The invention belongs to the technical field of bus positioning, and particularly relates to a positioning method and a positioning system for arrival of an automatic driving vehicle. According to the method, after a vehicle is about to enter a certain station, the longitudinal distance between the vehicle and an unshielded stop line farthest from the vehicle at the station and the transverse distance between the vehicle and the station are calculated in real time; the longitudinal distance between the selected parking position of the vehicle and the stop line and the transverse distance between the selected parking position of the vehicle and the platform are both within the corresponding required range. Wherein the longitudinal positioning can be realized through a shot picture of a road in front of the vehicle, and the transverse positioning can be realized by adopting two modes, one mode is that the vehicle is identified by utilizing a station distance measuring unit, and the other mode is that the positioning marker is identified by utilizing the distance measuring unit on the vehicle. Through the method, the transverse and longitudinal accurate positioning of the vehicle is realized.
本发明属于公交车定位技术领域,具体涉及一种自动驾驶车辆进站定位方法及定位系统。该方法首先在车辆即将进入某一站点后,实时计算车辆与该站点的未被遮挡的距离车辆最远的停止线之间的纵向距离、以及车辆与站台之间的横向距离:然后利用计算得到的横向距离和纵向距离调整车辆位置,以使车辆所选择停靠的位置与停止线之间的纵向距离、以及与站台之间的横向距离均在对应的要求范围内。其中,对于纵向定位,通过拍摄的车辆前方道路的图片实现,对于横向定位,可采用两种方式实现,一种为利用站台测距单元识别车辆实现,另一种为利用车辆上的测距单元识别定位标识物实现。通过以上方法,实现车辆的横纵向精确定位。
Positioning method and positioning system for automatic driving vehicle entering station
一种自动驾驶车辆进站定位方法及定位系统
2023-09-05
Patent
Electronic Resource
Chinese
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