Vehicle positioning method and system

Abstract

The embodiment of the invention provides a vehicle positioning method and system. The method comprises the steps that output information of an angle sensor installed in a vehicle and an output image of a camera are synchronously obtained; calculating a transverse movement amount and a longitudinal movement amount between the output image of the current frame and the output image of the previous frame; if the transverse movement amount is larger than a preset threshold value, a rotation angle obtained based on output information of an angle sensor is adopted; otherwise, adopting a rotation angle obtained based on the transverse movement amount and / or the longitudinal movement amount; and calculating the movement of the camera according to the transverse movement amount, the longitudinal movement amount and the rotation angle so as to position the vehicle. According to the method, the motion characteristics of the vehicle are combined, the rotation angle of the vehicle is amplified through the camera, and the more accurate rotation angle of the vehicle is obtained through the angle sensor, so that the problem of positioning failure caused by angle accumulated errors is solved, and the problems of high positioning cost and low positioning precision in a GNSS signal failure scene are solved.

Description

technical field [0001] The present invention relates to the technical field of vehicles, and more specifically, to a vehicle positioning method and system. Background technique [0002] High-precision positioning is a necessary condition for realizing unmanned driving. At present, the Global Positioning Satellite System (GNSS) is most used for vehicle positioning, but for indoor parking lots, tunnels and other scenarios, GNSS signals are interfered, which seriously affects positioning accuracy. In this case, it is often necessary to rely on high-cost lidar or high-cost fiber optic gyroscopes and quartz accelerometers for positioning. Compared with the above-mentioned solutions, the solution based on visual positioning is lower in cost and easier to be widely used. The movement of the vehicle can be divided into two parts: rotation and translation. When the calculation of the rotation angle is inaccurate, it will often cause a large positioning error, such as figure 1 sho...

AI Technical Summary

Problems solved by technology

When the calculation of the rotation angle is inaccurate, it will often cause a large positioning error, such as figure 1 shown

When calculating the rotation angle, due to the small rotation angle of the single frame of the vehicle, the vision-based positioning has a large relative error when calculating the rotation angle of the front and rear frames

Images