The invention provides a navigation method for a vehicle-machine underground parking lot, and belongs to the field of positioning and navigation. The navigation method includes the steps that a parking lot high-precision map and a vehicle driving behavior prediction model are established, the selected parking lot high-precision map is matched during parking navigation, and after a target parking space is selected, a driving path from a vehicle to the target parking space is automatically planned; when the vehicle runs along the driving path, a vehicle positioning track point is obtained through a vehicle CAN signal, the vehicle positioning track point and a road network node on the driving path in the parking lot high-precision map are subjected to registration correction, the corrected positioning track point matches the road network node around the positioning track point, and the next track point of the vehicle is rectified and corrected by combining the predicted driving behavior of the vehicle. The vehicle is effectively prevented from deviating from the driving path, it is guaranteed that the vehicle accurately drives to the target parking space, and therefore vehicle parking is facilitated.

    本发明提供了一种车机地下停车场导航方法,属于定位导航领域,该导航方法通过建立停车场高精地图和车辆驾驶行为预测模型,在泊车导航时,匹配所选停车场高精地图,在选择目标车位后,自动规划自车至目标车位的行驶路径;车辆沿行驶路径行驶时,通过车辆CAN信号,获取车辆定位轨迹点,将车辆定位轨迹点与停车场高精地图内的行驶路径上的路网节点配准修正,将修正的定位轨迹点与定位轨迹点周边的路网节点进行匹配,并结合预测的车辆驾驶行为对车辆下一轨迹点进行纠偏校正;有效地避免车辆偏离行驶路径,保证车辆准确行驶至目标车位处,从而方便车辆停泊。


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    Title :

    Navigation method for vehicle-machine underground parking lot


    Additional title:

    一种车机地下停车场导航方法


    Contributors:
    ZHANG YI (author) / JIANG RUYI (author) / MA GUANGLIN (author) / YU MENGMENG (author) / TIAN JUN (author)

    Publication date :

    2021-10-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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