The invention discloses a coordinate unification vehicle position estimation system and method based on Frenet coordinate multi-source data. The method comprises the following steps: establishing a Frenet coordinate system; vehicle vibration signals, vehicle three-dimensional point cloud data, vehicle electromagnetic wave data and vehicle image data at each acquisition moment are acquired and wirelessly transmitted to a central server; the central server calculates a stake number of a vehicle corresponding to the vehicle sensing sensor at each acquisition moment, a lane number of the vehicle and a centroid plane coordinate under each coordinate system according to the signal, and constructs vehicle data of the vehicle sensing sensor at each acquisition moment and the centroid plane coordinate under each coordinate system; in combination with the transformation matrix and coordinate transformation, obtaining centroid plane coordinates of the vehicle converted from each coordinate system to a Frenet coordinate system at each acquisition moment; and calculating a unique centroid plane coordinate of the vehicle corresponding to the vehicle sensing sensor at each acquisition moment according to the heterogenous data error. According to the multi-source data coordinate unification and fusion method, the vehicle position sensing precision can be effectively improved.
本发明公开了一种Frenet坐标多源数据的坐标统一车辆位置估测系统及方法。本发明建立Frenet坐标系;获取每个采集时刻的车辆振动信号、车辆三维点云数据、车辆电磁波数据和车辆图像数据并无线传输至中央服务器;中央服务器根据信号解算每个采集时刻车辆感知传感器对应的车辆所处的桩号、所处的车道号、在各坐标系下的质心平面坐标,构建每个采集时刻车辆感知传感器的车辆数据、在各坐标系下的质心平面坐标;结合变换矩阵以及坐标变换,得到每个采集时刻车辆各坐标系转换至Frenet坐标系下的质心平面坐标;根据异源数据误差计算每个采集时刻车辆感知传感器对应的车辆唯一的质心平面坐标。本发明构建的多源数据坐标统一和融合方法,能有效提升车辆位置感知精度。
Coordinate unification vehicle position estimation system and method of Frenet coordinate multi-source data
一种Frenet坐标多源数据的坐标统一车辆位置估测系统及方法
2023-05-05
Patent
Elektronische Ressource
Chinesisch
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