一种激光雷达/IMU/车辆运动学约束紧耦合SLAM系统及算法

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一种激光雷达/IMU/车辆运动学约束紧耦合SLAM系统及算法

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本发明公开一种激光雷达/IMU/车辆运动学约束紧耦合SLAM系统及算法，属于自动驾驶技术领域。本发明首先利用IMU、后轴轮速和前轮转角构建车辆运动学约束，通过将车辆运动约束的位移和姿态信息解耦处理，分别构建位移和姿态的约束，从而提高优化结果的准确性；其次根据特征点数量和转向角度，引入自适应系数，用于实时调节车辆运动学约束的权重。最后采用IMU和后轴轮速构建里程计，为紧耦合优化提供精准的初始值，有效避免陷入局部最优。相比单一激光雷达的方案，可提供更精确的定位和地图。

The invention discloses a laser radar/IMU/vehicle kinematics constraint tight coupling SLAM system and algorithm, and belongs to the technical field of automatic driving. According to the method, the IMU, the rear axle wheel speed and the front wheel rotation angle are utilized to construct the vehicle kinematics constraint, and the displacement constraint and the attitude constraint are respectively constructed by decoupling the displacement information and the attitude information of the vehicle kinematics constraint, so that the accuracy of an optimization result is improved; secondly, according to the number of the feature points and the steering angle, an adaptive coefficient is introduced for adjusting the weight of the kinematics constraint of the vehicle in real time; and finally, an IMU and a rear axle wheel speed are adopted to construct a speedometer, an accurate initial value is provided for tight coupling optimization, and falling into local optimum is effectively avoided. Compared with a single laser radar scheme, more accurate positioning and maps can be provided.

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Title :

一种激光雷达/IMU/车辆运动学约束紧耦合SLAM系统及算法

Publication date :

2024-07-19

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL