The invention provides a method and system for obtaining a point cloud map of a vehicle, and relates to the technical field of automatic driving of vehicles. The method comprises the steps of collecting whether an obstacle section with lost GPS and/or RTK signals exists on a preset driving route of a vehicle or not; if yes, when the distance between the vehicle and the starting point of the obstacle road section is larger than a preset value, absolute coordinates of the vehicle on the preset driving route are obtained through RTK, and relative coordinates of the vehicle on the preset driving route are obtained through SLAM; and according to the absolute coordinates and the relative coordinates, obtaining a driving track of the vehicle on the obstacle road section so as to obtain a point cloud map of the vehicle on the preset driving route. According to the method provided by the invention, the point cloud map can be provided for the automatic driving vehicle in a scene that no GPS andRTK signals exist in a local road section.
本发明提供一种用于获取车辆的点云地图的方法和系统,涉及车辆的自动驾驶技术领域。方法包括:采集所述车辆的预设行驶路线上是否存在GPS和/或RTK信号丢失的障碍路段;若是,在所述车辆与所述障碍路段的起点之间的距离大于预设值时,采用RTK获取所述车辆在所述预设行驶路线上的绝对坐标,及采用SLAM获取所述车辆在所述预设行驶路线上的相对坐标;根据所述绝对坐标和所述相对坐标得到所述车辆在所述障碍路段的行驶轨迹从而得到所述车辆在所述预设行驶路线上的点云地图。本发明提供的方法可以在局部路段无GPS和RTK信号的场景下为自动驾驶车辆提供点云地图。
Method and system for acquiring point cloud map of vehicle
一种用于获取车辆的点云地图的方法和系统
2021-02-19
Patent
Electronic Resource
Chinese
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