High-precision map and sensor fusion based location method of ramp of underground parking garage

Abstract

The invention discloses a high-precision map and sensor fusion based location method of a ramp of an underground parking garage. The location method comprises the following steps of a step 1), when an autonomous vehicle is enabled to begins entering the ramp of the underground parking garage, apperceiving the type of the ramp by an in-vehicle gradient sensor, so as to obtain the information that the vehicle is enabled to begins entering the ramp of the underground parking garage; a step 2), when the autonomous vehicle is enabled to begins entering the ramp, measuring distances of the vehicle to two walls by radar sensors on two sides of the vehicle, judging the starting point, at the ramp, of the vehicle in a matching manner by the distances and the high-precision map in a matching manner, and establishing a three-dimensional coordinate system in the matching manner according to the relative position, , at the ramp, of the starting point and the high-precision map in the matching manner; a step 3), subjecting a known path to digital curving to obtain the formula of the known path, and correspondingly moving transferring into the three-dimensional coordinate system; a step 4), after the autonomous vehicle is enabled to enters the ramp, calculating the running mileage of the vehicle through a wheel speed pulse signal output value, matching the mileage with the formula of the path subjected to the curving to obtain the point coordinates of a corresponding curve length, namely the location coordinates of the vehicle in the coordinate system at the moment, of a corresponding curve length.

Description

technical field [0001] The invention belongs to the field of automatic driving, and in particular relates to a ramp positioning method of an underground parking lot based on high-precision maps and sensor fusion. Background technique [0002] With the continuous promotion of semi-automatic parking technology, more and more researches have begun to focus on fully automatic parking and autonomous parking. Bosch demonstrated its fully automatic parking technology based on the Mercedes-Benz B180 at the 2016 China Automobile Annual Conference. BMW demonstrated a remote valet parking system at CES 2015. Drivers only need to drive the vehicle to the entrance of the parking lot to activate the remote valet parking system through a smart watch. Audi demonstrated one-button automatic parking in the parking lot at CES 2013, using laser scanners in the parking lot for vehicle positioning. [0003] With the rapid increase of urban cars and the continuous compression of urban parking sp...

AI Technical Summary

Problems solved by technology

[0005] Based on the above problems, the present invention proposes an underground parking lot ramp positioning method based on high-precision maps and sensor fusion, which solves the problem of indoor ramps caused by the inapplicability of current GPS indoors and the inapplicability of wireless network indoor positioning technology. The problem of vehicle positioning paves the way for future autonomous parking in underground parking lots

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