The invention discloses an autonomous navigation positioning system and method for an autonomous vehicle, and belongs to the technical field of automatic driving, and the method specifically comprises the steps: receiving a satellite signal through a GPS receiver, preliminarily determining the position of the vehicle, starting a vehicle sensor to carry out real-time measurement, and preprocessing a result; the preprocessed measurement result is converted into position information in a global coordinate system, and the position and attitude of the vehicle are calculated in combination with a sensor fusion algorithm; generating point cloud data by using a laser radar, matching the point cloud data with a high-precision map to determine the accurate position of a vehicle, and identifying obstacle and road features; a vehicle-mounted camera captures an environment image, extracts visual feature information and fuses the visual feature information with environment perception information; on the basis of fusion information and distance information, the obstacle and road conditions are sensed in real time, the optimal driving route is determined by adopting a path planning algorithm, visual navigation and automatic obstacle avoidance are realized, and the safety and reliability of automatic driving are improved.
本发明公开了一种自动驾驶车辆自主导航定位系统及方法,属于自动驾驶技术领域,其具体包括:通过GPS接收器接收卫星信号并初步确定车辆位置,启动车辆传感器进行实时测量并预处理结果;将预处理后的测量结果转换为全局坐标系中的位置信息,结合传感器融合算法计算车辆位置和姿态;利用激光雷达生成点云数据,与高精度地图匹配确定车辆精确位置,并识别障碍物和道路特征;车载摄像头捕捉环境图像,提取视觉特征信息并与环境感知信息融合;基于融合信息和距离信息,实时感知障碍物和道路情况,采用路径规划算法确定最佳行驶路线,实现了视觉导航与自动避障,提高了自动驾驶的安全性和可靠性。
Autonomous navigation positioning system and method for autonomous vehicle
一种自动驾驶车辆自主导航定位系统及方法
2025-02-11
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
NTIS | 1986
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