Vehicle positioning method and device based on imaging equipment

Abstract

The invention provides a vehicle positioning method and device based on imaging equipment and relates to the technical field of vehicle positioning. The imaging equipment is fixedly arranged on one side, close to a lane marker, of a vehicle, and an optical axis of the imaging equipment is perpendicular to a lane plane. The method comprises steps of controlling the imaging equipment to acquire an image, determining an optical center coordinate of the imaging equipment in the image, and identifying the lane marker in the image to obtain a parameterized line of the lane marker in the image; obtaining a first distance from the optical center coordinate to the parameterized line; according to the first distance, a second distance from the optical center of the imaging equipment to a lane planeand the focal length of the imaging equipment, obtaining the relative distance from an intersection point of the optical axis of the imaging equipment and the lane plane to an extension line formed bythe lane marker; and positioning the vehicle according to the relative distance. The method is advantaged in that positioning precision can be ensured to achieve the better effect, identification ofthe lane marker is simpler, so the whole vehicle positioning method is easy to realize.

Description

technical field [0001] The present invention relates to the technical field of vehicle positioning, in particular to a vehicle positioning method and device based on imaging equipment. Background technique [0002] At present, positioning technology, as an important technology in the field of unmanned driving, has received widespread attention from researchers. When the vehicle is running, it is necessary to use positioning technology to determine the position of the vehicle at all times. A current common solution is to use a global navigation satellite system (Global Navigation Satellite System, GNSS for short) as a basis for self-positioning. However, due to signal interference and other conditions, GNSS is difficult to meet the positioning accuracy requirements in some high-precision scenes (such as scenes with complex electromagnetic environments such as ports, where GNSS signals will be strongly interfered), so the assistance of other sensors, such as cameras, is requi...

AI Technical Summary

Problems solved by technology

However, due to signal interference and other conditions, GNSS is difficult to meet the positioning accuracy requirements in some high-precision scenes (such as scenes with complex electromagnetic environments such as ports, where GNSS signals will be strongly interfered), so the assistance of other sensors, such as cameras, is required. LiDAR, etc.

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