Intelligent vehicle positioning method based on feature point calibration

US11002859B1 · kind B1 · utility

Assignee

• TSINGHUA UNIVERSITY · CN

Inventors

• Xinyu Zhang · Changzhou City, CN
• Jun Li · Cranbury, US
• Shichun Guo · Beijing, CN
• Huaping Liu · Corvallis, US
• Mo Zhou · Beijing, CN
• Wenju Gao · Beijing, CN

Key dates

• Filing date: Nov 5, 2020
• Grant date: May 11, 2021
• Expiry date: Nov 5, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2420/408
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

An intelligent vehicle positioning method based on feature point calibration is provided. The intelligent vehicle positioning method includes: determining whether an intelligent vehicle is located in a blind area or a non-blind area; when the intelligent vehicle is located in a GNSS non-blind area, combining GNSS signals, odometer data and inertial measurement unit data, acquiring a current pose of the intelligent vehicle through a Kalman filtering, scanning a surrounding environment of the intelligent vehicle by using a laser radar, extracting corner points and arc features and performing processing to obtain the corner points and circle centers as the feature points, calculating global coordinates and weights of the feature points and storing the global coordinates and the weights of the feature points in a current feature point list.