PROBLEM TO BE SOLVED: To provide a precise positioning necessary especially for automatic driving of an automatic driving vehicle.SOLUTION: The rough position of an automatic driving vehicle (ADV) is determined by a GPS, for example, a high-resolution map is searched for using the general position of the ADV, and candidate feature spaces around the ADV and the subset thereof are determined. An on-vehicle sensor acquires the 3D point cloud of an object around the ADV, matches the acquired 3D point cloud and the determined candidate feature spaces, calculates the displacement amount between the general position and the optimum matching candidate based on the result of the matching, and determines the position of the ADV in the high-resolution map based on the calculated displacement map.SELECTED DRAWING: Figure 5
【課題】自動運転車両に関し、特に、自動運転に必要な高精度の位置決めに関する。【解決手段】GPS等により自動運転車両(ADV)の大体位置を決定し、ADVの大体位置を使用して高解像度の地図を検索し、ADVの周りの候補特徴空間と、そのサブセットを決定する。車載センサがADVの周りの物体の3Dポイントクラウドを取得し、取得された3Dポイントクラウドと決定された候補特徴区間とをマッチングし、マッチング結果に基づき、大体位置と最適マッチング候補とのずれ量を計算し、計算されたずれ量に基づき高解像度地図におけるADVの位置を決定する。【選択図】図5
POSITIONING OF AUTOMATIC DRIVING VEHICLE BASED ON WALSH, KERNEL, AND PROJECTION TECHNIQUE
ウォルシュ・カーネル・投影技術に基づく自動運転車両の位置決め
2018-08-16
Patent
Electronic Resource
Japanese
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