Field end for assisting global positioning of unmanned vehicle in limiting scene and global positioning method

Abstract

The invention discloses a field end for assisting global positioning of an unmanned vehicle in a limiting scene. The field end comprises a plurality of semantic feature patterns which are different from each other, wherein the plurality of semantic feature patterns are arranged on at least one side of a traveling road of the unmanned vehicle in the limiting scene at a distance D according to a semantic cyclic code; the semantic cyclic code is formed by a plurality of code combinations, and the codes correspond to the semantic feature patterns in a one-to-one mode; a periodic sequence of the semantic cyclic code does not have ambiguity at a positioning uncertainty interval; the distance D is computed through a formula L=(D*(N-1)), wherein L is the length of a semi-major axis of the uncertainty interval, and N is the length of the periodic sequence. A vehicle end can be guaranteed to quickly complete global repositioning at the positioning uncertainty interval of the vehicle, the arrangement efficiency is high, the cost is low, and the operation and maintenance cost is low, the communication burden of the field end and the vehicle end is reduced, and the design difficulty of a three-end integrated system is simplified.

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a field end and a global positioning method for assisting unmanned vehicles in global positioning in restricted scenarios. Background technique [0002] Unmanned driving technology usually refers to a complete system in which a car can perceive the surrounding environment through its own sensors and complete navigation, path planning and control tasks without human operation. Unmanned driving technology has been regarded as a technology that will bring profound changes to human society since it was proposed. PricewaterhouseCoopers predicts that the popularization of unmanned driving technology will reduce overall traffic accidents by 90%; KPMG Automotive Research Center predicts that unmanned driving technology will drive productivity and energy efficiency to be improved, and new businesses will emerge. model. [0003] According to the level of autonomy (that is, how ...

AI Technical Summary

Problems solved by technology

This field end technical solution has the following disadvantages: 1) The magnetic nails are expensive to manufacture, and because they are buried underground, they cannot be quickly deployed. Therefore, in this scenario, it is necessary to ensure that there is no electromagnetic field interference, and no equipment with degaussing effects is allowed on the path of AGV operation; 3) The field end requires special vehicles (such as extremely expensive AGVs equipped with magnetic navigation sensors ), so it is difficult to promote this type of field-side solution to general passenger car scenarios (such as valet parking)

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