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A parking lot entrance positioning method, device and vehicle-mounted terminal in parking positioning

A parking lot entrance and positioning method technology, applied in the field of intelligent driving, can solve the problems of poor positioning accuracy, insufficient initial pose accuracy at the entrance of the parking lot, and insufficient GPS signal positioning accuracy, so as to reduce the positioning range and improve positioning accuracy Effect

Active Publication Date: 2021-12-31
BEIJING MOMENTA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the positioning accuracy of the GPS signal is not high enough, resulting in the determined initial pose accuracy at the entrance of the parking lot is not high enough, which in turn leads to poor positioning accuracy in the subsequent parking lot

Method used

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  • A parking lot entrance positioning method, device and vehicle-mounted terminal in parking positioning
  • A parking lot entrance positioning method, device and vehicle-mounted terminal in parking positioning
  • A parking lot entrance positioning method, device and vehicle-mounted terminal in parking positioning

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Experimental program
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Effect test

Embodiment approach 1

[0183] Embodiment 1 includes the following steps 1b-5b.

[0184] Step 1b: Match the semantic information of the parking lot image with the semantic information of each location point in the preset map, and obtain the target location corresponding to the semantic information that is successfully matched in the preset map.

[0185] Step 2b: Taking the first vehicle pose as the initial value of the estimated pose, according to the value of the estimated pose and the position of the semantic information of the parking lot image in the parking lot image, calculate the mapping of the semantic information of the parking lot image to the preset Sets the first mapped position in the map.

[0186] In this step, mapping the semantic information of the parking lot image to the first mapping position in the preset map can be understood as mapping the semantic information of the parking lot image to the coordinate system of the preset map, and the mapped position is the first A map locatio...

Embodiment approach 2

[0192] Embodiment 2 includes the following steps 1c-5c.

[0193] Step 1c: matching the semantic information of the parking lot image with the semantic information of each position point in the preset map to obtain the target position corresponding to the successfully matched semantic information in the preset map.

[0194] Step 2c: Taking the first vehicle pose as the initial value of the estimated pose, and according to the value of the estimated pose and the target position, calculate the second mapping position of the successfully matched semantic information in the preset map in the parking lot image.

[0195]Wherein, calculating the second mapping position of the semantic information successfully matched in the preset map in the parking lot image can be understood as mapping the semantic information successfully matched in the preset map to the coordinate system where the parking lot image is located, and the mapped The location is the second mapped location.

[0196] St...

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Abstract

The embodiment of the present invention discloses a parking lot entrance positioning method, device and vehicle terminal in parking positioning. The method includes: when it is detected that the vehicle enters the entrance of the parking lot, and it is determined that the position indicated by the initial vehicle pose of the positioning module is in the preset initialization recognition area, acquiring the image of the parking lot collected by the camera module, and detecting the parking lot Semantic information of the image; based on the semantic information of the parking lot image and the initial vehicle pose, determine the first vehicle pose of the vehicle through the pose regression model, and match the semantic information of the parking lot image with the preset map according to the first vehicle pose Semantic information of each location point in , and determine the second vehicle pose of the vehicle according to the matching result; wherein, the pose regression model is pre-trained based on multiple sample parking lot images collected in the initialization recognition area. By applying the solutions provided by the embodiments of the present invention, the positioning accuracy at the entrance of the parking lot can be improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a parking lot entrance positioning method, device and vehicle-mounted terminal in parking positioning. Background technique [0002] Smart parking technology can intelligently control the vehicle to drive into the parking space of the parking lot. Among them, when the vehicle enters the parking lot, it is necessary to accurately locate the position of the vehicle in the parking lot, so as to better control the vehicle to find a suitable parking space in the parking lot and park it. In the related art, it is usually possible to locate the vehicle according to the GPS signal. However, GPS signals are often blocked in indoor parking lots or underground garages. [0003] In this case, precise positioning can be performed based on the matching of semantic information in the visual image with the semantic information in the map. However, this positioning method r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/14G06K9/32
CPCG08G1/14G06V20/62G06V10/24
Inventor 姜秀宝施泽南谢国富
Owner BEIJING MOMENTA TECH CO LTD
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