Study On The Position Estimation Of Autonomous Vehicle Based On Laser Odometer

In the driving process of autonomous vehicles,how to provide real-time and high-precision position estimation for autonomous vehicles has always been the core problem in the research field.The commonly used GPS positioning system can provide a high-precision position estimation for autonomous vehicles,but the positioning effect depends on satellite signal and is easily disturbed by the surrounding environment.so the vehicle track estimation information is usually introduced to compensate the error,However,for three-dimensional moving vehicles,how to estimate the relative change of vehicle position in short time is the key to the problem.Aiming at the relative position estimation of autonomous vehicles,and the position estimation algorithm based on laser odometer is proposed to estimate the relative position of autonomous vehicles,the main work is as follows:(1)In this paper,the laser odometer is characterized by static obstacles.Firstly,based on16 wire laser radar,an obstacle detection method in driving environment of autonomous vehicle is proposed.Aiming at the difference of three dimensional point cloud distribution in different obstacle models in the laser scanning environment,the obstacle detection is carried out based on different obstacle features methods,which can effectively improve the real-time detection effect of the obstacles.(2)In order to realize the relative position estimation of autonomous vehicle based on laser odometer,using the motor mileage model and Kalman filter to predict the position of the obstacle model,and match the obstacles between different frames,and utilize the character of no change in short time and place with the static obstacles model to filter the dynamic obstacles.The state obstacles is characterized by solving the relative change of vehicle position between adjacent frames,so as to realize the laser odometer in local environment.The experimental results show that the proposed algorithm can provide real-time and high-precision relative position estimation for the autonomous vehicle in the actual scene,and the experimental results show that the positioning error is within 15 cm,so the reliability of the laser odometer is verified by the contrast of high-precision GPS positioning results.