Top view-based parking lot vehicle self-positioning and map construction method

Abstract

The invention discloses a top view-based parking lot vehicle self-positioning and map construction method. The method comprises the steps of: taking a look-around system which is composed of a low-cost fisheye camera as an information collection system, generating a top view based on the look-around system, extracting the angular line features of parking lines nearby a vehicle in a robust manner,and carrying out tracking and map construction; and generating an angular line map in real time by utilizing a map matching technology, and carrying out real-time high-precision positioning and map construction on the vehicle by utilizing local map optimization and global map optimization. According to the method, the problem of scale drift of a monocular SLAM is avoided in principle, and real-time and high-precision vehicle self-positioning and map construction work is completed on a low-power-consumption vehicle-mounted processor through a low-cost sensor by means of an existing vehicle-mounted system so as to assist in completing an autonomous parking task. The invention further provides a construction device, a construction system, an automatic driving vehicle and an autonomous parkingsystem.

Description

technical field [0001] The present invention relates to the field of autonomous parking technology and computer vision technology in the unmanned driving industry, in particular to a method and device for driving a vehicle to construct a parking lot map and vehicle self-positioning within the range of the parking lot. Background technique [0002] In recent years, autonomous driving technology has developed rapidly, and solving the problem of difficult parking is also one of the focuses of research and development in the field of autonomous driving. From the assisted parking system represented by the reversing radar and the bilateral obstacle automatic parking technology based on the ultrasonic radar to the present, the automatic parking technology is not limited to the operation of parking and warehousing, but has expanded to include autonomous parking. An integrated parking system for low-speed cruise, parking space search, parking and call response. Among them, technolog...

AI Technical Summary

Problems solved by technology

However, calculating the pixel distance of binocular images consumes computing power and is difficult to apply to low-power on-board processors

[0010] It can be seen that in autonomous parking, the existing methods are difficult to obtain satisfactory comprehensive results in terms of positioning accuracy, stability and real-time performance.

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