CN109581449B - Positioning method and system for automatically driving automobile - Google Patents
Positioning method and system for automatically driving automobile Download PDFInfo
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- CN109581449B CN109581449B CN201811536513.9A CN201811536513A CN109581449B CN 109581449 B CN109581449 B CN 109581449B CN 201811536513 A CN201811536513 A CN 201811536513A CN 109581449 B CN109581449 B CN 109581449B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The invention provides a positioning method and a system for an automatic driving automobile, wherein the method comprises the following steps: collecting traffic environment information around a vehicle, wherein the traffic environment information comprises: a lane line of a vehicle driving road, a distance between a wheel and the lane line, a road curvature of the vehicle driving road, and a distance between the vehicle and a peripheral reference object; obtaining a high-precision map of the vehicle position, and calculating to obtain the theoretical positioning coordinate of the vehicle according to the traffic environment information and the high-precision map; and acquiring a satellite positioning coordinate of the vehicle through a navigation positioning system, and correcting the vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first set threshold value. The invention can improve the positioning precision and the safety of the automatic driving automobile.
Description
Technical Field
The invention relates to the technical field of automatic driving of automobiles, in particular to a positioning method and a positioning system for an automatic driving automobile.
Background
With the progress of the times and the development of technologies, the automatic driving automobile will become reality in the near future, and the arrival of the automatic driving automobile not only provides great convenience for our lives, but also can greatly reduce the traffic accident rate by means of a vehicle-mounted sensor mounted on the automatic driving automobile.
The high-precision map and positioning system is an important component of future automatic driving vehicles, and not only can provide efficient path planning schemes for passengers, but also can provide guarantee for safe driving of the automatic driving vehicles. The existing high-precision positioning system for automatically driving a sample vehicle is combined positioning of a Global Navigation Satellite System (GNSS) and an inertial navigation positioning system (INS), the positioning precision of the system is up to centimeter level in an open environment, the accurate position of the current vehicle is determined by matching with a high-precision map, and the current position of the vehicle is sent to a vehicle control decision system to control the running of the vehicle. However, when the automatic driving vehicle runs on an urban road, a viaduct or a tunnel, the satellite signal is easy to be shielded, the automatic driving positioning system cannot receive the positioning information broadcast by the satellite, and the automatic driving positioning system can only finish the automatic driving positioning by depending on the inertial navigation system. The inertial navigation positioning system can continuously accumulate positioning errors along with the accumulation of time, and the requirement of automatic driving on the positioning precision cannot be met by only depending on the inertial navigation system. Meanwhile, satellite positioning signals are easily interfered by high-power emission sources (such as television stations, radio stations, microwave stations and the like), so that vehicles are subjected to unpredictable deviation, and great risks are brought to safe driving of the vehicles.
Disclosure of Invention
The invention provides a positioning method and a positioning system for an automatic driving automobile, which solve the problem that the existing automatic driving automobile has potential safety hazards caused by large positioning errors under the condition that satellite signals are easily blocked, and can improve the positioning precision and the safety of the automatic driving automobile.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method of locating an autonomous vehicle, comprising:
collecting traffic environment information around a vehicle, wherein the traffic environment information comprises: a lane line of a vehicle driving road, a distance between a wheel and the lane line, a road curvature of the vehicle driving road, and a distance between the vehicle and a peripheral reference object;
obtaining a high-precision map of the vehicle position, and calculating to obtain the theoretical positioning coordinate of the vehicle according to the traffic environment information and the high-precision map;
and acquiring a satellite positioning coordinate of the vehicle through a navigation positioning system, and correcting the vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first set threshold value.
Preferably, the method further comprises the following steps:
and extracting lane line information of a lane where the vehicle is located according to the high-precision map, comparing the lane line information with a lane line corresponding to the satellite positioning coordinates, and correcting the position of the vehicle according to the high-precision map if the position deviation of the lane line is greater than a second set threshold value.
Preferably, the method further comprises the following steps:
and comparing the acquired lane line of the vehicle driving road with the lane line corresponding to the satellite positioning coordinates, and correcting the position of the vehicle according to the acquired lane line if the position deviation of the lane line is greater than a third set threshold value.
Preferably, the method further comprises the following steps:
and fitting a center line of a front road according to a lane line and a road curvature of a driving road of the vehicle, selecting coordinates of a plurality of points on the center line, comparing the coordinates with coordinates of corresponding points on the high-precision map, and correcting the position of the vehicle according to the acquired lane line if the coordinate deviation is greater than a fourth set threshold value.
Preferably, the method further comprises the following steps:
and determining the actual vehicle position according to the acquired distance between the wheels and the lane line and the high-precision map, comparing the actual vehicle position with the position corresponding to the satellite positioning coordinate, and correcting the vehicle positioning according to the actual vehicle position if the position deviation is greater than a fifth set threshold value.
The present invention also provides a positioning system for an autonomous vehicle, comprising:
the traffic environment information acquisition unit is used for acquiring traffic environment information around the vehicle, and the traffic environment information comprises: a lane line of a vehicle driving road, a distance between a wheel and the lane line, a road curvature of the vehicle driving road, and a distance between the vehicle and a peripheral reference object;
the map acquisition unit is used for acquiring a high-precision map of the position of the vehicle and calculating to obtain the theoretical positioning coordinates of the vehicle according to the traffic environment information and the high-precision map;
and the positioning judgment unit is used for acquiring a satellite positioning coordinate of the vehicle through a navigation positioning system, and correcting the vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first set threshold value.
Preferably, the method further comprises the following steps:
and the first correction unit is used for extracting lane line information of a lane where a vehicle is located according to the high-precision map, comparing the lane line information with a lane line corresponding to the satellite positioning coordinate, and correcting the position of the vehicle according to the high-precision map if the position deviation of the lane line is greater than a second set threshold value.
Preferably, the method further comprises the following steps:
and the second correction unit is used for comparing the acquired lane line of the vehicle driving road with the lane line corresponding to the satellite positioning coordinate, and correcting the vehicle position according to the acquired lane line if the position deviation of the lane line is greater than a third set threshold value.
Preferably, the method further comprises the following steps:
and the third correction unit is used for fitting a center line of a front road according to a lane line and a road curvature of a driving road of the vehicle, selecting coordinates of a plurality of points on the center line, comparing the coordinates with the coordinates of corresponding points on the high-precision map, and correcting the position of the vehicle according to the acquired lane line if the coordinate deviation is greater than a fourth set threshold value.
Preferably, the method further comprises the following steps:
and the fourth correction unit is used for determining the actual vehicle position according to the acquired distance between the wheels and the lane line and the high-precision map, comparing the actual vehicle position with the position corresponding to the satellite positioning coordinates, and correcting the vehicle positioning according to the actual vehicle position if the position deviation is greater than a fifth set threshold value.
The invention provides a positioning method and a positioning system for an automatic driving automobile, which are characterized in that the theoretical positioning coordinates of the automobile are obtained by collecting traffic environment information around the automobile and calculating through a high-precision map, and then are compared with the satellite positioning coordinates, and if the deviation is greater than a set threshold value, the positioning data is corrected. The problem of current automatic driving car be easy under the condition that shelters from at the satellite signal, probably appear positioning error big and cause the potential safety hazard is solved, the positioning accuracy and the security that can improve automatic driving car.
Drawings
In order to more clearly describe the specific embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below.
FIG. 1: the invention provides a flow chart of a positioning method of an automatic driving automobile.
FIG. 2: the invention provides a schematic diagram of a vehicle position correction method.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
Aiming at the problem that the current automatic driving automobile depends on vehicle positioning, if the vehicle is in the condition that satellite positioning signals are easy to interfere, the safety problem of automatic driving caused by positioning errors possibly exists. The invention provides a positioning method and a positioning system for an automatic driving automobile, which are characterized in that the theoretical positioning coordinates of the automobile are obtained by collecting traffic environment information around the automobile and calculating through a high-precision map, and then are compared with the satellite positioning coordinates, and if the deviation is greater than a set threshold value, the positioning data is corrected. The problem of current automatic driving car be easy under the condition that shelters from at the satellite signal, probably appear positioning error big and cause the potential safety hazard is solved, the positioning accuracy and the security that can improve automatic driving car.
As shown in fig. 1, a positioning method of an autonomous vehicle includes:
s1: collecting traffic environment information around a vehicle, wherein the traffic environment information comprises: a lane line of a vehicle driving road, a distance between a wheel and the lane line, a road curvature of the vehicle driving road, and a distance between the vehicle and a peripheral reference object;
s2: obtaining a high-precision map of the vehicle position, and calculating to obtain the theoretical positioning coordinate of the vehicle according to the traffic environment information and the high-precision map;
s3: and acquiring a satellite positioning coordinate of the vehicle through a navigation positioning system, and correcting the vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first set threshold value.
Specifically, the accurate position of the vehicle is obtained through a GNSS/INS integrated navigation positioning system or a vehicle-mounted sensor, when the position of the vehicle obtained through the positioning information cannot be accurately positioned to the road where the vehicle is located and the lane line where the vehicle is located, a high-precision map of a certain distance around the position where the vehicle is located can be downloaded through a 5G or other wireless mode according to the current position of the vehicle, and the theoretical positioning coordinate of the vehicle is calculated according to the distance between the vehicle and a peripheral reference object. And when the difference between the theoretical positioning coordinate and the satellite positioning coordinate is greater than a first set threshold value, inputting the accurate position and the lane line of the road where the current vehicle is located in a manual input mode. When the positioning system of the vehicle is not accurate or cannot be accurate to the accurate lane line where the vehicle is located currently, the high-precision map of a plurality of distances in front of and behind the current vehicle is downloaded through the 5G network or other wireless networks. The central line and the curvature of the current lane line are extracted from the high-precision map and sent to a control decision system to control the braking and steering of the vehicle, and the lane line deviation is corrected through a vehicle-mounted sensor (camera) in the running process of the vehicle, so that the automatic driving vehicle is determined to run safely on a given lane and road. The method can enable the positioning of the automatic driving automobile to be more accurate, and is beneficial to improving the safety of automatic driving.
As shown in fig. 2, the method further comprises:
s4: and extracting lane line information of a lane where the vehicle is located according to the high-precision map, comparing the lane line information with a lane line corresponding to the satellite positioning coordinates, and correcting the position of the vehicle according to the high-precision map if the position deviation of the lane line is greater than a second set threshold value.
The method further comprises the following steps:
s5: and comparing the acquired lane line of the vehicle driving road with the lane line corresponding to the satellite positioning coordinates, and correcting the position of the vehicle according to the acquired lane line if the position deviation of the lane line is greater than a third set threshold value.
In practical application, whether the current vehicle runs on the current lane line is detected by installing a front-view camera right in front of the vehicle. When the positioning accuracy of the satellite positioning system deviates in the transverse direction, the vehicle position information can be corrected through the lane line information detected by the forward-looking camera.
The method further comprises the following steps:
s6: and fitting a center line of a front road according to a lane line and a road curvature of a driving road of the vehicle, selecting coordinates of a plurality of points on the center line, comparing the coordinates with coordinates of corresponding points on the high-fourth-precision map, and correcting the position of the vehicle according to the acquired lane line if the coordinate deviation is greater than a set threshold value.
In practical application, a lane line in front of a vehicle detected by a forward-looking camera can be fitted with a center line of the front road according to the position of the lane line, coordinates of a plurality of points on the fitted center line of the road are selected and compared with coordinates of corresponding points of the lane center line given by a high-precision map, and when a transverse difference value of the corresponding points is larger than a certain value (for example, 50cm), the vehicle is considered to have deviation. In this case, it is determined whether the vehicle is driving away from the original lane or has a tendency to drive away from the original lane by using the cameras mounted on the left and right side mirrors. At this point, the lane center line given in the high-precision map is subtracted from the lane center line fitted with the camera. The obtained result is added with the abscissa of the position corresponding to the lane center line given by the high-precision map, and the obtained result is sent to the control system of the vehicle to correct the position of the vehicle.
When the front-view camera cannot identify the lane line information in front, the distance between the object and the vehicle is calculated through the objects detected by the cameras on the two sides of the vehicle, so that the position of the vehicle is determined (or the position of the vehicle is determined by matching the coordinates of the corresponding object in the high-precision map).
The method further comprises the following steps:
s7: and determining the actual vehicle position according to the acquired distance between the wheels and the lane line and the high-precision map, comparing the actual vehicle position with the position corresponding to the satellite positioning coordinate, and correcting the vehicle positioning according to the actual vehicle position if the position deviation is greater than a fifth set threshold value.
In practical application, the distance between the wheels and the lane line is detected through cameras arranged on the left side rearview mirror and the right side rearview mirror of the vehicle, whether the wheels cross the lane line to drive or not is detected, when the vehicle does not send a signal of steering or driving away from the current lane, the distance between the wheels on the two sides and the lane line is calculated and sent to a decision making system, the decision making system corrects the deviation of the vehicle according to the received information, the result needing to be corrected is transmitted to an execution system, and the vehicle drives on the original lane by controlling the steering system.
The method comprises the steps of firstly obtaining the current road and the current lane of a vehicle through a high-precision map and positioning information, and then extracting lane line information, road curvature, gradient and the like of the road ahead from the high-precision map so as to make reference for the following driving of the automatic driving. The vehicle can sense the road information ahead in advance in the driving process, and the vehicle can respond in advance, so that more comfortable experience is brought to passengers. In order to ensure that the conditions that a satellite signal is blocked, the satellite signal is interfered by other radio waves even in the sudden failure of a satellite receiving device and the like in the running process of a vehicle and the positioning precision and the safety problem brought to the automatic driving of the vehicle are solved, the positioning information of the vehicle is corrected by combining a vehicle-mounted camera, and when the vehicle does not send lane change and driving-away information, the vehicle can always run in the current lane. Ensuring that the autonomous vehicle can safely travel on the road under any circumstances.
Therefore, the invention provides a positioning method of an automatic driving automobile, which comprises the steps of acquiring traffic environment information around the automobile, calculating a theoretical positioning coordinate of the automobile through a high-precision map, comparing the theoretical positioning coordinate with a satellite positioning coordinate, and correcting positioning data if the deviation is greater than a set threshold value. The problem of current automatic driving car be easy under the condition that shelters from at the satellite signal, probably appear positioning error big and cause the potential safety hazard is solved, the positioning accuracy and the security that can improve automatic driving car.
The invention provides a positioning system for an automatic driving automobile, which comprises: the traffic environment information acquisition unit is used for acquiring traffic environment information around the vehicle, and the traffic environment information comprises: the lane line of the vehicle traveling road, the distance between the wheels and the lane line, the road curvature of the vehicle traveling road, and the distance between the vehicle and the surrounding reference object. And the map acquisition unit is used for acquiring a high-precision map of the vehicle position and calculating the theoretical positioning coordinate of the vehicle according to the traffic environment information and the high-precision map. And the positioning judgment unit is used for acquiring a satellite positioning coordinate of the vehicle through a navigation positioning system, and correcting the vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first set threshold value.
The system further comprises: and the first correction unit is used for extracting lane line information of a lane where the vehicle is located according to the high-precision map, comparing the lane line information with a lane line corresponding to satellite positioning coordinates of the vehicle, and correcting the position of the vehicle according to the high-precision map if the position deviation of the lane line is greater than a second set threshold value.
Further, still include: and the second correction unit is used for comparing the acquired lane line of the vehicle driving road with the lane line corresponding to the satellite positioning coordinate of the vehicle, and correcting the position of the vehicle according to the acquired lane line if the position deviation of the lane line is greater than a third set threshold value.
Still further, the method further comprises: and the third correction unit is used for fitting a center line of a front road according to a lane line and a road curvature of a driving road of the vehicle, selecting coordinates of a plurality of points on the center line, comparing the coordinates with the coordinates of corresponding points on the high-precision map, and correcting the position of the vehicle according to the acquired lane line if the coordinate deviation is greater than a fourth set threshold value.
The system further comprises: and the fourth correction unit is used for determining the actual vehicle position according to the acquired distance between the wheels and the lane line and the high-precision map, comparing the actual vehicle position with the position corresponding to the satellite positioning coordinates of the vehicle, and correcting the vehicle positioning according to the actual vehicle position if the position deviation is greater than a fifth set threshold value.
Therefore, the invention provides a positioning system of an automatic driving automobile, which acquires traffic environment information around the automobile, calculates theoretical positioning coordinates of the automobile through a high-precision map, compares the theoretical positioning coordinates with satellite positioning coordinates, and corrects positioning data if the deviation is greater than a set threshold value. The problem of current automatic driving car be easy under the condition that shelters from at the satellite signal, probably appear positioning error big and cause the potential safety hazard is solved, the positioning accuracy and the security that can improve automatic driving car.
The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.
Claims (8)
1. A method for locating an autonomous vehicle, comprising:
collecting traffic environment information around a vehicle, wherein the traffic environment information comprises: a lane line of a vehicle driving road, a distance between a wheel and the lane line, a road curvature of the vehicle driving road, and a distance between the vehicle and a peripheral reference object;
obtaining a high-precision map of the vehicle position, and calculating to obtain the theoretical positioning coordinate of the vehicle according to the traffic environment information and the high-precision map;
acquiring satellite positioning coordinates of a vehicle through a navigation positioning system, and correcting vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinates and the theoretical positioning coordinates is larger than a first set threshold;
fitting a center line of a front road according to a lane line and a road curvature of a vehicle driving road, selecting coordinates of a plurality of points on the center line, comparing the coordinates with coordinates of corresponding points on the high-precision map, and correcting the position of the vehicle according to the acquired lane line if the coordinate deviation is greater than a fourth set threshold value; when the vehicle is judged to be driving away from the original lane or has the tendency of driving away from the original lane, the fitted lane center line is subtracted from the lane center line given in the high-precision map, the obtained result is added with the abscissa of the position corresponding to the lane center line given in the high-precision map, and the obtained result is sent to a control system of the vehicle to correct the position of the vehicle.
2. The method of locating an autonomous vehicle of claim 1, further comprising:
and extracting lane line information of a lane where the vehicle is located according to the high-precision map, comparing the lane line information with a lane line corresponding to the satellite positioning coordinates, and correcting the position of the vehicle according to the high-precision map if the position deviation of the lane line is greater than a second set threshold value.
3. The method of locating an autonomous vehicle of claim 2, further comprising:
and comparing the acquired lane line of the vehicle driving road with the lane line corresponding to the satellite positioning coordinates, and correcting the position of the vehicle according to the acquired lane line if the position deviation of the lane line is greater than a third set threshold value.
4. The method of locating an autonomous vehicle of claim 3, further comprising:
and determining the actual vehicle position according to the acquired distance between the wheels and the lane line and the high-precision map, comparing the actual vehicle position with the position corresponding to the satellite positioning coordinate, and correcting the vehicle positioning according to the actual vehicle position if the position deviation is greater than a fifth set threshold value.
5. A positioning system for an autonomous vehicle, comprising:
the traffic environment information acquisition unit is used for acquiring traffic environment information around the vehicle, and the traffic environment information comprises: a lane line of a vehicle driving road, a distance between a wheel and the lane line, a road curvature of the vehicle driving road, and a distance between the vehicle and a peripheral reference object;
the map acquisition unit is used for acquiring a high-precision map of the position of the vehicle and calculating to obtain the theoretical positioning coordinates of the vehicle according to the traffic environment information and the high-precision map;
the positioning judgment unit is used for acquiring a satellite positioning coordinate of the vehicle through a navigation positioning system, and correcting the vehicle positioning data in a manual input mode if the difference between the satellite positioning coordinate and the theoretical positioning coordinate is greater than a first set threshold;
the third correction unit is used for fitting a center line of a front road according to a lane line and a road curvature of a road where the vehicle runs, selecting coordinates of a plurality of points on the center line, comparing the coordinates with coordinates of corresponding points on the high-precision map, and correcting the position of the vehicle according to the acquired lane line if the coordinate deviation is larger than a fourth set threshold; and when the vehicle is judged to be driving away from the original lane or has the tendency of driving away from the original lane, subtracting the lane central line given in the high-precision map from the fitted lane central line, adding the obtained result with the abscissa of the position corresponding to the lane central line given in the high-precision map, and sending the obtained result to a control system of the vehicle to correct the position of the vehicle.
6. The autonomous vehicle positioning system of claim 5, further comprising:
and the first correction unit is used for extracting lane line information of a lane where a vehicle is located according to the high-precision map, comparing the lane line information with a lane line corresponding to the satellite positioning coordinate, and correcting the position of the vehicle according to the high-precision map if the position deviation of the lane line is greater than a second set threshold value.
7. The autonomous vehicle positioning system of claim 6, further comprising:
and the second correction unit is used for comparing the acquired lane line of the vehicle driving road with the lane line corresponding to the satellite positioning coordinate, and correcting the vehicle position according to the acquired lane line if the position deviation of the lane line is greater than a third set threshold value.
8. The autonomous vehicle positioning system of claim 7, further comprising:
and the fourth correction unit is used for determining the actual vehicle position according to the acquired distance between the wheels and the lane line and the high-precision map, comparing the actual vehicle position with the position corresponding to the satellite positioning coordinates, and correcting the vehicle positioning according to the actual vehicle position if the position deviation is greater than a fifth set threshold value.
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