CN111750881B - Vehicle pose correction method and device based on light pole - Google Patents
Vehicle pose correction method and device based on light pole Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The embodiment of the invention discloses a method and a device for correcting a vehicle pose based on a light pole, which are applied to a road section with a deficient traffic sign, and the method comprises the following steps: correcting the elevation of the vehicle provided by the preset positioning device based on the lane line information corresponding to the current position of the lane in the navigation map; selecting a target light pole matched with the perception image from the navigation map; performing first correction processing on the pose of the vehicle in the navigation map based on the position of the target light pole; according to the pose and the elevation of the vehicle after the first correction processing, other types of indicating signs except for the light pole matched with the navigation map and the perception image are determined; based on the positions of the target light pole and other types of matched indicating signs, the vehicle pose in the navigation map is subjected to second correction processing, and by adopting the technical scheme, the technical effect that high-precision positioning can be carried out by using the consumption-level preset positioning device under the application scenes such as the road sections with deficient traffic signs is achieved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a device for correcting a vehicle pose based on a light pole.
Background
In the field of automatic driving, navigation and positioning are of great importance. In recent years, the development of the image semantic segmentation and image recognition field is greatly promoted by the achievements of deep learning and other technologies, and a solid foundation is provided for a navigation map and navigation positioning.
In the positioning scheme based on the high-precision map, when the unmanned vehicle enters the high-precision map for the first time, a global and accurate position information needs to be obtained for initialization, and then the high-precision map can be used for accurate positioning, namely, the absolute position precision can reach the centimeter level. However, in a Positioning scheme of consumer-grade equipment, such as a single-point GPS (Global Positioning System) and an inexpensive IMU (Inertial measurement unit), because an error of Positioning accuracy information provided by the single-point GPS is large, when a traffic sign in an image is sensed by using a depth learning sensing model and a traffic sign, generally a traffic sign, is sensed by using a position provided by the single-point GPS, and re-projection matching is performed, problems such as a left-right matching error of a lane line, a front-back matching error of a street lamp pole, and the like are easily caused. If the vehicle body position is corrected by using the wrong matching information, the position accuracy of the vehicle body cannot reach centimeter level by using the high-precision map, but the position of the vehicle body may deviate from the real position more greatly. Particularly, in the road section with relatively deficient traffic signs in the navigation map, the deficiency of the traffic signs can influence the correction result of the vehicle pose by using the traffic signs, so that the positioning of the subsequent vehicles has larger deviation.
Disclosure of Invention
The embodiment of the invention discloses a method and a device for correcting the pose of a vehicle based on a light pole, which solve the problem of low positioning precision by using a consumption-level preset positioning device and achieve the technical effect of high-precision positioning by using the consumption-level preset positioning device under the application scenes such as a road section with relatively deficient traffic signs.
In a first aspect, an embodiment of the present invention discloses a vehicle pose correction based on a light pole, where the method includes:
acquiring the current position of a vehicle provided by a preset positioning device, and correcting the elevation of the vehicle provided by the preset positioning device based on lane line information corresponding to the current position in a navigation map;
selecting a target light pole matched with the perception image from the navigation map;
performing first correction processing on the pose of the vehicle in the navigation map based on the position of the target light pole;
according to the pose and the elevation of the vehicle after the first correction processing, other types of indicating signs except the light pole matched with the navigation map and the perception image are determined, and the other types of indicating signs at least comprise lane lines;
and performing second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and other matched types of indication marks, so that the positions of various types of indication marks in the navigation map are matched with the positions of corresponding types of indication marks in the perception image according to the vehicle pose after the second correction processing.
Optionally, based on the position of the target light pole, performing a first correction process on the pose of the vehicle in the navigation map, including:
and based on the position of the target light pole, performing first correction processing on position three degrees of freedom in six degrees of freedom of the vehicle through a nonlinear optimization algorithm, so that the projection error of each light pole in the navigation map and the perception image on a preset standardized plane based on the position of the vehicle after the first correction processing is smaller than a first preset distance.
Optionally, performing second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and the other types of matched indicator signs, so that the positions of the various types of indicator signs in the navigation map are matched with the positions of the corresponding types of indicator signs in the perception image according to the vehicle pose after the second correction processing, including:
performing second correction processing on the vehicle pose subjected to the first correction processing through a nonlinear optimization algorithm based on the positions of the target traffic sign and other matched types of indication signs;
respectively projecting various types of indicators in the navigation map and the perception image to a preset standardized plane based on the pose of the vehicle after the second correction processing;
judging whether the projection distance between the various types of projected indication marks in the navigation map and the corresponding indication marks in the perception image is smaller than a second preset distance or not on the preset standardized plane;
if the position of the indicator mark is smaller than a second preset distance, determining that the position of each type of indicator mark in the navigation map is matched with the position of the corresponding type of indicator mark in the perception image according to the vehicle pose after the second correction processing;
and the second preset distances corresponding to the different types of the indicating marks are smaller than the first preset distances corresponding to the different types of the indicating marks.
Optionally, selecting a target light pole matched with the perception image from the navigation map includes:
and reconstructing each light pole in the perception image, sequentially comparing the similarity of the reconstructed light pole with the similarity of the light poles in the navigation map, and taking the light pole with the similarity value reaching a first set threshold value as a matched target light pole.
Optionally, selecting a target light pole matched with the perception image from the navigation map includes:
and projecting the light pole in the navigation map to the plane where the perception image is located, comparing the similarity with the light pole in the perception image, and taking the light pole with the similarity value reaching a second set threshold value as a matched target light pole.
Optionally, for each light pole in the navigation map projected onto the plane where the perception image is located, a ratio of a projection length of the light pole in the projected navigation map to a projection length of the light pole in the perception image is calculated, and the ratio is used as a similarity value.
Optionally, the correcting the elevation of the vehicle provided by the preset positioning device based on the lane line information corresponding to the current position in the navigation map includes:
determining an average value of the elevations of the lane lines corresponding to the current position in the navigation map;
and taking the average value of the elevations of the lane lines as the elevation of the vehicle at the current position so as to correct the elevation of the vehicle provided by a preset positioning device.
Optionally, after performing the second correction processing on the vehicle pose in the navigation map, the method further includes:
updating display content in the navigation map based on the pose of the vehicle after the second correction processing;
and returning to execute the operation of acquiring the current position of the vehicle provided by the preset positioning device to correct the pose of the vehicle again if the indicator is not acquired in the perception image with the continuously set frame number and/or the indicator in the navigation map during the running process of the vehicle.
Optionally, the method further includes:
and if the position of the vehicle provided by the preset positioning device is detected to have no corresponding coverage area in the navigation map, stopping the initialization operation of the navigation map, and switching the current automatic driving mode into the manual driving mode.
In a second aspect, an embodiment of the present invention further provides a device for correcting a vehicle pose based on a light pole, where the device includes:
the elevation correction module is configured to acquire the current position of the vehicle provided by a preset positioning device and correct the elevation of the vehicle provided by the preset positioning device based on lane line information corresponding to the current position in a navigation map;
a target light pole determination module configured to select a target light pole from the navigation map that matches the perception image;
a first correction module configured to perform a first correction process on the pose of the vehicle in the navigation map based on the position of the target light pole;
the other indicator mark determining module is configured to determine other types of indicator marks except the light pole matched with the navigation map and the perception image according to the pose and the elevation of the vehicle after the first correction processing, wherein the other types of indicator marks at least comprise lane lines;
and the second correction module is configured to perform second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and the matched other types of indicators, so that the positions of the various types of indicators in the navigation map are matched with the positions of the corresponding types of indicators in the perception image according to the vehicle pose after the second correction processing.
Optionally, the first modification module is specifically configured to:
and based on the position of the target light pole, performing first correction processing on position three degrees of freedom in six degrees of freedom of the vehicle through a nonlinear optimization algorithm, so that the projection error of each light pole in the navigation map and the perception image on a preset standardized plane based on the position of the vehicle after the first correction processing is smaller than a first preset distance.
Optionally, the second modification module is specifically configured to:
performing second correction processing on the vehicle pose subjected to the first correction processing through a nonlinear optimization algorithm based on the positions of the target traffic sign and other matched types of indication signs;
respectively projecting various types of indicators in the navigation map and the perception image to a preset standardized plane based on the pose of the vehicle after the second correction processing;
judging whether the projection distance between the various types of projected indication marks in the navigation map and the corresponding indication marks in the perception image is smaller than a second preset distance or not on the preset standardized plane;
if the position of the indicator mark is smaller than a second preset distance, determining that the position of each type of indicator mark in the navigation map is matched with the position of the corresponding type of indicator mark in the perception image according to the vehicle pose after the second correction processing;
the second preset distances corresponding to the different types of the indicating marks are smaller than the first preset distances corresponding to the different types of the indicating marks.
Optionally, the target light pole determining module is specifically configured to:
and reconstructing each light pole in the perception image, sequentially comparing the similarity of the reconstructed light pole with the similarity of the light poles in the navigation map, and taking the light pole with the similarity value reaching a first set threshold value as a matched target light pole.
Optionally, the target light pole determining module is specifically configured to:
optionally, a ratio of the projection length of the light pole in the projected navigation map to the projection length of the light pole in the perception image is calculated, and the ratio is used as a similarity value.
Optionally, the elevation correction module is specifically configured to:
determining an average value of the elevations of the lane lines corresponding to the current position in the navigation map;
and taking the average value of the elevations of the lane lines as the elevation of the vehicle at the current position so as to correct the elevation of the vehicle provided by a preset positioning device.
Optionally, the apparatus further comprises:
after second correction processing is carried out on the pose of the vehicle in the navigation map, updating display content in the navigation map based on the pose of the vehicle after the second correction processing;
and returning to execute the operation of acquiring the current position of the vehicle provided by the preset positioning device to correct the pose of the vehicle again if the indicator is not acquired in the perception image with the continuously set frame number and/or the indicator in the navigation map during the running process of the vehicle.
Optionally, the apparatus further comprises:
and if the position of the vehicle provided by the preset positioning device is detected to have no corresponding coverage area in the navigation map, stopping the initialization operation of the navigation map, and switching the current automatic driving mode into the manual driving mode.
In a third aspect, an embodiment of the present invention further provides a vehicle-mounted terminal, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program codes stored in the memory to execute part or all of the steps of the method for correcting the position and posture of the vehicle based on the light pole provided by any embodiment of the invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium storing a computer program, where the computer program includes instructions for executing part or all of the steps of the light pole-based vehicle pose correction method provided in any embodiment of the present invention.
In a fifth aspect, embodiments of the present invention further provide a computer program product, which when run on a computer, causes the computer to perform part or all of the steps of the method for correcting a pose of a light pole-based vehicle according to any of the embodiments of the present invention.
According to the technical scheme provided by the embodiment of the invention, in the road section with insufficient information such as a traffic sign and the like, the first correction processing, namely the rough correction, of the vehicle pose is completed by utilizing the position of the target light pole matched with the sensing image in the navigation map. Although the information such as the traffic sign is deficient, the lane line information generally exists, so that the lane line information can be used for carrying out second correction processing, namely accurate correction, on the vehicle pose after rough correction, more accurate vehicle positioning precision is obtained, the problem that the positioning precision is not high by using a consumer-grade preset positioning device is solved, and the consumer-grade preset positioning device can provide centimeter-grade position precision for the driverless vehicle in the application scene where the information such as the traffic sign is deficient.
The invention comprises the following steps:
1. in the road section with deficient information such as traffic signs and the like, the position and posture of the vehicle are corrected by using the street lamp pole, so that the initialization operation of the navigation map is completed, and the consumer-grade positioning equipment has a high-precision positioning function, and is one of the invention points.
2. When the target light pole is screened, the light pole in the perception image is subjected to three-dimensional reconstruction, or the light pole in the navigation map is projected to the plane where the perception image is located, and the similarity between the light pole and the traffic sign in the navigation map is used as one of the weights for judging the quality of the light pole, so that the target light pole matched with the position in the navigation map in the perception image is screened out, and the method is one of the invention points of the invention.
3. When the position of the vehicle is corrected, a more accurate position precision can be obtained by adopting an iterative correction mode, and the method is one of the invention points of the invention.
4. The invention is one of the inventions of the invention, which determines the elevation of the lane line within a range of several meters around the current position of the vehicle in the navigation map, and can use the determined elevation of the vehicle line as the elevation of the current position of the vehicle to finish the correction of the elevation of the vehicle, thereby increasing the probability that the subsequent navigation map is correctly matched with the perception image.
5. In the driving process of the vehicle, if the indication marks such as a lane line, a traffic sign or a light pole and the like are not acquired in the perception image with the set frame number and/or the indication marks in the navigation map are not acquired, the initial state of the navigation map needs to be switched to ensure the normal operation of the vehicle, and the method is one of the invention points.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1a is a schematic flowchart of a method for correcting a vehicle pose based on a light pole according to an embodiment of the present invention;
fig. 1b is a schematic diagram of a light pole in a navigation map and a light pole in a reconstructed perception image according to an embodiment of the present invention;
fig. 2a is a schematic flowchart of a method for correcting a vehicle pose based on a light pole according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of a projection of a vehicle before elevation correction according to an embodiment of the present invention;
FIG. 2c is a schematic view of a vehicle elevation corrected projection according to an embodiment of the present invention;
fig. 2d is a schematic projection diagram of a vehicle after rough pose correction according to an embodiment of the present invention;
fig. 2e is a schematic projection diagram of a vehicle after accurate pose correction according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for correcting the pose of a vehicle based on a light pole according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Example one
Referring to fig. 1a, fig. 1a is a schematic flow chart of a method for correcting a vehicle pose based on a light pole according to an embodiment of the present invention. The method is typically applied to a road section where an unmanned vehicle lacks information such as a traffic sign and enters an outdoor high-precision map for the first time, and can be executed by a correction device of a vehicle pose based on a light pole, the device can be realized in a software and/or hardware mode, and can be generally integrated in a vehicle-mounted terminal such as a vehicle-mounted Computer and a vehicle-mounted Industrial control Computer (IPC), and the embodiment of the invention is not limited. As shown in fig. 1a, the method provided in this embodiment specifically includes:
110. and acquiring the current position of the vehicle provided by a preset positioning device, and correcting the elevation of the vehicle provided by the positioning device based on the lane line information corresponding to the current position in the navigation map.
The preset positioning device is a single-point GPS or low-precision consumer-grade positioning device. The navigation map is a high-precision map with centimeter-level error level applied to automatic driving.
In this embodiment, the elevation of the vehicle refers to the altitude of the vehicle provided by the consumer-grade location device. When the consumer-grade positioning equipment is used for positioning the vehicle, the positioning accuracy is low, and sometimes errors of several meters or even tens of meters exist, but the height of the lane line does not change greatly within the error range. Although the unmanned vehicle travels on a road section where traffic signs are scarce, lane line information generally exists. Therefore, according to the current position of the vehicle provided by the consumer-level positioning equipment, the lane line information which is several meters near the current position can be searched in the navigation map, so that the elevation of the vehicle can be corrected by using the lane line information, and the vehicle can be pulled to the height of the lane line.
Specifically, the lane line within a range of several meters around the current position of the vehicle may be searched in the navigation map, and the average height of the lane line, that is, the elevation of the lane line, may be calculated. And taking the calculated elevation of the lane line as the elevation of the current position of the vehicle so as to finish the correction of the elevation of the vehicle. This arrangement may result in an increased probability that the subsequent navigation map matches the perceived image correctly.
It should be noted that, in the embodiment of the present invention, there is no difference in the order of correcting the elevation and the pose of the vehicle, the elevation of the vehicle may be corrected first, and then the pose of the vehicle may be corrected, or the elevation of the vehicle may be corrected first, and then the pose of the vehicle may be corrected.
120. And selecting a target light pole matched with the perception image from the navigation map.
The perception image is obtained by identifying an image which is acquired by a camera and contains road information by using a preset perception model. The preset perception model can be used for training the perception model by adopting a large number of road sample images marked with image semantic features in advance. The image semantic features can comprise road information such as traffic signs, lane lines, lane line dotted line end points, prismatic lines, zebra newness and the like. The road image containing the road information is input into the trained preset perception model, and the image semantic features in the road image can be obtained based on the recognition result of the preset perception model. The preset perception model can be obtained through the following modes:
constructing a training sample set, wherein the training sample set comprises a plurality of groups of training sample data, and each group of training sample data comprises a road sample image and a corresponding road perception sample image marked with image semantic features; training the built initial neural network based on the training sample set to obtain a preset perception model, wherein the preset perception model enables the road sample images in each set of training sample data to be associated with the corresponding road perception sample images marked with image semantic features. The output of the model is called a perception image.
In the embodiment, the information of the lane lines and the light poles can be identified from the perception image on the road section with the deficient traffic sign. The lane line can provide the restraint of upper and lower direction to the automobile body position, and the light pole is more abundant for other sign information, can provide the restraint of fore-and-aft direction and left and right-hand direction to the automobile body position, therefore, this embodiment is after the correction of completion vehicle elevation, and usable light pole is corrected the fore-and-aft direction and left and right-hand direction of vehicle.
For example, selecting a target light pole matching the perception image from the navigation map can be realized by the following steps:
and reconstructing each light pole in the perception image by adopting a triangulation algorithm, sequentially comparing the similarity of the reconstructed light pole with the similarity of the light poles in the navigation map, and taking the light pole with the similarity value reaching a first set threshold value as a matched target light pole.
Specifically, fig. 1b is a schematic diagram of a light pole in a navigation map and a light pole in a reconstructed perception image for matching according to an embodiment of the present invention, as shown in fig. 1b, 1 represents a reconstructed light pole in the perception image; 2, a street lamp post matched with the perception image in the navigation map; 3, a street lamp post which is not matched with the perception image in the navigation map; 4, a light pole in the perception image; 5, a perception image collected by the current vehicle-mounted camera is shown; and 6 denotes a current in-vehicle camera. As shown in fig. 1b, by sensing the similarity between the light pole in the three-dimensional reconstructed image and the light pole in the navigation map, the light pole with the similarity reaching the threshold value similar to 1 and 2 can be selected as the matched target light pole.
For example, selecting the target light pole matched with the perception image from the navigation map can be realized by the following steps:
and projecting the light pole in the navigation map to the plane where the perception image is located, comparing the similarity with the light pole in the perception image, and taking the light pole with the similarity value reaching a second set threshold value as a matched target light pole. The ratio of the projection length of the light pole in the projected navigation map to the projection length of the light pole in the perception image can be used as the similarity value.
In this embodiment, because the light pole information generally exists in the road section where the traffic sign is deficient, the target light pole matched with the navigation map and the perception image is used as the indicator for correcting the vehicle pose. When the target street lamp pole is screened, the similarity between the street lamp pole in the navigation map and the street lamp pole in the perception image is used as one of the weights for judging the quality of the street lamp pole. And for the street lamp pole with the similarity value not reaching the standard, screening out the street lamp pole and deleting the street lamp pole. Set up like this and can improve computational efficiency on the one hand, on the other hand can get rid of the light pole that the weighted value fails to reach standard, under the application scene that the traffic sign is deficient, can improve the accuracy of follow-up vehicle location.
Furthermore, the determination of the target light pole indicates that the target light pole in the perception image and the corresponding target light pole in the navigation map establish a one-to-one matching relationship, so that the pose of the vehicle in the navigation map can be continuously corrected based on the position of the target light pole. When the vehicle pose is corrected, the target light poles comprise a plurality of groups of light poles with similarity values meeting the requirements, so that the light poles can be sequenced from high to low according to the similarity values, and the next step of correcting the vehicle pose is performed in sequence from high to low according to the similarity values. 130. And performing first correction processing on the pose of the vehicle in the navigation map based on the position of the target light pole.
The pose of the vehicle is corrected to minimize the deviation between the current position of the vehicle and the actual correct position of the vehicle, and the current position of the vehicle can be continuously approximated to the actual position of the vehicle by adopting an iterative correction mode.
In the embodiment, in the traffic sign deficient road section, the target light pole matched with the navigation map and the perception image can be used as a standard for correcting the pose of the vehicle. The first correction processing is to roughly correct the vehicle pose by using the position of the target light pole, so that the distance error between the vehicle pose and the real pose is reduced.
140. And determining other types of indicating signs except for the matched light pole in the navigation map and the perception image according to the pose and the elevation of the vehicle after the first correction processing.
After the coarse pose correction is performed on the vehicle in step 130, the pose of the vehicle is changed. Therefore, based on the corrected vehicle position, the display content in the navigation map is changed accordingly. After the display content in the navigation map is updated, the indication mark matched with the navigation map in the perception map is also updated accordingly. Since the embodiment is mainly applied to the road section with the deficient traffic sign, under the condition that the traffic sign is deficient, the other types of indicating signs except for the light pole mainly refer to the lane line. The lane lines can provide restraint on the position of the vehicle body in the up-down direction and the left-right direction, so that the vehicle pose can be further corrected by utilizing the lane lines.
It should be noted that, although the present embodiment is applied to a road section with a relatively scarce traffic sign, it cannot be said that no traffic sign exists in the road section. Therefore, if the display content of the navigation map is updated and then a traffic sign of the type of a traffic sign or the like is displayed, the pose of the vehicle can be continuously corrected by using the traffic sign together with the lane line.
150. And performing second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and other matched types of the indicating signs, so that the positions of various types of the indicating signs in the navigation map are matched with the positions of the corresponding types of the indicating signs in the perception image according to the vehicle pose after the second correction processing.
For example, the second pose correction processing for the vehicle may still be implemented by using a non-linear correction algorithm. The second correction processing of the vehicle pose is to perform further accurate correction on the vehicle pose in combination with various types of identifiable indication marks in the traffic mark deficient road section, such as light poles and lane lines, on the basis of performing rough pose correction on the vehicle. The second correction processing result may be checked by projecting various types of indicators in the navigation map onto a plane where the sensing image is located, determining a projection distance between the sensing image and the corresponding type of indicators in the sensing image, and if the projection distance satisfies an error convergence condition, it may be said that the positions of the various types of indicators in the navigation map are matched with the positions of the corresponding types of indicators in the sensing image according to the vehicle pose after the second correction processing, that is, the result of the vehicle accurate correction reaches a preset requirement, that is, the accurate correction of the vehicle pose at the traffic sign-deficient road section is completed. At this time, the display information in the navigation map may be updated to complete initialization of the navigation map, and the matching relationship between the navigation map and the perception image may be saved. According to the technical scheme provided by the embodiment of the invention, in the road section with insufficient information such as a traffic sign and the like, the first correction processing, namely the rough correction, of the vehicle pose is completed by utilizing the position of the target light pole matched with the sensing image in the navigation map. Although the information such as the traffic sign is deficient, the lane line information generally exists, so that the lane line information can be used for carrying out second correction processing, namely accurate correction, on the roughly corrected vehicle pose, so that more accurate positioning precision is obtained, and the problem that the positioning precision is not high by using a consumer-grade preset positioning device in the application scene where the information such as the traffic sign is deficient is solved.
Further, after the initialization of the navigation map is completed, if the indication mark in the sensing image with the continuously set frame number is not acquired, or the indication mark in the navigation map is not acquired, or the indication mark is not acquired in both the sensing image and the navigation map during the driving process of the unmanned vehicle, returning to execute the operation of acquiring the current position of the vehicle provided by the preset positioning device, so as to update the display content in the navigation map again, that is, to perform the initialization process again. However, if the position of the vehicle provided by the preset positioning device is detected that the corresponding coverage area does not exist in the navigation map, the initialization operation of the navigation map is stopped, and the current automatic driving mode is switched to the manual driving mode, namely, the initialization state is exited, so that the stability of a vehicle system is ensured.
Example two
Referring to fig. 2a, fig. 2a is a schematic flow chart of a method for correcting a vehicle pose based on a light pole according to an embodiment of the present invention. The embodiment optimizes the vehicle pose correction process on the basis of the embodiment. As shown in fig. 2a, the method comprises:
210. and acquiring the current position of the vehicle provided by the preset positioning device, and correcting the elevation of the vehicle provided by the preset positioning device based on the lane line information corresponding to the current position in the navigation map.
FIG. 2b is a schematic diagram of a projection of a vehicle before elevation correction according to an embodiment of the present invention. FIG. 2c is a schematic diagram of a projection of a vehicle after elevation correction according to an embodiment of the present invention. Wherein, 1 represents a light pole in the perception image; 2, showing the projected street lamp post in the navigation map; 3 represents the true position of the vehicle; and 4, the current position of the vehicle in the navigation map. By correcting the elevation of the vehicle, the vehicle may be pulled to lane line height, as shown in fig. 2b and 2 c.
220. And selecting a target light pole matched with the perception image from the navigation map.
230. Based on the position of the target light pole, first correction processing is carried out on the position three degrees of freedom in the six degrees of freedom of the vehicle through a nonlinear optimization algorithm, so that the projection error of each light pole in the navigation map and the perception image on a preset standardized plane based on the position of the vehicle after the first correction processing is smaller than a first preset distance.
In this embodiment, step 230 is a process of performing rough pose correction on the vehicle. The process mainly corrects the position of the vehicle by using the target street lamp post identified in 220, so that the distance between the position of the vehicle and the real position of the vehicle is reduced. After the rough pose correction is performed on the vehicle, that is, after the first correction processing is completed, the optimized position can be checked, specifically, the position can be judged by a light pole in the navigation map based on an error between a projection position of the corrected vehicle pose on the preset standardized plane and a projection position of a corresponding light pole in the perception image on the preset standardized plane, and if the projection error is reduced, for example, if the error value is smaller than a 20-30 pixel value, the next accurate pose correction process of the vehicle can be performed. The preset standardized plane is preferably a plane where a perception image is located, and may also be a normalized plane of the camera, the normalized plane may be established in a camera coordinate system, and the distance from the origin of the camera coordinate system is 1 meter.
Specifically, fig. 2d is a schematic projection diagram of a vehicle after rough pose correction according to an embodiment of the present invention. Wherein, 1 represents a light pole in the perception image; 2, showing the projected street lamp post in the navigation map; 3 represents the true position of the vehicle; and 4, the current position of the vehicle in the navigation map. As shown in fig. 2d, after the rough pose of the vehicle is corrected, the projection positions of the matched street lamp poles in the navigation map and the perception image on the preset standardized plane are reduced compared with those in fig. 2c, and under the condition that the traffic sign is deficient, the positions of the vehicle can be corrected by using the positions of the matched target street lamp poles in the navigation map and the perception image, so that the position of the vehicle in fig. 2d is closer to the real position of the vehicle.
240. And determining other types of indicating signs except for the light pole matched with the navigation map and the perception image according to the pose and the elevation of the vehicle after the first correction processing, wherein the other types of indicating signs at least comprise lane lines.
250. And performing second correction processing on the vehicle pose subjected to the first correction processing through a nonlinear optimization algorithm based on the positions of the target traffic sign and the other matched types of indication signs.
In this embodiment, step 250 is a process of performing accurate pose correction on the vehicle. After the coarse pose correction is performed on the vehicle in step 230, the pose of the vehicle in the navigation map is changed. Therefore, based on the corrected vehicle position, the display content in the navigation map is changed accordingly. After the display content in the navigation map is updated, the traffic signs matched with the navigation map in the perception map are also updated accordingly. In the process of accurately correcting the pose of the vehicle on the road section with the deficient traffic sign, the pose of the vehicle can be further optimized by using other indication signs matched with the navigation map and the perception image except the target light pole, such as a lane line, namely, second correction processing is carried out, and after the second correction processing, the position of the vehicle is closer to the real position.
260. And respectively projecting various types of indicators in the navigation map and the perception image to a preset standardized plane based on the pose of the vehicle after the second correction processing.
270. And on a preset standardized plane, judging whether the projection distance between the various projected indicating signs in the navigation map and the corresponding indicating signs in the perception image is smaller than a second preset distance, and if so, determining that the positions of the various projected indicating signs in the navigation map are matched with the positions of the corresponding indicating signs in the perception image according to the second corrected vehicle pose.
The second preset distances corresponding to the different types of the indicating marks are smaller than the first preset distances corresponding to the different types of the indicating marks.
In this embodiment, the second correction processing result is checked in the same manner as the first correction processing result, that is, projection errors between the projection positions of the indicators such as the light pole and the lane line in the navigation map and the projection positions of the indicators such as the light pole and the lane line in the perception image are respectively determined on the normalized plane or the plane where the perception image is located, and if the errors are smaller than a second preset distance, for example, smaller than 10-15 pixels, it is determined that the correction result of the vehicle pose meets the condition of error convergence. For example, in the checking process, if the projection error is still greater than the second preset distance, the nonlinear optimization algorithm may be continuously used to iteratively correct the vehicle pose until the projection error is less than the second preset distance.
Specifically, fig. 2e is a schematic projection diagram after the vehicle is subjected to accurate pose correction according to the embodiment of the present invention. Wherein, 1 represents a light pole in the perception image; 2, a light pole in the projected navigation map; 3 represents the true position of the vehicle; 4 represents the current position of the vehicle in the navigation map; 5 denotes a traffic sign in the perceived image; 6 represents a traffic sign in the projected navigation map; 7 denotes a lane line in the perception image; and 8, a lane line in the projected navigation map. As shown in fig. 2e, in the traffic sign-deficient road section, after the accurate pose correction is performed on the vehicle pose by using the light pole and the lane line, the projection of each traffic sign in the navigation map and the projection of each corresponding traffic sign in the perception image on the normalization plane are close to coincidence. If the navigation map has the traffic sign, the positions of the traffic sign in the projected navigation map and the traffic sign in the perception image are approximately coincident, and at the moment, the updating operation of the display content of the navigation map can be executed, so that the initialization process of the navigation map is completed.
According to the technical scheme provided by the embodiment, the rough correction of the vehicle pose can be realized by utilizing the navigation map and the street lamp post information in the perception image on the road section with the deficient traffic sign. After the rough correction is finished, the position of the light pole and the lane line are combined, the pose of the vehicle can be further corrected, so that the pose of the vehicle after correction approaches to the real pose, the positioning error of the pose of the vehicle can be corrected to the centimeter level without using a traffic sign on a road section with a deficient traffic sign, the problem that the positioning precision is not high by using a consumer-level preset positioning device is solved, and the consumer-level positioning device also has a high-precision positioning function.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a device for correcting a vehicle pose based on a light pole according to an embodiment of the present invention. As shown in fig. 3, the apparatus includes: an elevation correction module 310, a target light pole determination module 320, a first correction module 330, an other indicator determination module 340, and a second correction module 350; wherein the content of the first and second substances,
the elevation correction module 310 is configured to acquire a current position of a vehicle provided by a preset positioning device, and correct an elevation of the vehicle provided by the preset positioning device based on lane line information corresponding to the current position in a navigation map;
a target light pole determination module 320 configured to select a target light pole from the navigation map that matches the sensory image;
a first correction module 330 configured to perform a first correction process on the pose of the vehicle in the navigation map based on the position of the target light pole;
the other-indicator-mark determining module 340 is configured to determine other types of indicator marks except the light pole matched with the navigation map and the perception image according to the pose and the elevation of the vehicle after the first correction processing, wherein the other types of indicator marks at least comprise lane lines;
and a second correction module 350, configured to perform a second correction process on the vehicle pose after the first correction process based on the positions of the target light pole and the matched other types of indicators, so that the positions of the various types of indicators in the navigation map are matched with the positions of the corresponding types of indicators in the perception image according to the vehicle pose after the second correction process.
According to the technical scheme provided by the embodiment of the invention, in the road section with insufficient information such as a traffic sign and the like, the first correction processing, namely the rough correction, of the vehicle pose is completed by utilizing the position of the target light pole matched with the sensing image in the navigation map. Although the information such as the traffic sign is deficient, the lane line information generally exists, so that the lane line information can be used for carrying out second correction processing, namely accurate correction, on the roughly corrected vehicle pose, so that more accurate positioning precision is obtained, and the problem that the positioning precision is not high by using a consumer-grade preset positioning device in the application scene where the information such as the traffic sign is deficient is solved.
Optionally, the first modification module is specifically configured to:
and based on the position of the target light pole, performing first correction processing on position three degrees of freedom in six degrees of freedom of the vehicle through a nonlinear optimization algorithm, so that the projection error of each light pole in the navigation map and the perception image on a preset standardized plane based on the position of the vehicle after the first correction processing is smaller than a first preset distance.
Optionally, the second modification module is specifically configured to:
performing second correction processing on the vehicle pose subjected to the first correction processing through a nonlinear optimization algorithm based on the positions of the target traffic sign and other matched types of indication signs;
respectively projecting various types of indicators in the navigation map and the perception image to a preset standardized plane based on the pose of the vehicle after the second correction processing;
judging whether the projection distance between the various types of projected indication marks in the navigation map and the corresponding indication marks in the perception image is smaller than a second preset distance or not on the preset standardized plane;
if the position of the indicator mark is smaller than a second preset distance, determining that the position of each type of indicator mark in the navigation map is matched with the position of the corresponding type of indicator mark in the perception image according to the vehicle pose after the second correction;
the second preset distances corresponding to the different types of the indicating marks are smaller than the first preset distances corresponding to the different types of the indicating marks.
Optionally, the target light pole determining module is specifically configured to:
and reconstructing all the light poles in the perception image, sequentially comparing the similarity of the reconstructed light poles with the similarity of the light poles in the navigation map, and taking the light poles with the similarity value reaching a first set threshold value as matched target light poles.
Optionally, the target light pole determining module is specifically configured to:
optionally, a ratio of the projection length of the light pole in the projected navigation map to the projection length of the light pole in the perception image is calculated, and the ratio is used as a similarity value.
Optionally, the elevation correction module is specifically configured to:
determining an average value of the elevations of the lane lines corresponding to the current position in the navigation map;
and taking the average value of the elevations of the lane lines as the elevation of the vehicle at the current position so as to correct the elevation of the vehicle provided by a preset positioning device.
Optionally, the apparatus further comprises:
after second correction processing is carried out on the pose of the vehicle in the navigation map, updating display content in the navigation map based on the pose of the vehicle after the second correction processing;
and returning to execute the operation of acquiring the current position of the vehicle provided by the preset positioning device to correct the pose of the vehicle again if the indicator is not acquired in the perception image with the continuously set frame number and/or the indicator in the navigation map during the running process of the vehicle.
Optionally, the apparatus further comprises:
and if the position of the vehicle provided by the preset positioning device is detected to have no corresponding coverage area in the navigation map, stopping the initialization operation of the navigation map, and switching the current automatic driving mode into the manual driving mode.
The device for correcting the vehicle pose based on the light pole provided by the embodiment of the invention can execute the method for correcting the vehicle pose based on the light pole provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the above embodiments can be referred to a method for correcting a vehicle pose based on a light pole provided in any embodiment of the present invention.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention. As shown in fig. 4, the in-vehicle terminal may include:
a memory 701 in which executable program code is stored;
a processor 702 coupled to the memory 701;
the processor 702 calls the executable program code stored in the memory 701 to execute the method for correcting the vehicle pose based on the light pole according to any embodiment of the present invention.
The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute the method for correcting the vehicle pose based on a light pole provided by any embodiment of the invention.
The embodiment of the invention discloses a computer program product, wherein when the computer program product runs on a computer, the computer is enabled to execute part or all of the steps of the method for correcting the vehicle pose based on the light pole provided by any embodiment of the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The method and the device for correcting the vehicle pose based on the street lamp pole disclosed by the embodiment of the invention are described in detail, a specific example is applied in the method for explaining the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for correcting the pose of a vehicle based on a light pole is applied to automatic driving and is characterized by comprising the following steps:
acquiring the current position of a vehicle provided by a preset positioning device, and correcting the elevation of the vehicle provided by the preset positioning device based on lane line information corresponding to the current position in a navigation map;
selecting a target light pole matched with the perception image from the navigation map;
performing first correction processing on the pose of the vehicle in the navigation map based on the position of the target light pole;
according to the pose and the elevation of the vehicle after the first correction processing, other types of indicating signs except the light pole matched with the navigation map and the perception image are determined, and the other types of indicating signs at least comprise lane lines;
and performing second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and other matched type indicating signs, so that the positions of various types of indicating signs in the navigation map are matched with the positions of corresponding types of indicating signs in the perception image according to the vehicle pose after the second correction processing.
2. The method according to claim 1, wherein performing a first correction process on the pose of the vehicle in the navigation map based on the position of the target light pole comprises:
and based on the position of the target light pole, performing first correction processing on position three degrees of freedom in six degrees of freedom of the vehicle through a nonlinear optimization algorithm, so that the projection error of each light pole in the navigation map and the perception image on a preset standardized plane based on the position of the vehicle after the first correction processing is smaller than a first preset distance.
3. The method according to claim 1 or 2, wherein performing second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and the matched other types of indicators so that the positions of the various types of indicators in the navigation map are matched with the positions of the corresponding types of indicators in the perception image according to the second correction processed vehicle pose comprises:
performing second correction processing on the vehicle pose subjected to the first correction processing through a nonlinear optimization algorithm based on the positions of the target light pole and other matched types of indicator marks;
respectively projecting various types of indicators in the navigation map and the perception image to a preset standardized plane based on the pose of the vehicle after the second correction processing;
judging whether the projection distance between the various types of projected indication marks in the navigation map and the corresponding indication marks in the perception image is smaller than a second preset distance or not on the preset standardized plane;
if the position of the indicator mark is smaller than a second preset distance, determining that the position of each type of indicator mark in the navigation map is matched with the position of the corresponding type of indicator mark in the perception image according to the vehicle pose after the second correction processing;
the second preset distances corresponding to the different types of the indicating marks are smaller than the first preset distances corresponding to the different types of the indicating marks.
4. The method of claim 1, wherein selecting a target light pole from the navigation map that matches the sensory image comprises:
and reconstructing each light pole in the perception image, sequentially comparing the similarity of the reconstructed light pole with the similarity of the light poles in the navigation map, and taking the light pole with the similarity value reaching a first set threshold value as a matched target light pole.
5. The method of claim 1, wherein selecting a target light pole from the navigation map that matches the sensory image comprises:
and projecting the light pole in the navigation map to the plane where the perception image is located, comparing the similarity with the light pole in the perception image, and taking the light pole with the similarity value reaching a second set threshold value as a matched target light pole.
6. The method of claim 5, wherein a ratio of the projection length of the light pole in the post-projection navigation map to the projection length of the light pole in the perception image is calculated and used as the similarity value.
7. The method according to claim 1, wherein the correcting the elevation of the vehicle provided by the preset positioning device based on the lane line information corresponding to the current position in the navigation map comprises:
determining an average value of the elevations of the lane lines corresponding to the current position in the navigation map;
and taking the average value of the elevations of the lane lines as the elevation of the vehicle at the current position so as to correct the elevation of the vehicle provided by a preset positioning device.
8. The method according to claim 1, characterized in that after the second correction processing of the vehicle pose in the navigation map, the method further comprises:
updating display content in the navigation map based on the pose of the vehicle after the second correction processing;
and returning to execute the operation of acquiring the current position of the vehicle provided by the preset positioning device to correct the pose of the vehicle again if the indicator is not acquired in the perception image with the continuously set frame number and/or the indicator in the navigation map during the running process of the vehicle.
9. The method of claim 1, further comprising:
and if the position of the vehicle provided by the preset positioning device is detected to have no corresponding coverage area in the navigation map, stopping the initialization operation of the navigation map, and switching the current automatic driving mode into the manual driving mode.
10. The utility model provides a correcting unit of vehicle position appearance based on light pole, is applied to autopilot, its characterized in that includes:
the elevation correction module is configured to acquire the current position of the vehicle provided by a preset positioning device and correct the elevation of the vehicle provided by the preset positioning device based on lane line information corresponding to the current position in a navigation map;
a target light pole determination module configured to select a target light pole from the navigation map that matches the perception image;
a first correction module configured to perform a first correction process on the pose of the vehicle in the navigation map based on the position of the target light pole;
the other indicator mark determining module is configured to determine other types of indicator marks except the light pole matched with the navigation map and the perception image according to the pose and the elevation of the vehicle after the first correction processing, wherein the other types of indicator marks at least comprise lane lines;
and the second correction module is configured to perform second correction processing on the vehicle pose after the first correction processing based on the positions of the target light pole and the matched other types of indicators, so that the positions of the various types of indicators in the navigation map are matched with the positions of the corresponding types of indicators in the perception image according to the vehicle pose after the second correction processing.
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| PCT/CN2019/113481 WO2020199565A1 (en) | 2019-03-29 | 2019-10-26 | Street lamp pole-based vehicle posture correction method and device |
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| CN112598731B (en) * | 2020-10-28 | 2021-11-23 | 禾多科技（北京）有限公司 | Vehicle positioning method and device, electronic equipment and computer readable medium |
| CN112683284B (en) * | 2020-12-01 | 2024-01-02 | 北京罗克维尔斯科技有限公司 | Method and device for updating high-precision map |
| CN112902987B (en) * | 2021-02-02 | 2022-07-15 | 北京三快在线科技有限公司 | Pose correction method and device |
| CN114034307B (en) * | 2021-11-19 | 2024-04-16 | 智道网联科技(北京)有限公司 | Vehicle pose calibration method and device based on lane lines and electronic equipment |
| CN114111817B (en) * | 2021-11-22 | 2023-10-13 | 武汉中海庭数据技术有限公司 | Vehicle positioning method and system based on SLAM map and high-precision map matching |
| CN114427876B (en) * | 2021-12-15 | 2023-11-28 | 武汉中海庭数据技术有限公司 | Automatic checking method and system for association relation of traffic sign |
| CN114419590B (en) * | 2022-01-17 | 2024-03-19 | 北京百度网讯科技有限公司 | Verification method, device, equipment and storage medium of high-precision map |
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