Lane position determination method and device based on automatic driving vehicle and storage medium

A technology for automatic driving and lanes, applied in the field of equipment and storage media, and lane position determination methods, which can solve problems such as multiple historical data and unsuitable real-time data fusion

Active Publication Date: 2019-12-31
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] In the process of proposing the present disclosure, the inventors found that in the prior art, Kalman filter technology is usually used to fuse the position information of the smart car obtained by various sensors to obtain an accurate position estimate of the smart car. Vehicle positioning does not involve the relationship between the lane and the vehicle, and the lane is not modeled and positioned, and conventional Kalman filtering or Bayesian estimation is used for sensor data fusion, which requires more historical data to obtain the prior experimental information, not suitable for real-time data fusion

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  • Lane position determination method and device based on automatic driving vehicle and storage medium
  • Lane position determination method and device based on automatic driving vehicle and storage medium
  • Lane position determination method and device based on automatic driving vehicle and storage medium

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Embodiment Construction

[0058] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily realize them. Also, for clarity, parts not related to describing the exemplary embodiments are omitted in the drawings.

[0059] In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts or combinations thereof disclosed in the specification, and are not intended to exclude one or a plurality of other features, numbers, steps, acts, parts, parts or combinations thereof exist or are added.

[0060] In addition, it should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings...

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Abstract

The embodiment of the invention discloses a lane position determination method and device based on an automatic driving vehicle and a storage medium. The lane position determination method comprises the steps: acquiring measurement data of a positioning lane; determining a lane positioning vector according to the measurement data; taking the lane positioning vector as an identification framework of a D-S evidence theory, and determining trust distribution parameters of the lane positioning vector; and determining a lane positioning position according to the trust distribution parameter of thelane positioning vector and the lane positioning vector. According to the technical scheme, an evidence theory method is adopted, and all sensor measurement data serve as an identification framework and are converted into evidences for fusion. The lane position determination method is different from conventional Kalman filtering and Bayesian estimation, does not need more historical data to obtainthe prior information of the sensor, is simple and convenient in calculation, is simple in system, and is suitable for the fusion of real-time data.

Description

technical field [0001] The present disclosure relates to the technical field of automatic driving, and in particular to a method, device and storage medium for determining a lane position based on an automatic driving vehicle. Background technique [0002] With the development of automobile intelligent technology, smart cars can realize automatic driving. In automatic driving technology, knowing the lane information of the road on which the vehicle is driving (such as the position of the lane line, the distance between the vehicle and the lane line, the position of the vehicle in the lane, etc.) will bring great assistance to the automatic driving vehicle, which can improve automatic driving. driving safety of the vehicle. [0003] Due to the complex and changeable driving environment of self-driving vehicles, self-driving vehicles often install multiple sensors to perceive the surrounding environment, and location services are the main goals of multiple sensors. Current p...

Claims

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Application Information

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IPC IPC(8): G06N5/04G01D21/02
CPCG06N5/04G01D21/02
Inventor 温向明孟宛玉路兆铭王鲁晗傅彬王刚
Owner BEIJING UNIV OF POSTS & TELECOMM
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