To prevent interference by an external environment as much as possible as compared with a camera, and to prevent an external environment from interfering in positioning information, to improve precision and reliability of positioning information, and to further achieve safe and reliable traveling of an automatic driving vehicle by combining two pieces of pose information corresponding to an inertia measurement unit and a wheel speedometer and predicting positioning information.SOLUTION: In a positioning method applied to an automatic driving vehicle, first pose information measured by an inertial measurement unit in a predetermined time zone is collected, second pose information measured by a wheel speedometer in the time zone is collected, the time zone is a sampling time interval when collecting images of adjacent frames by a camera, positioning information is generated based on the first pose information, the second pose information, and images of the adjacent frames, and driving of the automatic driving vehicle is controlled based on the positioning information.SELECTED DRAWING: Figure 3
【課題】カメラと比較して外部環境に干渉されにくい、慣性測定ユニットと車輪速度計に対応する2つのポーズ情報を組み合わせて、測位情報を予測することにより、測位情報が外部環境に干渉されず、測位情報の精度と信頼性を向上させ、さらに自動運転車両の安全且つ確実な走行を実現する。【解決手段】自動運転車両に適用される測位方法であって、所定の時間帯で慣性測定ユニットにより測定された第1ポーズ情報を収集し、前記時間帯で車輪速度計により測定された第2ポーズ情報を収集し、そのうち、前記時間帯が、カメラにより隣接するフレームの画像を収集する時のサンプリング時間間隔であることと、前記第1ポーズ情報、前記第2ポーズ情報及び前記隣接するフレームの画像に基づいて、測位情報を生成することと、前記測位情報に基づいて、前記自動運転車両の走行を制御することと、を含む。【選択図】図3
POSITIONING METHOD AND DEVICE, AUTOMATIC DRIVING VEHICLE, ELECTRONIC EQUIPMENT, AND STORAGE MEDIUM
測位方法及び装置、自動運転車両、電子機器、並びに記憶媒体
2021-08-05
Patent
Electronic Resource
Japanese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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