基于激光点云匹配定位的公交场站精准定位控制研究  

Research on Precise Positioning Control of Bus Station Based on Laser Point Cloud Matching Position

作　　者：田宇 许天淼 Tian Yu;Xu Tianmiao(Shanghai Sunwin Bus Corporation Technical Center,Shanghai 201108,China;ShenYang University of Technology,Shenyang 110870,China)

机构地区：[1]上海申沃客车有限公司技术中心,上海201108 [2]沈阳工业大学,沈阳110870

出　　处：《传动技术（中英文）》2024年第3期14-18,共5页Drive System Technique

摘　　要：现阶段随着电动公交的飞速发展,充电场站不充足,公交充电耗时、费力等问题凸显出来。针对这一问题提出了基于激光雷达的公交场站精准定位技术,这一技术的提出可以实现车辆的自动充电功能,有效缓解了充电费时等问题,提高人类的生产效率。高精度地图的构建是智能驾驶领域开发与使用中必不可少的一环,也是定位与导航规划的前提,而激光雷达是构建高精度地图必不可少的传感器。采用LeGO-LOAM算法实现较高精度的建图操作。实验结果表明,相较LIO-SAM算法,LeGO-LOAM算法可以较好地实现公交场站的精确建图与定位。jAt this stage,with the rapid development of electric buses,the charging station is insufficient,and the problems of bus charging time and effort are highlighted.In order to solve this problem,proposing a LiDAR-based precise positioning technology for bus stations,which can realize the automatic charging function of vehicles,effectively alleviate the problems of charging time and improve human production effi-ciency.The construction of high-precision maps is an indispensable part of the development and use of intel-ligent driving,and it is also the premise of positioning and navigation planning,and lidar is an indispensable sensor for building high-precision maps.The LeGO-LOAM algorithm is used to achieve high-precision mapping operations.Experimental results show that compared with the LIO-SAM algorithm,the LeGO-LOAM algorithm can better realize the accurate mapping and positioning of bus stations.

关 键 词：智能驾驶 激光雷达 LIO-SAM算法 LeGO-LOAM算法 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]