Vehicle self-localization and map construction method in parking lot based on top view

A map construction and top-view technology, applied in the fields of autonomous parking and computer vision, can solve the problems of positioning accuracy, stability and real-time performance that are difficult to obtain satisfactory comprehensive effects, difficulty in applying on-board processors, and consumption of computing power. The result is high precision, high cost performance, and the effect of accurate pose estimation

Active Publication Date: 2021-10-15
CHANGCHUN YIHANG INTELLIGENT TECH CO LTD
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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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  • Vehicle self-localization and map construction method in parking lot based on top view
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  • Vehicle self-localization and map construction method in parking lot based on top view

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[0228] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific implementation manners described here are only used to explain relevant content, rather than to limit the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.

[0229] It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with embodiments.

[0230] The purpose of the present invention is to provide a method for self-positioning and map construction of parking lot vehicles based on top view. figure 1 An overall flow chart of the invention is described. Such as figure 1 As shown, the o...

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Abstract

A top-view-based self-positioning and map construction method for parking lots, using a low-cost fisheye camera surround view system as an information collection system, generating a top view based on the surround view system, and robustly extracting parking spaces near the vehicle The angle line features of the vehicle are tracked and mapped; the angle line map is generated in real time by using the graph matching technology, and the local map optimization and the global map optimization are used to perform real-time high-precision positioning and map construction of the vehicle. The method avoids the scale drift problem of monocular SLAM in principle, and uses the existing vehicle system to complete real-time, high-precision vehicle self-localization and map construction work with low-cost sensors and low-power vehicle processors , to assist the completion of the autonomous parking task. The present disclosure also provides a construction device, a construction system, an automatic driving vehicle and an autonomous parking system.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/14H04N7/18G06K9/00G06T7/80G06T3/40
CPCG08G1/14H04N7/181G06T7/80G06T3/4038G06T2207/10004G06T2207/30248G06V20/586
Inventor 李一龙陈禹行范圣印李雪
Owner CHANGCHUN YIHANG INTELLIGENT TECH CO LTD
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