A multi-storey parking lot positioning method based on high-precision map data

A technology of map data and positioning method, applied in geographic information database, service based on specific environment, indicating directions of various open spaces in the parking lot, etc., can solve problems such as incorrect map information, error, and vehicle location information cannot be guaranteed, and achieve improvement Positioning accuracy, avoiding the effect of insufficient positioning accuracy

Active Publication Date: 2021-08-17
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, high-precision maps can make up for the lack of hardware perception, but whether the information of high-precision map sensors can be accurately output depends on whether the vehicle position can be correctly matched to the map. In this environment, the incoming location information (especially the altitude) is often wrong. Once an error occurs, the location information of the vehicle cannot be guaranteed, and the output map information around the vehicle is also incorrect.

Method used

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  • A multi-storey parking lot positioning method based on high-precision map data
  • A multi-storey parking lot positioning method based on high-precision map data
  • A multi-storey parking lot positioning method based on high-precision map data

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Embodiment 1

[0050] like figure 1 As shown, the embodiment of the present invention provides a multi-storey parking lot positioning method based on high-precision map data, including the following steps:

[0051] S1, receiving the GPS coordinate signal, and obtaining the map data around the vehicle from the high-precision map data according to the GPS coordinate signal, and generating a LocationMap; the LocationMap includes at least a preset range around the GPS coordinate position (for example, 100 meters centered on the GPS coordinate position , 50 meters, 30 meters) all parking space information and lane edge information;

[0052]S2, acquiring external sensor data, and merging the external sensor data with LocationMap, locating the hierarchical information of the vehicle, and using the hierarchical information to perform denoising processing on LocationMap;

[0053] S3, using the denoised LocationMap to correct the GPS latitude and longitude information and altitude information to obta...

Embodiment 2

[0072] like Figure 5 As shown, the embodiment of the present invention provides a multi-storey parking lot positioning system based on high-precision map data, including:

[0073] The LocationMap generation module is used to receive GPS coordinate signals, and obtain vehicle peripheral map data from high-precision map data according to the GPS coordinate signals to generate a LocationMap; the LocationMap includes at least all parking space information within a preset range around the GPS coordinate position and lane edge information;

[0074] The data fusion processing module acquires external sensor data, and fuses the external sensor data with the LocationMap, locates the hierarchical information of the vehicle, and uses the hierarchical information to perform denoising processing on the LocationMap;

[0075] The GPS correction and positioning module uses the denoised LocationMap to correct the GPS latitude and longitude information and altitude information to obtain the c...

Embodiment 3

[0088] An embodiment of the present invention provides a multi-storey parking lot positioning device based on high-precision map data, including a processor and a memory;

[0089] The memory is a non-transitory computer readable storage medium for storing computer software programs;

[0090] The processor is used to read and execute the computer software program stored in the memory, so as to realize the positioning method of a multi-storey parking lot based on high-precision map data according to the first embodiment of the present invention.

[0091] It should be noted that the above logical instructions in the memory may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be e...

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Abstract

The present invention relates to a multi-storey parking lot positioning method and device based on high-precision map data. The present invention first receives GPS coordinate signals, and obtains vehicle peripheral map data from the high-precision map data according to the GPS coordinate signals to generate a LocationMap; then obtains External sensor data, and said external sensor data is fused with LocationMap, the hierarchical information of positioning vehicle, utilizes described hierarchical information to carry out denoising processing to LocationMap; Finally utilize the LocationMap after denoising to revise GPS longitude and latitude information and altitude information, obtain vehicle Current location and level. The present invention fuses external sensor data, GPS data, and high-precision map data, avoids the problem of insufficient positioning accuracy caused by single-mode perception, and improves vehicle positioning accuracy in automatic driving.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a multi-storey parking lot positioning method based on high-precision map data. Background technique [0002] With the rise of autonomous driving technology, lane-level safe driving maps have entered everyone's field of vision and received more and more attention. Therefore, the safety of autonomous driving is put on the agenda, such as how to make decisions when encountering obstacles and still reach the destination, anti-collision and so on. However, the hardware perception in the automatic driving system, such as ultrasonic radar, binocular camera, etc., has limited perception conditions and a limited range of perception, and the map can well make up for these hardware perception deficiencies, so the map It is reasonable and economical as a sensor in an automatic driving system. [0003] At present, high-precision maps can make up for the lack of hardware perceptio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/14H04W4/33G01S19/42G06F16/29
CPCG01S19/42G08G1/14G06F16/29H04W4/33
Inventor 汪林娟李丹王君苏珽罗跃军
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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