention, a plurality of first vectors and second vectors are formed by taking a plurality of sampling points on the visual guide line and the global reference line respectively, and an included angle value is finally determined as the included angle between the global reference line and the visual guide line by integrating the included angles between the first vectors and the second vectors, so that calculation of the included angle between the global reference line and the visual guide line can be quickly and simply realized, metering errors caused by single angle calculation can be avoided, the calculation precision is effectively improved, meanwhile, the universality of the included angle calculation is high, the method is suitable for various complex scenes, and the precision and stability of global positioning under various environments are further ensured.
3. According to the invention, a straight line is constructed by taking a target point at a certain distance right in front of the center of the vehicle body, the coordinates of the boundary points of the left and right roads are calculated by utilizing the information of the included angle between the straight line and the visual guide line, the distance between the boundary points of the left and right roads and the target point is calculated, the distance between the center of the vehicle body and the center line of the road is calculated by utilizing the distance between the boundary points of the left and right roads and the target point, and the position of the vehicle in the road area can be rapidly and accurately positioned by utilizing the included angle between the global reference line and the visual guide line and the information of the boundary points of the road.
Drawings
Fig. 1 is a schematic flow chart of an implementation of the global positioning method of a vehicle based on reference line matching in this embodiment.
Fig. 2 is a schematic diagram of the implementation of the global referencing and visual guide line matching positioning according to the present embodiment.
Fig. 3 is a schematic diagram of the lateral distance calculation in the present embodiment.
Fig. 4 is a schematic diagram of a detailed implementation flow for implementing global positioning of a vehicle based on reference line matching in a specific application embodiment of the present invention.
Detailed Description
The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
As shown in fig. 1, the method for global positioning of a vehicle based on reference line matching in this embodiment includes the steps of:
s01, acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line, wherein the global reference line is a GPS signal point set of a target route acquired in advance, and the visual guide line is generated according to a central line of a road area grid chart acquired in the running process of the vehicle;
s02, calculating a reference point closest to the GPS initial position on the global reference line to obtain a closest reference point;
s03, determining a vehicle body center GPS coordinate according to the nearest reference point, and converting the global reference line projection of the appointed length in the vehicle advancing direction into a vehicle body coordinate system according to the vehicle body center GPS coordinate to obtain a converted global reference line;
s04, calculating an included angle between the converted global reference line and the visual guide line, and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle;
s05, obtaining final positioning information output under the geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point.
According to the method, global positioning optimization is achieved based on matching of global reference line information and visual guide line information, global reference line information and visual guide line information are obtained, a GPS initial position is utilized to position a nearest reference point of the global reference line, the global reference line is projected to a vehicle body coordinate system according to the nearest reference point, then the visual guide line and the global reference line information are matched, so that local accurate positioning is conducted by the visual guide line, the distance between the center of the vehicle body and the central line of a road is calculated through an included angle between the global reference line and the visual guide line, and then the final positioning information under the global positioning coordinate system can be obtained through conversion by combining with the nearest reference point.
In step S01 of this embodiment, the following information needs to be acquired specifically:
(1) GPS signal
The geodetic coordinate system of this embodiment is specifically east-north-sky (e-n-u) sittingStandard system, x is as above g ,y g ,conf g Respectively representing the abscissa, ordinate, yaw angle and confidence level of the signal of the position point in the east-north-day (e-n-u) coordinate system.
(2) Road area raster pattern, visual index line coordinate point and coordinate point of road boundary
Firstly, acquiring a grid image containing a road area under a vehicle body coordinate system, namely acquiring a road environment image through a camera to divide the road environment image in the running process of a vehicle, and converting the divided road area into the grid image; and then generating a visual guide line of the road area according to the grid graph, wherein the visual guide line is a road center line generated according to the grid graph of the road area and is used as road guide, and acquiring coordinate points of the visual guide line and coordinate points of road boundaries on the grid graph.
(3) Global reference line coordinate point set
The global reference line is the historical GPS coordinate point set corresponding to the route, wherein x is as follows i r ,y i r ,Respectively representing the yaw angle in the abscissa, ordinate and east-north-sky (e-n-u) coordinate system of the coordinate point on the global reference line. Global reference line coordinate Point set->The GPS signal point sets of the corresponding target routes can be recorded in advance by using a high-precision GPS positioning device, and the global reference line generated in the specific application embodiment is shown in fig. 2. Because the feature point change caused by the change of the surrounding environment does not influence the generation of the global reference line and the visual index line, the GPS positioning device with corresponding low cost can be used for preliminary initialization in practice.
The specific steps of step S02 in this embodiment include: and taking a plurality of sampling points on the global reference line at intervals, respectively calculating the distance between each sampling point and the initial position of the GPS, and taking the sampling point corresponding to the minimum distance as the nearest reference point. The nearest reference point of the GPS initial position from the global reference line is calculated by adopting the traversal iterative calculation method, so that the calculation accuracy is high, the universality and the robustness are good, the nearest reference point can be accurately positioned for any global reference line and GPS signals, and the method can be suitable for various complex scenes such as more turning roads or intersections.
In a specific application embodiment, when calculating the nearest reference point to the GPS given position point on the global reference line, sampling points are first taken at intervals of a specified length on the global reference line, and the nearest distance d to the GPS initial position point on the global reference line is calculated m Corresponding reference point d m I.e. the nearest reference point, the nearest reference point d m Represented asWherein x is g And y g Respectively representing the transverse coordinate and the longitudinal coordinate of the initial position given by the current GPS signal, x i r And y i r Respectively denoted as the transverse coordinates and the longitudinal coordinates of the sampling points on the global reference line, n representing the total number of sampling points.
It will be appreciated that calculation of the nearest reference point may also be performed in other ways than those described above, depending on the actual requirements.
In step S03 of this embodiment, specifically, the nearest reference point is taken as the GPS coordinate of the vehicle body center, the Y-axis is taken as the vehicle advancing direction, the X-axis is parallel to the ground and perpendicular to the Y-axis, and the global reference line of a specified length (e.g., 40 meters in front of the vehicle) in the vehicle advancing direction is projected and converted to the vehicle body coordinate system with the nearest reference point as the vehicle body center, that is, a part of the global reference line in the vehicle advancing direction is projected to the vehicle body coordinate system with the nearest reference point as the center, so as to convert the global reference line to the same coordinate system as the vision guide line. The global reference line which is not in the vehicle advancing direction does not need to participate in the matching calculation, so that only part of the global reference line in the vehicle advancing direction is taken for projection conversion, and unnecessary conversion and matching calculation processing can be reduced.
It can be understood that the vehicle body center GPS coordinate may be determined by taking the nearest reference point as a reference instead of directly taking the nearest reference point as the vehicle body center GPS coordinate after the nearest reference point is obtained, for example, a certain threshold is added as the vehicle body center GPS coordinate on the basis of the nearest reference point to further improve the accuracy, and the vehicle body center GPS coordinate may be determined according to actual requirements.
As shown in fig. 2, first according to the nearest reference pointInformation, determining GPS coordinates of the center of the vehicle body; then, the Y axis is taken as the advancing direction of the vehicle (under the right hand rule, the X axis is parallel to the ground and perpendicular to the Y axis), and the projection of the point with the designated length on the global reference line of the advancing direction of the vehicle is converted into the coordinate system of the vehicle body according to the GPS coordinate information of the center of the current vehicle body, namely, the global reference line coordinate point set under the east-north-sky (e-n-u) coordinate system>With the nearest reference point (x r m ，y r m ) The coordinate center of the vehicle body is converted into a vehicle body coordinate system, and the y-axis of the vehicle body coordinate system in the conversion process is actually in the tangential direction along the global reference line of the nearest reference point position.
In step S03 of this embodiment, the specific formula is as followsConverting a global reference line of a specified length in the vehicle advancing direction into a vehicle body coordinate system by taking the nearest reference point as a vehicle body center projection, wherein x is r m 、y r m 、/>Yaw angle, x in the abscissa, ordinate, geodetic system of the nearest reference point, respectively i r ,y i r ,Respectively yaw angles, x of global reference line coordinate points before conversion in an abscissa, an ordinate and a geodetic coordinate system c i ，y c i Respectively, the abscissa and the ordinate of the vehicle body coordinate.
The specific steps of step S04 in this embodiment include:
s401, taking a central coordinate of a vehicle body under a vehicle body coordinate system as a round dot, taking a plurality of reference points on a global reference line after being projected to the down-conversion of the vehicle body coordinate system, and taking a plurality of sampling points on a visual guide line;
s402, forming a plurality of first vectors among all reference points on the converted global reference line and forming a plurality of second vectors among all sampling points on the visual guide line;
s403, respectively calculating the included angles between each first vector and each second vector, and comprehensively calculating the included angles to obtain the final included angle theta between the converted global reference line and the visual index line.
According to the embodiment, the first vectors and the second vectors are formed by taking the sampling points on the visual guide line and the global reference line respectively, the included angle value is finally determined as the included angle theta between the global reference line and the visual guide line after conversion by integrating the included angles between the first vectors and the second vectors, calculation of the included angle theta between the global reference line and the visual guide line can be quickly and simply realized, metering errors caused by single angle calculation are avoided, and calculation accuracy is effectively improved.
Taking four sampling points on the visual index line and the global reference line as examples, the above detailed steps for calculating the included angle θ between the global reference line and the visual index line are as follows:
(a) Taking the coordinates of the center (0, 0) of the vehicle body coordinate system as a starting point, taking four reference points projected onto the vehicle body coordinate system on a global reference line in the vehicle advancing direction, and representing the corresponding coordinates as (x) c s1 ,y c s1 )、(x c s2 ,y c s2 )、(x c s3 ,y c s3 )，(x c s4 ,y c s4 ) The calculation formula of the coordinate distance is shown in formula (4). Similarly, four sampling points are taken at the visual index line by taking the coordinates of the center (0, 0) of the vehicle body coordinate system as the starting point, and the corresponding coordinates are expressed as (x) t s1 ,y t s1 )、(x t s2 ,y t s2 )、(x t s3 ,y t s3 )、(x t s4 ,y t s4 )。
(b) Points (x) of the vehicle body coordinate system c s1 ,y c s1 ) To the point (x) c s2 ,y c s2 ) The vector of (a) is denoted as a c s1 The vehicle body coordinate system point (x c s2 ,y c s2 ) To the point (x) c s3 ,y c s3 ) The vector of (a) is denoted as a c s2 The vehicle body coordinate system point (x c s3 ,y c s3 ) To the point (x) c s4 ,y c s4 ) The vector of (a) is denoted as a c s3 The method comprises the steps of carrying out a first treatment on the surface of the The same applies the vehicle body coordinate system point (x t s1 ,y t s1 ) To the point (x) t s2 ,y t s2 ) The vector of (b) is denoted b t s1 The vehicle body coordinate system point (x t s2 ,y t s2 ) To the point (x) t s3 ,y t s3 ) The vector of (b) is denoted b t s2 The vehicle body coordinate system point (x t s3 ,y t s3 ) To the point (x) t s4 ,y t s4 ) The vector of (b) is denoted b t s3 。
(c) Calculating a vector a according to an included angle calculation formula between vectors r s1 Sum vector b t s1 The included angle between them is theta 1 And calculate a calculation vector a r s2 Sum vector b t s2 The included angle between them is theta 2 Calculating vector a r s3 Sum vector b t s3 The included angle between them is theta 3 Then calculate θ 1 、θ 2 、θ 3 And the average value of (2) is taken as a final included angle theta, namely the included angle between the reference line and the visual index line in the vehicle body coordinate system. By adopting a mode of calculating the average value of a plurality of angles by a plurality of sampling points, the influence of errors of the coordinates of the recorded global reference line and the coordinates of a certain point of the visual guide line on the course angle under the calculated vehicle body coordinate system can be effectively reduced, and the calculation accuracy is improved.
The number of the sampling points, the positions of the sampling points, the vector of the vehicle advancing direction and the like can be configured according to actual requirements, and the final included angle can also be calculated by adopting other statistical values except the mean value, such as variance and the like.
In this embodiment, step S04 further includes calculating a direction of an included angle between the converted global reference line and the visual guide line, where the steps include:
s411, constructing a three-dimensional coordinate system by taking the upward direction perpendicular to the ground as the positive direction of the Z axis;
s412, in the constructed three-dimensional coordinate system, assigning values to the Z axes of a first vector and a second vector so as to expand the Z axes into a three-dimensional form, and obtaining an expanded first vector and an expanded second vector;
s413, calculating cross products of the expanded first vector and the expanded second vector, and judging the direction of the included angle theta according to the positive and negative of the cross products.
In a specific application embodiment, taking the four sampling points on the visual guide line and the global reference line as examples, when calculating the direction of the included angle θ, constructing a three-dimensional coordinate system with the positive direction of the Z axis perpendicular to the ground, and taking the vector a c s3 Sum vector b t s3 The value of Z axis of (2) is assigned 0 to extend to three-dimensional formCalculating newly constructed vector A c s3 Sum vector B t s3 A cross product; when the calculated cross product is positive, namely the value of the included angle theta is positive, the direction of the vehicle head is indicated to be left relative to the road surface, otherwise, the value of the included angle theta is negative, the direction of the vehicle head is indicated to be right relative to the road surface, namely, the direction of the vehicle head can be judged according to the direction of the included angle theta.
The calculating of the distance between the vehicle body center and the road boundary and/or the distance of the vehicle body center from the road center line in step S05 of the present embodiment includes:
s501, taking coordinates of a central point of a vehicle body as a round point in a vehicle body coordinate system, taking a target point C at a specified distance right in front of the center of the vehicle body, and constructing a straight line LC through the target point C, wherein the slope KC of the straight line LC is-tan theta, and theta is an included angle between a converted global reference line and a visual guide line;
s502, calculating coordinates of left and right road boundary points on a straight line LC according to a coordinate sequence of the road boundary points;
s503, respectively calculating the distance between the left and right road boundary points and the target point C according to the coordinates of the left and right road boundary points;
s504, calculating the distance between the center of the vehicle body and the left and right road boundaries and the distance between the center of the vehicle body and the center line of the road according to the distance between the left and right road boundary points and the target point C.
According to the embodiment, the straight line LC is constructed by taking the target point C at a certain distance right in front of the center of the vehicle body, the coordinates of the left and right road boundary points are calculated by utilizing the straight line LC and the information of the included angle between the global reference line and the visual guide line, the distance between the left and right road boundary points and the target point C is calculated, the distance between the center of the vehicle body and the left and right road boundary and the distance between the center of the vehicle body and the center of the road are calculated by utilizing the distance between the left and right road boundary points and the target point C, and the position of the vehicle in the road area can be rapidly and accurately positioned by utilizing the included angle between the global reference line and the visual guide line and the information of the road boundary points.
As shown in FIG. 3, the coordinates of the center A point of the vehicle body on the vehicle body coordinate system are (0, 0), at a prescribed distance right in front of the center of the vehicle bodyTaking a target point C, the coordinate of the target point C is (x) c ，y c ) Wherein x is c =0, the passing point C is a straight line with a slope of k c ，k c The value of (C) is-tan theta, the mathematical expression for obtaining the straight line LC according to the slope of the straight line and the condition of passing the known point C is: y-y c ＝k c *(x-x c )。
Because the nearest view range of the visual camera is about 7 meters in front of the center of the vehicle body, the coordinate point of the target point C is preferably taken from the coordinate point of 7 meters in front of the center of the vehicle body, and the coordinate of the target point C is (0, 7), and of course, the target point C can specifically take other position points according to actual requirements.
The coordinates of the left road boundary point F and the coordinates of the right road boundary point G on the straight line LC can be calculated according to the expression of the straight line LC and the known coordinate sequence of the road boundary points; and then according to the distance formula between two points, the magnitudes of CF and CG can be obtained and respectively expressed as DCL and DCR, and then according to (DCL+ycsin theta) and (DCR-ycsin theta), the magnitudes of BF and BG can be obtained, namely, the distances DL and DR of the vehicle body center from the left and right road boundaries are obtained, the road width D is the sum of DL and DR, namely, D=DL+DR, and then the distance b of the vehicle body center from the road center line is (DR-DL)/2, namely, b= (DR-DL)/2.
Taking into consideration that there is an error in the road boundary, the embodiment further sequentially takes 7.5m and 8m just in front of the center of the vehicle body, repeatedly executes the above step S05 according to the coordinate values of the m (the coordinate point values can be specifically configured according to actual requirements), obtains a corresponding series of road width values, the distance between the center of the vehicle body and the left and right boundaries, and the distance between the center of the vehicle body and the center of the road, takes the average value as a final calculation result, and marks as D, D L a 、D R a And b a The calculation accuracy can be further improved, and the influence caused by measurement errors can be reduced.
In this embodiment, when the conversion is performed to the geodetic coordinate system in step S05, the method is specifically as followsCalculating to obtain the abscissa x under the geodetic coordinate system v According to formula->Calculating to obtain the lower ordinate y of the geodetic coordinate system v And according to formula->Calculating to obtain the yaw angle +.>Wherein x is r m 、y r m 、/>Yaw angle, x in the abscissa, ordinate, geodetic system of the nearest reference point, respectively i r ,y i r ,/>Respectively the horizontal coordinate, the vertical coordinate and the yaw angle under the geodetic coordinate system of the global reference line coordinate point before conversion, theta is the included angle between the global reference line and the visual guide line after conversion, and b is the distance from the center line of the road to the center of the vehicle body. The confidence level conf can be further obtained according to the probability value of the road category in the road semantic segmentation and pushing corresponding to the road boundary point set v And outputting.
In a specific application embodiment, the calculated value of θ and b a Values, converting the calculated values of the vehicle body coordinate system into an east-north-sky (e-n-u) coordinate system to obtain a new positioning outputx v Is->y v Is-> The value of +.>conf v The value of (2) is the average value of the probability value set corresponding to the road category in the road semantic segmentation and inference.
The following further describes the present invention by taking the implementation of the global positioning of the vehicle by using the method of the present invention in a specific application embodiment as an example.
As shown in fig. 4, the detailed steps for implementing global positioning of a vehicle based on reference line matching in this embodiment are as follows:
step 1: data input: inputting GPS signalsGrid map containing road area under car body coordinate system and pre-recorded global reference line coordinate point set +.>Wherein x is g ,y g ,,/>conf g Respectively representing the horizontal coordinate and the vertical coordinate of a position point under an east-north-sky (e-n-u) coordinate system, the yaw angle under the east-north-sky (e-n-u) coordinate system and the confidence level of the signal, generating a visual guide wire in a grid graph of a road area, and acquiring a coordinate point of a road boundary and a coordinate point of the visual guide wire on the grid graph.
Step 2; nearest reference point calculation: and calculating a reference point closest to the initial position point given by the GPS on the global reference line according to the initial position given by the GPS.
Taking a plurality of sampling points on a global reference line at a distance interval of 1 meter, and calculating a minimum distance d according to formulas (1) and (2) m Obtaining the nearest reference point
d m ＝min(d 1 ，d 2 …d n )i＝1，2…n (2)
Step 3; global reference line projection: according to the nearest reference point d m The global reference line is down-converted from the east-north-sky (e-n-u) coordinate system to the vehicle body coordinate system.
Will be the nearest reference pointThe information is set as GPS coordinates of the center of the vehicle body, and the nearest reference point d m Centered, the projection of the point 40 m in front of the global reference line of the vehicle heading is converted into the vehicle body coordinate system, wherein the vehicle heading is taken as the Y-axis, the X-axis is parallel to the ground and perpendicular to the Y-axis, namely, the global reference line coordinate point set->With the nearest reference point (x r m ，y r m ) The coordinate center of the vehicle body is converted into a vehicle body coordinate system, the y-axis of the vehicle body coordinate system in the conversion process is actually along the tangential direction of the global reference line of the nearest reference point position, and the conversion formula is shown in the formula (3).
Wherein x is r i ，y r i And x c i ，y c i Respectively represent global references in an east-north-sky (e-n-u) coordinate systemCoordinate values of the line and coordinate values projected under the vehicle body coordinate system.
Step 4: calculation of included angle between global reference line and visual reference line
Taking the coordinates of the center (0, 0) of the vehicle body coordinate system as a starting point, taking four reference points projected onto the vehicle body coordinate system on a global reference line in the advancing direction of the vehicle, so that the distances between the four reference points and the coordinates (0, 0) of the center of the vehicle body are respectively 10 meters, 15 meters and 20 meters, and the coordinates corresponding to 25 meters are expressed as (x) c s1 ,y c s1 )、(x c s2 ,y c s2 )、(x c s3 ,y c s3 )，(x c s4 ,y c s4 ) The coordinate distance calculation formula is expressed as formula (4). Similarly, four sampling points are taken at the visual index line by taking the coordinates of the center (0, 0) of the vehicle body coordinate system as the starting point, so that the distances between the four sampling points and the coordinates (0, 0) of the center of the vehicle body are respectively 10 meters, 15 meters, 20 meters and 25 meters, and the corresponding coordinates are expressed as (x) t s1 ,y t s1 )、(x t s2 ,y t s2 )、(x tt s3 ,y t s3 )、(x t s4 ,y t s4 ) The coordinate distance calculation formula is expressed as formula (5).
Points (x) of the vehicle body coordinate system c s1 ,y c s1 ) To the point (x) c s2 ,y c s2 ) The vector of (a) is denoted as a c s1 The vehicle body coordinate system point (x c s2 ,y c s2 ) To the point (x) c s3 ,y c s3 ) The vector of (a) is denoted as a c s2 The vehicle body coordinate system point (x c s3 ,,y c s3 ) To the point (x) c s4 ,y c s4 ) The vector of (a) is denoted as a c s3 . The same applies the vehicle body coordinate system point (x t s1 ,y t s1 ) To the point (x) t s2 ,y t s2 ) The vector of (b) is denoted b t s1 The vehicle body coordinate system point (x t s2 ,y t s2 ) To the point (x) t s3 ,y t s3 ) The vector of (b) is denoted b t s2 The vehicle body coordinate system point (x t s3 ,y t s3 ) To the point (x) t s4 ,y t s4 ) The vector of (b) is denoted b t s3 . Calculating a vector a according to the included angle calculation formula between the vectors and the formula (6) r s1 Sum vector b t s1 The included angle between them is theta 1 Calculating a calculation vector according to equation (7)a r s2 Sum vector b t s2 The included angle between them is theta 2 Calculating the vector a according to equation (8) r s3 Sum vector b t s3 The included angle between them is theta 3 。
Calculating θ according to equation (9) 1 、θ 2 、θ 3 Average value θ of (2).
9＝(θ 1 +θ 2 +θ 3 )/3＝(acrcos(cosθ 1 )+acrcos(cosθ 2 )+acrcos(cosθ 3 ))/3 (9)
The value of theta calculated according to the formula (9) is the calculated included angle theta between the reference line and the visual guide line under the vehicle body coordinate system.
Step 5, calculating the direction of the included angle theta
Constructing a three-dimensional coordinate system with the positive Z-axis direction perpendicular to the ground, and taking the vector a as the reference c s3 Sum vector b t s3 The value of Z axis of (2) is assigned 0 to expand to three-dimensional form, and the newly constructed vector A is calculated c s3 Sum vector B t s3 The cross product is calculated as follows:
when the calculated cross product is positive, the value of θ is positive, indicating that the orientation of the vehicle head is left with respect to the road surface, whereas the value of θ is negative, indicating that the orientation of the vehicle head is right with respect to the road surface.
Step 6: and calculating the distance between the road width and the left and right boundaries of the center of the vehicle body from the center line of the road.
The coordinates of a point A at the center of the vehicle body are (0, 0) on a vehicle body coordinate system, the coordinates of a point C (0, 7) at the position 7 m right in front of the center of the vehicle body are taken, the passing point C is taken as a straight line, and the slope of the straight line is K C ,K C The value of (C) is-tan theta, and a straight line L can be obtained according to the slope of the straight line and the condition of passing through a known point C C Mathematical expression (11):
y-y c ＝k c *(x-x c ) (11)
the straight line L is obtained according to the formula (11) and the coordinate sequence of the known road boundary point C Coordinates of the left road boundary point F and coordinates of the right road boundary point G on the upper surface; and then according to the distance formula between two points, the CF and CG are obtained to be expressed as D CL And D CR Further, the magnitudes of BF and BG are obtained as the distance D from the left and right boundaries of the vehicle body center L And D R ,D L Equal to (D) CL +7sinθ),D R Equal to (D) CR -7sin θ); the road width is D L And D R Sum of D=D L +D R Further, the distance from the center of the vehicle body to the center line of the road is b= (D) R -D L ) 2; further sequentially taking a plurality of point coordinates right in front of the vehicle body center, obtaining a series of road width values, the distance between the vehicle body center and the left and right boundaries, and the distance between the vehicle body center and the road center line, and obtaining an average value as a final result D, D L a 、D R a And b a 。
Step 7: positioning and outputting: conversion of corresponding values of the vehicle body coordinate system to an east-north-sky (e-n-u) coordinate system to calculate and output new positioning output
Based on the calculated value of θ and b a Value, calculate x of output v Is thatCalculate the transfusionY is shown v Is->Computing output +.>The value of +.>Output conf v Specifically, the value of (1) is taken as an average value of a probability value set belonging to a road category in the road semantic segmentation and inference.
The global positioning device for a vehicle based on reference line matching in this embodiment includes:
the acquisition module is used for acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line, wherein the global reference line is a GPS signal point set of a target route acquired in advance, and the visual guide line is generated according to a central line of a road area grid graph acquired in the running process of the vehicle;
the nearest reference point calculation module is used for calculating a reference point on the global reference line, which is nearest to the GPS initial position, so as to obtain a nearest reference point;
the projection conversion module is used for determining a vehicle body center GPS coordinate according to the nearest reference point, and converting the global reference line projection with the designated length in the vehicle advancing direction into a vehicle body coordinate system according to the vehicle body center GPS coordinate to obtain a converted global reference line;
the matching calculation module is used for calculating an included angle between the converted global reference line and the visual guide line and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle;
and the positioning output module is used for obtaining final positioning information output under a geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point.
In this embodiment, the global positioning device for the vehicle based on the reference line matching corresponds to the global positioning method for the vehicle based on the reference line matching in a one-to-one manner, and will not be described in detail herein.
The global positioning device of the vehicle based on reference line matching in this embodiment may further be: the system comprises a processor and a memory, wherein the memory is used for storing a computer program, the processor is used for executing the computer program, and the processor is used for executing the computer program to execute the vehicle global positioning method based on the reference line matching.
The present embodiment also provides a computer-readable storage medium storing a computer program which, when executed, implements a method as described above.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.

Claims (11)

1. The global positioning method of the vehicle based on the reference line matching is characterized by comprising the following steps:
s01, acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line, wherein the global reference line is a GPS signal point set of a target route acquired in advance, and the visual guide line is generated according to a central line of a road area grid chart acquired in the running process of the vehicle;
s02, calculating a reference point on the global reference line closest to the GPS initial position to obtain a closest reference point;
s03, determining a vehicle body center GPS coordinate according to the nearest reference point, and converting global reference line projection with specified length in the vehicle advancing direction into a vehicle body coordinate system according to the vehicle body center GPS coordinate to obtain a converted global reference line;
s04, calculating an included angle between the converted global reference line and the visual guide line, and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle;
s05, obtaining final positioning information output under a geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point.
2. The global positioning method of a vehicle based on reference line matching according to claim 1, wherein said step S02 comprises: and taking a plurality of sampling points on the global reference line at intervals, respectively calculating the distance between each sampling point and the GPS initial position, and taking the sampling point corresponding to the minimum distance as the nearest reference point.
3. The global positioning method of a vehicle based on reference line matching according to claim 1, wherein in the step S03, the nearest reference point is taken as a vehicle body center GPS coordinate, a Y-axis is taken as a vehicle advancing direction, an X-axis is parallel to the ground and perpendicular to the Y-axis, and a global reference line of a specified length in the vehicle advancing direction is projected and converted to a vehicle body coordinate system with the nearest reference point as a vehicle body center.
4. The global positioning method of a vehicle based on reference line matching according to claim 3, wherein in the step S03, a global reference line of a specified length in the vehicle advancing direction is projected and converted to a vehicle body coordinate system with the nearest reference point as a vehicle body center according to the following formula:
wherein x is r m 、y r m 、φ m r Yaw angle, x in the abscissa, ordinate, geodetic system of the nearest reference point, respectively i r ,y i r ,φ i r Respectively yaw angles, x of global reference line coordinate points before conversion in an abscissa, an ordinate and a geodetic coordinate system c i ，y c i Respectively, are converted into the transverse directions under the coordinates of the vehicle bodyCoordinates, ordinate.
5. The global positioning method of a vehicle based on reference line matching according to claim 1, wherein said step S04 includes:
taking a central coordinate of a vehicle body under a vehicle body coordinate system as a round dot, taking a plurality of reference points on the converted global reference line projected to the vehicle body coordinate system, and taking a plurality of sampling points on the visual guide line;
forming a plurality of first vectors between all reference points on the converted global reference line respectively, and forming a plurality of second vectors between all sampling points on the visual guide line respectively;
and respectively calculating the included angles between the first vectors and the second vectors, and comprehensively calculating the included angles to obtain the final included angle between the converted global reference line and the visual index line.
6. The global positioning method of a vehicle based on reference line matching according to claim 5, wherein the step S04 further comprises calculating a direction of an included angle between the converted global reference line and the visual index line, and the step comprises:
constructing a three-dimensional coordinate system by taking the upward direction perpendicular to the ground as the positive direction of the Z axis;
in the constructed three-dimensional coordinate system, assigning a Z axis of the first vector and the Z axis of the second vector to expand the Z axis into a three-dimensional form, and obtaining an expanded first vector and an expanded second vector;
and calculating cross products of the expanded first vector and the expanded second vector, and judging the direction of the included angle according to the positive and negative of the cross products.
7. The global positioning method of a vehicle based on reference line matching according to any one of claims 1 to 6, wherein calculating the distance between the vehicle body center and the road boundary and/or the distance between the vehicle body center and the road center line in step S05 includes:
taking the coordinates of a central point of the vehicle body as a round point in a vehicle body coordinate system, taking a target point C at a specified distance right in front of the center of the vehicle body, and constructing a straight line LC through the target point C, wherein the slope KC of the straight line LC is-tan theta, and theta is the included angle between the converted global reference line and the visual guide line;
calculating coordinates of left and right road boundary points on the straight line LC according to the coordinate sequence of the road boundary points;
according to the coordinates of the left and right road boundary points, respectively calculating the distance between the left and right road boundary points and the target point C;
and calculating the distance between the center of the vehicle body and the left and right road boundaries and/or the distance between the center of the vehicle body and the center line of the road according to the distance between the left and right road boundary points and the target point C.
8. The global positioning method of a vehicle based on reference line matching according to any one of claims 1 to 6, wherein when the transformation is performed to the geodetic coordinate system in step S05, the method is according to the formulaCalculating to obtain the abscissa x under the geodetic coordinate system v According to formula->Calculating to obtain the lower ordinate y of the geodetic coordinate system v And according to formula (phi) m r -theta) to calculate the yaw angle phi in the geodetic coordinate system v Wherein x is r m 、y r m 、φ m r And the yaw angles are respectively the abscissa, the ordinate and the geodetic coordinate system of the nearest reference point, theta is the included angle between the converted global reference line and the visual guide line, and b is the distance from the center of the vehicle body to the central line of the road.
9. A global positioning device for a vehicle based on reference line matching, comprising:
the acquisition module is used for acquiring data of a global reference line, a GPS initial position of a vehicle and a visual guide line, wherein the global reference line is a GPS signal point set of a target route acquired in advance, and the visual guide line is generated according to a central line of a road area grid graph acquired in the running process of the vehicle;
the nearest reference point calculation module is used for calculating a reference point on the global reference line, which is nearest to the GPS initial position, so as to obtain a nearest reference point;
the projection conversion module is used for determining a vehicle body center GPS coordinate according to the nearest reference point, and converting the global reference line projection with the designated length in the vehicle advancing direction into a vehicle body coordinate system according to the vehicle body center GPS coordinate to obtain a converted global reference line;
the matching calculation module is used for calculating an included angle between the converted global reference line and the visual guide line and calculating the distance from the center of the vehicle body to the center line of the road according to the included angle;
and the positioning output module is used for obtaining final positioning information output under a geodetic coordinate system according to the included angle, the distance between the center of the vehicle body and the central line of the road and the nearest reference point.
10. A global positioning device for a vehicle based on reference line matching, comprising a processor and a memory for storing a computer program, characterized in that the processor is adapted to perform the method according to any of claims 1-8.
11. A computer readable storage medium storing a computer program, characterized in that the computer program when executed implements the method according to any one of claims 1-8.
CN202210266814.4A 2022-03-17 2022-03-17 Vehicle global positioning method and device based on reference line matching Active CN114563006B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210266814.4A CN114563006B (en) 2022-03-17 2022-03-17 Vehicle global positioning method and device based on reference line matching

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210266814.4A CN114563006B (en) 2022-03-17 2022-03-17 Vehicle global positioning method and device based on reference line matching

Publications (2)

Publication Number Publication Date
CN114563006A CN114563006A (en) 2022-05-31
CN114563006B true CN114563006B (en) 2024-03-19

Family

ID=81719213

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210266814.4A Active CN114563006B (en) 2022-03-17 2022-03-17 Vehicle global positioning method and device based on reference line matching

Country Status (1)

Country Link
CN (1) CN114563006B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108845343A (en) * 2018-07-03 2018-11-20 河北工业大学 The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map
CN111415390A (en) * 2020-03-18 2020-07-14 上海懒书智能科技有限公司 Positioning navigation method and device based on ground texture
CN112129297A (en) * 2020-09-25 2020-12-25 重庆大学 Self-adaptive correction indoor positioning method for multi-sensor information fusion
CN113721602A (en) * 2021-07-28 2021-11-30 广州小鹏自动驾驶科技有限公司 Reference line processing method, device, equipment and storage medium

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107949768B (en) * 2015-08-28 2018-10-12 日产自动车株式会社 Vehicle location estimating device, vehicle location estimate method
US10983530B2 (en) * 2018-10-31 2021-04-20 Wipro Limited Method and system for determining an accurate position of an autonomous vehicle
CN111830953B (en) * 2019-04-12 2024-03-12 北京四维图新科技股份有限公司 Vehicle self-positioning method, device and system
CN111272165B (en) * 2020-02-27 2020-10-30 清华大学 Intelligent vehicle positioning method based on characteristic point calibration

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108845343A (en) * 2018-07-03 2018-11-20 河北工业大学 The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map
CN111415390A (en) * 2020-03-18 2020-07-14 上海懒书智能科技有限公司 Positioning navigation method and device based on ground texture
CN112129297A (en) * 2020-09-25 2020-12-25 重庆大学 Self-adaptive correction indoor positioning method for multi-sensor information fusion
CN113721602A (en) * 2021-07-28 2021-11-30 广州小鹏自动驾驶科技有限公司 Reference line processing method, device, equipment and storage medium

Also Published As

Publication number Publication date
CN114563006A (en) 2022-05-31

Similar Documents

Publication Publication Date Title
US10921461B2 (en) Method and apparatus for determining unmanned vehicle positioning accuracy
CN111486845B (en) AUV multi-strategy navigation method based on submarine topography matching
CN111457929A (en) Logistics vehicle autonomous path planning and navigation method based on geographic information system
CN113654555A (en) Automatic driving vehicle high-precision positioning method based on multi-sensor data fusion
US11158065B2 (en) Localization of a mobile unit by means of a multi hypothesis kalman filter method
CN111915675B (en) Particle drift-based particle filtering point cloud positioning method, device and system thereof
Cai et al. Mobile robot localization using gps, imu and visual odometry
CN114526745A (en) Drawing establishing method and system for tightly-coupled laser radar and inertial odometer
CN107966145B (en) AUV underwater navigation method based on sparse long baseline tight combination
CN111426320A (en) Vehicle autonomous navigation method based on image matching/inertial navigation/milemeter
CN113447949B (en) Real-time positioning system and method based on laser radar and prior map
CN113819917A (en) Automatic driving path planning method, device, equipment and storage medium
CN113252038A (en) Course planning terrain auxiliary navigation method based on particle swarm optimization
CN114593739B (en) Vehicle global positioning method and device based on visual detection and reference line matching
JP2023164553A (en) Position estimation device, estimation device, control method, program and storage medium
CN113405560A (en) Unified modeling method for vehicle positioning and path planning
CN115930977A (en) Method and system for positioning characteristic degradation scene, electronic equipment and readable storage medium
CN114563006B (en) Vehicle global positioning method and device based on reference line matching
US20240077880A1 (en) Slope location correction method and apparatus, robot and readable storage medium
CN113252039B (en) Terrain-assisted navigation-oriented particle swarm fast matching method
CN112747752B (en) Vehicle positioning method, device, equipment and storage medium based on laser odometer
CN115790613A (en) Visual information assisted inertial/odometer integrated navigation method and device
CN113227713A (en) Method and system for generating environment model for positioning
CN113503891B (en) SINSDVL alignment correction method, system, medium and equipment
CN113554705A (en) Robust positioning method for laser radar in changing scene

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant