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A real-time positioning method and device applied to automatic driving

A technology of automatic driving and real-time positioning, which can be applied to measurement devices, use re-radiation, and re-radiation of electromagnetic waves. It can solve the problems of poor positioning accuracy, time-consuming processing, and time-consuming data processing.

Active Publication Date: 2021-06-15
BEIJING MOMENTA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it has been found in practice that the image information data is usually relatively large, and it takes a long time to transmit it to the data processor. In addition, after the image information data is transmitted to the data processor, the data processor is also very difficult to process the image information data. Time-consuming, therefore, the current vehicle position information obtained by using the camera for vehicle positioning is actually earlier than the vehicle position information long before the current time, and the positioning accuracy is usually poor

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  • A real-time positioning method and device applied to automatic driving
  • A real-time positioning method and device applied to automatic driving
  • A real-time positioning method and device applied to automatic driving

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Experimental program
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Embodiment 1

[0081] see figure 1 , figure 1 It is a schematic flowchart of a real-time positioning method applied to automatic driving disclosed in an embodiment of the present invention. Such as figure 1 As shown, the real-time positioning method applied to automatic driving may include the following steps:

[0082] 101. Acquire inertial measurement sensor data from an inertial measurement sensor built in the vehicle, and record the time point at which the inertial measurement sensor data is acquired.

[0083] In the embodiment of the present invention, the inertial measurement sensor (Inertial measurement unit, IMU) sends the collected inertial measurement sensor data to the data processor, and the data processor can record and obtain the inertial measurement sensor data when the inertial measurement sensor data is obtained. The time point of the data, and set the time stamp of the inertial measurement sensor data based on this time point. Similarly, when other sensors (image sensor,...

Embodiment 2

[0094] see figure 2 , figure 2 It is a schematic flowchart of another real-time positioning method applied to automatic driving disclosed in the embodiment of the present invention. Such as figure 2 As shown, the real-time positioning method applied to automatic driving may include the following steps:

[0095] For the detailed description of steps 201 to 204, please refer to the detailed description of steps 101 to 104 in Embodiment 1, which will not be repeated in this embodiment of the present invention. Wherein, after step 204 is executed, step 205 is executed.

[0096] 205. Estimate the trajectory of the vehicle according to the last positioning result of the vehicle and the driving information of the vehicle when the last positioning result was obtained.

[0097] 206. Determine the next estimated positioning result of the vehicle according to the estimated trajectory.

[0098] In the embodiment of the present invention, the above-mentioned driving information inc...

Embodiment 3

[0108] see image 3 , image 3 It is a schematic flowchart of another real-time positioning method applied to automatic driving disclosed in the embodiment of the present invention. Such as image 3 As shown, the real-time positioning method applied to automatic driving may include the following steps:

[0109] 301. Acquire inertial measurement sensor data from an inertial measurement sensor built in the vehicle, and record the time point at which the inertial measurement sensor data is acquired.

[0110] 302. Detect whether other sensor data is acquired at the above time point, if yes, perform step 304; if not, perform step 303.

[0111] 303. Position the vehicle according to the above inertial measurement sensor data, and obtain a current positioning result of the vehicle.

[0112] Wherein, for the detailed description of steps 301 to 303, please refer to the description in Embodiment 1, which will not be repeated in this embodiment of the present invention.

[0113] 30...

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Abstract

The embodiment of the present invention discloses a real-time positioning method and device applied to automatic driving. The method includes: acquiring inertial measurement sensor data from the built-in inertial measurement sensor of the vehicle, and recording the time point when the inertial measurement sensor data is acquired. When sensor data other than inertial measurement sensor data is obtained at this time point, the vehicle is positioned according to the inertial measurement sensor data and other sensor data, and when no other sensor data is obtained at this time point, the vehicle is positioned based on the inertial measurement sensor data Position the vehicle. By implementing the embodiment of the present invention, the time point when the inertial measurement sensor data is received can be used as the time reference, and the sensor data obtained at the time point can be used for positioning to improve the positioning accuracy of the vehicle.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a real-time positioning method and device applied to automatic driving. Background technique [0002] In the existing vehicle positioning method, the built-in camera of the vehicle usually captures image information, sends the captured image information to a data processor, and then analyzes and processes the data processor to obtain a positioning result. However, it has been found in practice that the image information data is usually relatively large, and it takes a long time to transmit it to the data processor. In addition, after the image information data is transmitted to the data processor, the data processor is also very difficult to process the image information data. Time-consuming, therefore, the current vehicle position information obtained by using the camera for vehicle positioning is actually earlier than the vehicle position information long before the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S17/08
CPCG01C21/165G01S17/08
Inventor 杜志颖韩永根
Owner BEIJING MOMENTA TECH CO LTD
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