CN114076601B

CN114076601B - Auxiliary positioning method and device

Info

Publication number: CN114076601B
Application number: CN202111351763.7A
Authority: CN
Inventors: 张�林; 郭晓英; 曹力; 辛鑫
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2024-03-19
Anticipated expiration: 2041-11-16
Also published as: CN114076601A

Abstract

The invention discloses an auxiliary positioning method and device, wherein the method comprises the following steps: receiving an area high-precision map sent by road side equipment and area high-precision auxiliary positioning data in the area high-precision map range; if the vehicle is determined to enter an auxiliary positioning zone in the running process based on the regional high-precision map, judging whether a target auxiliary positioning reference object is detected according to appearance characteristic information, lane reference points and relative position relations in the regional high-precision auxiliary positioning data; if the auxiliary positioning reference object is detected, converting the vehicle body coordinate system into a north-south positive coordinate system taking the auxiliary positioning reference object as an original point; and determining longitude and latitude coordinates of the vehicle according to the relative position relation between the vehicle and the target auxiliary positioning reference object and the mapping relation between the north-south forward coordinate system and the geographic coordinate system. By the aid of the method, auxiliary positioning can be achieved, and the problem that accurate positioning cannot be achieved due to the fact that positioning signals are weak in an original positioning system is solved.

Description

Auxiliary positioning method and device

Technical Field

The invention relates to the technical field of positioning, in particular to an auxiliary positioning method and device.

Background

With the development of technology and the improvement of living standard of people, the automobile is more and more reserved. The navigation system on the automobile is almost standard, especially the automatic driving automobile, but is not separated from the navigation system. In the vehicle navigation process, the most basic link is positioning, namely, the current position of the vehicle needs to be determined first to plan a path, so that intelligent navigation is realized.

The existing vehicle positioning method comprises GPS (Global Positioning System ) positioning, base station positioning and the like, but when a vehicle enters an urban canyon, under an overpass, a tunnel, an indoor parking lot and other areas with weak GPS and base station signals, the positioning accuracy is greatly reduced, so that the user experience of manual driving and the safety of automatic driving can be influenced.

Disclosure of Invention

The invention provides an auxiliary positioning method and an auxiliary positioning device, which can realize the auxiliary positioning of a regional high-precision map based on an auxiliary positioning reference object in regional high-precision auxiliary positioning data and related information of the auxiliary positioning reference object, thereby solving the problem that the original positioning system cannot realize the accurate positioning due to weak positioning signals and the like. The specific technical scheme is as follows:

In a first aspect, an embodiment of the present invention provides an assisted positioning method, where the method includes:

receiving an area high-precision map sent by road side equipment and area high-precision auxiliary positioning data within the area high-precision map, wherein the area high-precision auxiliary positioning data comprises at least one auxiliary positioning partition, and the auxiliary positioning partition comprises appearance characteristic information of an auxiliary positioning reference object with unique identifiable characteristics, a lane reference point for sensing relative position relation with the auxiliary positioning reference object and relative position relation between the auxiliary positioning reference object and the lane reference point;

in the process of traveling based on the area high-precision map, if the vehicle is determined to enter an auxiliary positioning zone, judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation, wherein the target auxiliary positioning reference object is an auxiliary positioning reference object of an auxiliary positioning zone where the vehicle is currently positioned;

if the target auxiliary positioning reference object is detected, converting a vehicle body coordinate system into a north-south positive coordinate system taking the target auxiliary positioning reference object as an original point, wherein the positive direction of the transverse axis of the north-south positive coordinate system is the positive eastern direction, and the positive direction of the longitudinal axis is the positive north direction;

And determining longitude and latitude coordinates of the vehicle according to the relative position relation between the vehicle and the target auxiliary positioning reference object and the mapping relation between the north-south forward coordinate system and the geographic coordinate system.

Optionally, determining that the vehicle enters an assisted positioning zone includes:

when the vehicle runs a first preset distance from the last auxiliary positioning point, determining that the vehicle enters an auxiliary positioning zone, wherein the first preset distance is the distance between the auxiliary positioning point and a first vehicle road reference point, and the first vehicle road reference point is the lane reference point closest to the auxiliary positioning point in the vehicle running direction.

Optionally, determining whether the auxiliary positioning reference object is detected according to the appearance feature information, the lane reference point and the relative position relationship includes:

detecting whether an auxiliary positioning reference object is contained or not according to a detection range defined by the relative position relation between the first vehicle road reference point and the target auxiliary positioning reference object and the relative position relation between the second vehicle road reference point and the target auxiliary positioning reference object in the process of driving the vehicle from the first vehicle road reference point to a second vehicle road reference point, wherein the second vehicle road reference point is a lane reference point adjacent to the first vehicle road reference point in the driving direction of the vehicle;

If the auxiliary positioning reference object is contained, when the difference between the detected external feature information of the auxiliary positioning reference object and the external feature information of the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data meets the preset difference requirement, determining the detected auxiliary positioning reference object as the target auxiliary positioning reference object.

Optionally, converting the vehicle body coordinate system into a north-south forward coordinate system with the auxiliary positioning reference object as an origin, includes:

translating an origin of the vehicle body coordinate system to the target auxiliary positioning reference object;

and rotating the abscissa axis and the ordinate axis of the vehicle body coordinate system by a preset angle, so that the north-south forward coordinate system is generated when the positive direction of the abscissa axis is the positive east direction and the positive direction of the ordinate axis is the positive north direction.

Optionally, when the area high-precision auxiliary positioning data further includes a vehicle system applicability requirement required for using an auxiliary positioning function, if it is determined that the vehicle enters an auxiliary positioning area during the traveling based on the area high-precision map, before determining whether the target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relationship, the method further includes:

Judging whether the vehicle meets the applicability requirement of the vehicle system or not;

if it is determined that the vehicle enters an auxiliary positioning zone during the traveling based on the area high-precision map, determining whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relationship includes:

if the vehicle meets the applicability requirement of the vehicle system, in the process of traveling based on the area high-precision map, if the vehicle is determined to enter an auxiliary positioning zone, judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation.

Optionally, the area high-precision auxiliary positioning data further includes consistency description information for characterizing whether an auxiliary positioning reference object in the area high-precision auxiliary positioning data is consistent with a corresponding reference object in the area high-precision map, wherein when there is inconsistency, the consistency description information includes a reference object identifier of an auxiliary positioning reference object inconsistent with the reference object in the area high-precision map and an update time of the inconsistent auxiliary positioning reference object, and the reference object identifier is an identifier determined according to appearance feature information of the auxiliary positioning reference object;

And/or when the auxiliary positioning reference object comprises a ground sign, the auxiliary positioning partition further comprises a depression angle of the vehicle-mounted sensor and the ground sign;

and/or when the auxiliary positioning reference object comprises an above-road sign board, the auxiliary positioning partition further comprises a pitching angle between the vehicle-mounted sensor and the above-road sign board.

Optionally, after determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system, the method further includes:

calculating the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to positioning error calibration parameters, the regional high-precision auxiliary positioning data, the distance from the last auxiliary positioning point to the position where the target auxiliary positioning reference object is detected by the vehicle, the position coordinates of the auxiliary positioning reference object detected by the vehicle and the relative position relation between the vehicle detected by the vehicle and the target auxiliary positioning reference object;

and if the auxiliary positioning precision meets the preset positioning precision requirement, traveling through longitude and latitude coordinates positioned by the regional high-precision auxiliary positioning data.

Optionally, when the positioning error calibration parameter includes a longitudinal error and a lateral error, and the area high-precision auxiliary positioning data further includes an actual position coordinate of the target auxiliary positioning reference object, calculating an auxiliary positioning precision corresponding to the longitude and latitude coordinate according to the positioning error calibration parameter, the area high-precision auxiliary positioning data, a distance from a last auxiliary positioning point to a position where the target auxiliary positioning reference object is detected by the vehicle, a position coordinate of the auxiliary positioning reference object detected by the vehicle, and a relative position relationship between the vehicle detected by the vehicle and the target auxiliary positioning reference object, where the auxiliary positioning precision corresponds to the longitude and latitude coordinate includes:

acquiring actual position coordinates of the target auxiliary positioning reference object from the high-precision auxiliary positioning data of the region;

determining an actual distance between the vehicle and the target auxiliary positioning reference object and an actual included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle running direction according to the relative position relation between the target auxiliary positioning reference object and a lane reference point corresponding to the target auxiliary positioning reference object in the high-precision auxiliary positioning data of the region and the recorded and the distance from the last auxiliary positioning point to the detected target auxiliary positioning reference object;

Taking the position coordinates of the target auxiliary positioning reference object detected by the vehicle as measurement position coordinates, and acquiring measurement distances between the vehicle and the target auxiliary positioning reference object and measurement included angles between the connecting line of the vehicle and the target auxiliary positioning reference object and the running direction of the vehicle from the relative position relation between the vehicle detected by the vehicle and the target auxiliary positioning reference object;

taking the absolute value of the difference between the measured position coordinates and the actual position coordinates as a position coordinate error delta r of the target auxiliary positioning reference object;

taking an absolute value of a difference between the measured distance and the actual distance as a distance measurement error delta L when the vehicle measures the distance between the vehicle and a target auxiliary positioning reference object;

taking the absolute value of the difference between the measured included angle and the actual included angle as an angle measurement error delta theta when the vehicle measures the included angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the running direction of the vehicle;

calculating the longitudinal error according to a longitudinal error formula δr+δL+Lδctgθ, wherein L represents the minimum distance between the measured distance and the actual distance, and θ represents an included angle between a connecting line of the vehicle corresponding to L and the target auxiliary positioning reference object and the vehicle running direction;

Calculating the transverse error according to a transverse error formula δr+Lδθ;

and determining the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the longitudinal error and the transverse error.

Optionally, the method further comprises:

when an abnormal event occurs in the auxiliary positioning process based on the region high-precision auxiliary positioning data, reporting abnormal event description information aiming at the abnormal event to a cloud server;

wherein, when the abnormal event includes a non-detected auxiliary positioning reference object, the abnormal event description information includes a reference object identification of the non-detected auxiliary positioning reference object, the reference object identification being an identification determined according to appearance characteristic information of the auxiliary positioning reference object;

when the abnormal event includes that the detected auxiliary positioning reference object is not in the area high-precision auxiliary positioning data, the abnormal event description information includes position information and appearance characteristic information of the detected auxiliary positioning reference object;

when the abnormal event comprises that the detected auxiliary positioning reference object and the corresponding auxiliary positioning reference object in the high-precision auxiliary positioning data of the area have differences or the differences do not meet the preset difference requirement, the abnormal event description information comprises the reference object identification of the detected auxiliary positioning reference object and the difference information between the detected auxiliary positioning reference object and the corresponding auxiliary positioning reference object in the high-precision auxiliary positioning data of the area;

When the abnormal event includes that the auxiliary positioning precision does not meet the preset positioning precision requirement, the abnormal event description information includes the auxiliary positioning precision and the reference object identification of the auxiliary positioning reference object corresponding to the auxiliary positioning precision.

Optionally, the method further comprises:

and reporting any one or more of the vehicle state, the vehicle-mounted sensor state and the original data detected by the vehicle-mounted sensor when the abnormal event occurs to the cloud server.

In a second aspect, an embodiment of the present invention provides an auxiliary positioning device, including:

the device comprises a receiving unit, a positioning unit and a positioning unit, wherein the receiving unit is used for receiving an area high-precision map sent by road side equipment and area high-precision auxiliary positioning data in the area high-precision map, the area high-precision auxiliary positioning data comprise at least one auxiliary positioning partition, the auxiliary positioning partition comprises appearance characteristic information of an auxiliary positioning reference object with unique identifiable characteristics, a lane reference point used for sensing relative position relation with the auxiliary positioning reference object and the relative position relation between the auxiliary positioning reference object and the lane reference point;

The judging unit is used for judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation if the vehicle is determined to enter an auxiliary positioning partition in the process of traveling based on the area high-precision map, wherein the target auxiliary positioning reference object is an auxiliary positioning reference object of an auxiliary positioning partition where the vehicle is currently positioned;

the conversion unit is used for converting a vehicle body coordinate system into a north-south positive coordinate system taking the target auxiliary positioning reference object as an original point if the target auxiliary positioning reference object is determined to be detected, wherein the positive direction of the transverse axis of the north-south positive coordinate system is the positive eastern direction, and the positive direction of the longitudinal axis is the positive north direction;

and the position determining unit is used for determining longitude and latitude coordinates of the vehicle according to the relative position relation between the vehicle and the target auxiliary positioning reference object and the mapping relation between the north-south forward coordinate system and the geographic coordinate system.

Optionally, the apparatus further includes:

an entry zone determination unit for determining whether the vehicle enters an auxiliary positioning zone;

the entering zone determining unit is configured to determine that the vehicle enters an auxiliary positioning zone when the vehicle travels a first preset distance from a last auxiliary positioning point, where the first preset distance is a distance between the auxiliary positioning point and a first lane reference point, and the first lane reference point is a lane reference point closest to the auxiliary positioning point in a vehicle traveling direction.

Optionally, the judging unit includes:

the detection module is used for detecting whether the auxiliary positioning reference object is contained or not according to a detection range defined by the relative position relation between the first vehicle road reference point and the target auxiliary positioning reference object and the relative position relation between the second vehicle road reference point and the target auxiliary positioning reference object in the process of driving the vehicle from the first vehicle road reference point to a second vehicle road reference point, wherein the second vehicle road reference point is a lane reference point adjacent to the first vehicle road reference point in the driving direction of the vehicle;

and the first determining module is used for determining that the detected auxiliary positioning reference object is the target auxiliary positioning reference object when the difference between the detected external feature information of the auxiliary positioning reference object and the external feature information of the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data meets the preset difference requirement if the auxiliary positioning reference object is contained.

Optionally, the conversion unit includes:

the translation module is used for translating the origin of the vehicle body coordinate system to the target auxiliary positioning reference object;

and the rotating module is used for rotating the transverse and longitudinal coordinate axes of the vehicle body coordinate system by a preset angle so as to generate the north-south positive coordinate system when the transverse axis positive direction is the positive east direction and the longitudinal axis positive direction is the positive north direction.

Optionally, when the area high-precision auxiliary positioning data further includes a vehicle system applicability requirement required by using an auxiliary positioning function, if it is determined that the vehicle enters an auxiliary positioning zone during the traveling based on the area high-precision map, the determining unit is configured to determine whether the vehicle meets the vehicle system applicability requirement before determining whether a target auxiliary positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative position relationship; if the vehicle meets the applicability requirement of the vehicle system, in the process of traveling based on the area high-precision map, if the vehicle is determined to enter an auxiliary positioning zone, judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation.

Optionally, the apparatus further includes:

the calculation unit is used for calculating the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the positioning error calibration parameter, the regional high-precision auxiliary positioning data, the distance travelled by the vehicle from the last auxiliary positioning point to the detected target auxiliary positioning reference object, the position coordinates of the auxiliary positioning reference object detected by the vehicle and the relative position relationship between the vehicle detected by the vehicle and the target auxiliary positioning reference object after determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system;

and the running unit is used for running through longitude and latitude coordinates positioned by the regional high-precision auxiliary positioning data if the auxiliary positioning precision meets the preset positioning precision requirement.

Optionally, the computing unit includes:

the acquisition module is used for acquiring the actual position coordinates of the target auxiliary positioning reference object from the area high-precision auxiliary positioning data when the positioning error calibration parameters comprise longitudinal errors and transverse errors and the area high-precision auxiliary positioning data also comprise the actual position coordinates of the target auxiliary positioning reference object;

the calculation module is used for determining the actual distance between the vehicle and the target auxiliary positioning reference object and the actual included angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the vehicle running direction according to the relative position relation between the target auxiliary positioning reference object and the lane reference point corresponding to the target auxiliary positioning reference object in the high-precision auxiliary positioning data of the region and the recorded and the distance from the last auxiliary positioning point to the position where the target auxiliary positioning reference object is detected;

the acquisition module is further used for taking the position coordinates of the target auxiliary positioning reference object detected by the vehicle as measurement position coordinates, and acquiring measurement distances between the vehicle and the target auxiliary positioning reference object and measurement included angles between the connecting line of the vehicle and the target auxiliary positioning reference object and the running direction of the vehicle from the relative position relation between the vehicle detected by the vehicle and the target auxiliary positioning reference object;

The setting module is used for taking the absolute value of the difference between the measured position coordinates and the actual position coordinates as a position coordinate error delta r of the target auxiliary positioning reference object;

the setting module is further used for taking an absolute value of a difference between the measured distance and the actual distance as a distance measurement error delta L when the vehicle measures the distance between the vehicle and a target auxiliary positioning reference object;

the setting module is further configured to use an absolute value of a difference between the measured included angle and the actual included angle as an angle measurement error δθ when the vehicle measures an included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle running direction;

the calculation module is further configured to calculate the longitudinal error according to a longitudinal error formula δr+δl+lδθ ctgθ, where L represents a minimum distance between the measured distance and the actual distance, and θ represents an included angle between a connecting line of the vehicle corresponding to L and the target auxiliary positioning reference object and a vehicle running direction;

the calculation module is further used for calculating the transverse error according to a transverse error formula δr+lδθ;

and the second determining module is used for determining the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the longitudinal error and the transverse error.

Optionally, the apparatus further includes:

the reporting unit is used for reporting the abnormal event description information aiming at the abnormal event to the cloud server when the abnormal event occurs in the auxiliary positioning process based on the high-precision auxiliary positioning data of the region;

Optionally, the reporting unit is further configured to report any one or more of a vehicle state, a vehicle-mounted sensor state, and raw data detected by the vehicle-mounted sensor when an abnormal event occurs to the cloud server.

In a third aspect, embodiments of the present invention provide a storage medium having stored thereon executable instructions which when executed by a processor cause the processor to implement the method of the first aspect.

In a fourth aspect, an embodiment of the present invention provides a vehicle including:

one or more processors;

storage means for storing one or more programs,

wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of the first aspect.

As can be seen from the foregoing, the auxiliary positioning method and apparatus provided by the embodiments of the present invention can determine whether the target auxiliary positioning reference object is detected according to the appearance feature information, the lane reference point and the relative positional relationship when it is determined that the vehicle enters an auxiliary positioning zone in the process of traveling based on the region high-precision map after receiving the region high-precision map transmitted by the roadside device and the region high-precision auxiliary positioning data within the region high-precision map, and if it is determined that the target auxiliary positioning reference object is detected, the longitude and latitude coordinates where the vehicle is located can be located by coordinate system conversion and the relative positional relationship between the vehicle and the target auxiliary positioning reference object. Therefore, compared with the prior art that accurate positioning cannot be achieved due to weak positioning signals and the like, the embodiment of the invention can achieve auxiliary positioning of the regional high-precision map based on the auxiliary positioning reference object in the regional high-precision auxiliary positioning data and the related information of the auxiliary positioning reference object, so that the problem that the original positioning system cannot achieve accurate positioning due to weak positioning signals and the like is solved, and the positioning precision is improved.

In addition, the technical effects that can be realized by the embodiment of the invention include:

1. by setting the applicability requirement of the vehicle system in the regional high-precision auxiliary positioning data, the auxiliary positioning calculation can be performed only when the vehicle determines that the vehicle meets the applicability requirement of the vehicle system, so that the problem that the positioning fails due to the fact that the vehicle which does not meet the applicability requirement of the vehicle system directly performs auxiliary positioning is avoided, and the auxiliary positioning efficiency is improved.

2. By adding the consistency description information for representing whether the auxiliary positioning reference object in the area high-precision auxiliary positioning data is consistent with the corresponding reference object in the area high-precision map in the area high-precision auxiliary positioning data, whether the vehicle area high-precision map is identical with an actual road network or not can be reminded, and larger errors can exist in positioning based on the area high-precision map in which areas.

3. In order to further ensure whether the travel can be performed based on the latitude and longitude coordinates calculated by the auxiliary positioning, the auxiliary positioning accuracy can be compared with the preset positioning accuracy requirement, and the travel can be performed by using the latitude and longitude coordinates of the auxiliary positioning only when the auxiliary positioning accuracy meets the preset positioning accuracy requirement.

4. When an abnormal event occurs in the auxiliary positioning process, the abnormal event description information aiming at the abnormal event can be reported to the cloud server, and any one or more of the vehicle state, the vehicle-mounted sensor state and the original data detected by the vehicle-mounted sensor when the abnormal event occurs can be combined, so that the cloud server can solve the abnormal event in time.

Of course, it is not necessary for any one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the invention. Other figures may be derived from these figures without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic flow chart of an auxiliary positioning method according to an embodiment of the present invention;

FIG. 2 is an exemplary diagram of a map with high accuracy and auxiliary positioning data with high accuracy for an area according to an embodiment of the present invention;

FIG. 3 is a diagram showing data examples related to auxiliary positioning when a roadside cone is used as an auxiliary positioning reference object according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating data related to auxiliary positioning when a roadside sign provided by an embodiment of the present invention is used as an auxiliary positioning reference;

FIG. 5 is a diagram of an example of auxiliary positioning related data when a ground sign and an above-road sign are used as auxiliary positioning references according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of coordinate transformation according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a positioning error calibration parameter according to an embodiment of the present invention;

fig. 8 is a block diagram of an auxiliary positioning device 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 accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.

It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. A process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may alternatively include other steps or elements not listed or inherent to such process, method, article, or apparatus.

The invention provides an auxiliary positioning method and an auxiliary positioning device, which can realize the auxiliary positioning of a regional high-precision map based on an auxiliary positioning reference object in regional high-precision auxiliary positioning data and related information of the auxiliary positioning reference object, thereby solving the problem that the original positioning system cannot realize the accurate positioning due to weak positioning signals and the like. The vehicle of the embodiment of the invention can be provided with a V2X (vehicle to X) communication device so as to communicate with road side equipment, other vehicles and a central server (including a cloud server and a personal handheld terminal in a specific scene) through the V2X communication device. The road side equipment comprises road infrastructure which can import traffic information such as traffic light phase information, cameras and other sensor information.

The following describes embodiments of the present invention in detail.

Fig. 1 is a schematic flow chart of an assisted positioning method according to an embodiment of the present invention. The method may comprise the steps of:

s100: and receiving the area high-precision map transmitted by the road side equipment and the area high-precision auxiliary positioning data in the area high-precision map range.

After the technical personnel completes the production of the region high-precision map and the region high-precision auxiliary positioning data by the cloud server, the cloud server can send the region high-precision map and the region high-precision auxiliary positioning data to road side equipment of the corresponding region. When the road side equipment is directly connected with the vehicle or the vehicle is judged to be in the coverage area of the regional high-precision map based on the vehicle position, the road side equipment can issue the regional high-precision map and regional high-precision auxiliary positioning data in the range of the regional high-precision map to the vehicle when the vehicle enters the region corresponding to the regional high-precision map, so that the vehicle can travel based on the regional high-precision map and auxiliary positioning is performed based on the regional high-precision auxiliary positioning data. In addition, the road side equipment can also broadcast to the vehicle in a certain range send regional high-precision map and regional high-precision auxiliary positioning data, need not to trigger. The certain range includes a range covered by the area high-precision map.

The high-precision map of the area comprises a data identifier, a basic element and an extension element. The data identifier comprises an area identifier and an area high-precision map version number; the basic elements comprise roads, lanes and intersection data (including basic information such as lane lines, road side lines, zebra lines and the like); the expansion elements include road, road side, road surface features or buildings, facilities, signboards, pavement markers, etc. The data identification is a unique encoding of the map of the area with high accuracy. The basic elements are basic elements describing lanes, lane lines, road networks. The extension element is a nearby ground object other than the basic element. The basic elements are road information necessary for navigation and driving decisions (including lane-level routing), while the extension elements are not necessary information, but are spatial elements selectable for high-precision auxiliary driving.

In order to realize auxiliary positioning and improve the accuracy of the auxiliary positioning, the selection principle of the regional high-accuracy auxiliary positioning data comprises the following steps: (1) The regional high-precision auxiliary positioning data must be within the region defined by the regional high-precision map; (2) multiple assisted positioning partitions may be defined simultaneously; (3) The auxiliary positioning reference object in the auxiliary positioning partition must have unique identifiable characteristics (the element space boundary of the auxiliary positioning reference object is clear and does not overlap with other elements, and the identification number is unique); (4) The secondary positioning partitions may be cross-covered (the cross-over area does not exceed N meters (e.g., 1 meter) along the road direction, and the cross-over area does not allow definition of the secondary positioning references); (5) Defining at least one auxiliary positioning reference object in the auxiliary positioning partition, and simultaneously allowing defining a plurality of auxiliary positioning reference objects, wherein each auxiliary positioning reference object has a unique identification; (6) Positioning assistance information for assisting positioning the reference object so as to position the positioning assistance reference object according to the positioning assistance information. Illustratively, as shown in fig. 2, the left side is a regional high-precision map, and the right side is an auxiliary positioning partition within the range of the regional high-precision map, and the auxiliary positioning partition has two auxiliary positioning references, namely a reference object 1 and a reference object 2 in the figure.

The high-precision auxiliary positioning data of the region can be manually manufactured (such as on a GIS (Geographic Information System or Geo-Information system, geographic information system) software platform according to the rule requirement), and can also be automatically generated by programming a processing program. The data required for the production of the high-precision auxiliary positioning data of the region is a data set obtained by field acquisition by mapping equipment and processing. These data will be checked by the quality inspection process to see if the requirements are met. The quality inspection process mainly detects whether the spatial relationships among the areas, partitions and elements defined by the process contain, overlap or intersect, and determines whether the relationships conform to the principles.

The high-precision auxiliary positioning data of the finally manufactured area comprises at least one auxiliary positioning partition, wherein the auxiliary positioning partition comprises appearance characteristic information of an auxiliary positioning reference object with unique identifiable characteristics, actual position coordinates, a lane reference point (including the position coordinates of the lane reference point) for sensing the relative position relation with the auxiliary positioning reference object, and the relative position relation between the auxiliary positioning reference object and the lane reference point. The auxiliary positioning reference objects comprise road side column objects, road side cone objects, labels, ground marks, road top marks and the like. The appearance characteristic information comprises the length, the height and the width of the auxiliary positioning reference object and the text or the graphic content displayed on the auxiliary positioning reference object. The lane reference point for sensing the relative positional relationship with the aided positioning reference is a reference point selected on the lane near the aided positioning reference, for example, a lane reference point selected on the lane line or the lane center line. The relative position relation between the auxiliary positioning reference object and the lane reference point comprises the distance between the auxiliary positioning reference object and the lane reference point, the included angle between the connecting line of the auxiliary positioning reference object and the lane reference point and the lane line or the lane center line of the lane where the lane reference point is located, and the like. The region high-precision auxiliary positioning data also comprises a data description, wherein the data description comprises a data packet identifier of the region high-precision auxiliary positioning data, a version number and a data identifier of a matched region high-precision map. The matching of the region high-precision auxiliary positioning data with the region high-precision map means that the region high-precision auxiliary positioning data is within the region range described by the region high-precision map.

When the auxiliary positioning reference object comprises a ground sign, the auxiliary positioning partition further comprises a depression angle of the vehicle-mounted sensor and the ground sign; and/or when the auxiliary positioning reference object comprises an above-road sign board, the auxiliary positioning partition further comprises a bottom view angle of the vehicle-mounted sensor and the above-road sign board; and/or the area high-precision auxiliary positioning data further comprises consistency description information for representing whether auxiliary positioning references in the area high-precision auxiliary positioning data are consistent with corresponding references in the area high-precision map, wherein when inconsistencies exist, the consistency description information comprises reference object identifiers of auxiliary positioning references inconsistent with the references in the area high-precision map and update time of the inconsistent auxiliary positioning references, and the reference object identifiers are identifiers determined according to appearance characteristic information of the auxiliary positioning references. By adding the consistency description information for representing whether the auxiliary positioning reference object in the area high-precision auxiliary positioning data is consistent with the corresponding reference object in the area high-precision map in the area high-precision auxiliary positioning data, whether the vehicle area high-precision map is identical with an actual road network or not can be reminded, and larger errors can exist in positioning based on the area high-precision map in which areas.

For example, fig. 3 includes three sub-graphs of left, middle and right, wherein the left graph is an area included in the area high-precision auxiliary positioning data, and there are 2 auxiliary positioning references (reference 1 and reference 2 in the drawing), the lane reference point corresponding to the reference 1 includes a reference point A, B, C, and the lane reference point corresponding to the reference 2 includes a reference point D, E. The distance between the reference object 1 and the reference point A is L, and the connecting line of the reference object 1 and the reference point A and the lane areThe included angle of the core lines is theta. The reference object 1 is a road side cone, and the external characteristic information of the reference object is shown in the right side graph and comprises the height H of the upper and lower boundaries of the reference object 1 from the ground ₁ 、H ₂ Width W of lower boundary ₁ Width W of upper boundary _2a 、W _2b 。

The auxiliary positioning references in fig. 4 are road side signboards, and the lane reference points corresponding to the road side signboards comprise reference points a and B. The thickness of the road side signpost is d, the width of the road side signpost is W, the distance between the road side signpost and the reference point A is L, and the included angle between the connecting line of the road side signpost and the reference point A and the central line of the lane is theta. The appearance characteristic information of the road side signpost comprises the height H of the upper boundary and the lower boundary from the ground ₁ 、H ₂ And a width W.

The auxiliary positioning references in fig. 5 include a ground sign and an above-road sign, the ground sign and the above-road sign are on the same vertical plane, the distances between the vehicle and the two auxiliary positioning references are L, the depression angle between the vehicle-mounted sensor and the ground sign is β, the elevation angle between the vehicle-mounted sensor and the above-road sign is β, the height between the vehicle-mounted sensor and the ground is H, the elevation angle between the vehicle-mounted sensor and the ground is α, and the elevation angle between the vehicle-mounted sensor and the above-road sign is β, when the vehicle-mounted sensor recognizes the above-road sign and the ground sign in the directions of β, the related view angles include a β1 view angle line, a β2 view angle line, an α1 view angle line, and an α2 view angle line as shown in the figure, wherein the difference between the β1 view angle line and the β2 view angle line is δβ2 view angle line.

In practical application, vehicles meeting certain software and hardware requirements can be successfully positioned by using the auxiliary positioning method provided by the embodiment of the invention, so that the problem of positioning failure caused by direct auxiliary positioning of the vehicles which do not meet the requirements is avoided, and the regional high-precision auxiliary positioning data also comprises the requirement of vehicle system applicability required by using an auxiliary positioning function. Before the vehicle performs step S110, it may be determined whether the vehicle meets the vehicle system applicability requirement, and step S110 is performed when it is determined that the vehicle meets the vehicle system applicability requirement, otherwise, step S110 is not performed, and the auxiliary positioning is abandoned.

Vehicle system applicability requirements include software and hardware configuration requirements and performance requirements. The software and hardware configuration requirements comprise the type and model of the sensor, calibration parameters during installation, software identification and the like. The cloud server can also send a software and hardware configuration list meeting the system applicability requirement or a software and hardware configuration list not meeting the system applicability requirement to the vehicle through the road side equipment, so that the vehicle can preliminarily judge whether the vehicle-mounted system can use the auxiliary positioning technology provided by the embodiment of the invention by comparing the software and hardware configuration list with the software and hardware configuration list meeting the system applicability requirement or the software and hardware configuration list not meeting the system applicability requirement. The performance requirements comprise parameter requirements on sensing distance (testing distance), precision, installation angle, sensing period (data acquisition processing period) and the like of the vehicle-mounted sensor, so that a vehicle with software and hardware configuration which is not tested and verified can select to autonomously judge whether to use the auxiliary positioning technology provided by the embodiment of the invention.

S110: and in the process of traveling based on the area high-precision map, if the vehicle is determined to enter an auxiliary positioning zone, judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation.

The target auxiliary positioning reference object is an auxiliary positioning reference object of an auxiliary positioning partition where the vehicle is currently located. When the vehicle runs a first preset distance from the last auxiliary positioning point, determining that the vehicle enters an auxiliary positioning zone, wherein the first preset distance is the distance between the auxiliary positioning point and a first vehicle road reference point, and the first vehicle road reference point is the lane reference point closest to the auxiliary positioning point in the vehicle running direction. Detecting whether an auxiliary positioning reference object is contained or not according to a detection range defined by the relative position relation between the first vehicle road reference point and the target auxiliary positioning reference object and the relative position relation between the second vehicle road reference point and the target auxiliary positioning reference object in the process of driving the vehicle from the first vehicle road reference point to a second vehicle road reference point, wherein the second vehicle road reference point is a lane reference point adjacent to the first vehicle road reference point in the driving direction of the vehicle, and the distance between the second vehicle road reference point and the last auxiliary positioning point is a second preset distance; if the auxiliary positioning reference object is contained, when the difference between the detected external feature information of the auxiliary positioning reference object and the external feature information of the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data meets the preset difference requirement, determining the detected auxiliary positioning reference object as the target auxiliary positioning reference object.

For example, as shown in fig. 3, a first preset distance from an auxiliary locating point to a lane reference point a on a vehicle is L1 (not shown in the figure), a lane reference point closest to the lane reference point a is B, and when the vehicle travels L1 from the last auxiliary locating point, it is determined that the vehicle enters an auxiliary locating zone. In the process that the vehicle runs from the lane reference point A to the lane reference point B, the vehicle-mounted sensor can detect whether the auxiliary positioning reference object is contained or not in a detection range defined by the relative position relation between the lane reference point A and the reference object 1 and the relative position relation between the lane reference point B and the reference object 1, and if the auxiliary positioning reference object is detected, the detected auxiliary positioning reference object is determined to be the reference object 1 when the difference between the appearance characteristic information of the detected auxiliary positioning reference object and the appearance characteristic information of the target auxiliary positioning reference object (namely, the reference object 1 in the figure) meets the preset difference requirement.

S120: and if the target auxiliary positioning reference object is determined to be detected, converting a vehicle body coordinate system into a north-south positive coordinate system taking the target auxiliary positioning reference object as an original point.

Specifically, the origin of the vehicle body coordinate system may be translated to the target auxiliary positioning reference object, and then the abscissa axis of the vehicle body coordinate system is rotated by a preset angle, so that the north-south positive coordinate system is generated when the positive direction of the abscissa axis is the positive east direction and the positive direction of the ordinate axis is the positive north direction. The positive direction of the horizontal axis of the north-south positive coordinate system is the positive eastern direction, and the positive direction of the vertical axis is the positive north direction.

S130: and determining longitude and latitude coordinates of the vehicle according to the relative position relation between the vehicle and the target auxiliary positioning reference object and the mapping relation between the north-south forward coordinate system and the geographic coordinate system.

For example, in one embodiment, the relative position of the vehicle and the target aided positioning reference includes the distance between the vehicle and the target aided positioning reference (which may be referred to as a measurement distance), and the angle between the line connecting the vehicle and the target aided positioning reference and the running direction of the vehicle (which may be referred to as a measurement angle).

As shown in fig. 6, assuming that the vehicle is traveling in the lane direction, the in-vehicle sensor coordinates coincide with the vehicle body coordinate system horizontal projection (can be kept coincident by coordinate conversion). If the horizontal axis of the vehicle body coordinate system is the X axis, the vertical axis is the Y axis, the horizontal axis of the coordinate system obtained after the origin of the vehicle body coordinate system is translated to the target auxiliary positioning reference object is the X 'axis, the vertical axis is the Y' axis, and the horizontal axis and the vertical axis of the vehicle body coordinate system translated to the target auxiliary positioning reference object are rotated by a preset angle gamma, a north-south positive coordinate system is obtained, wherein the horizontal axis is the X 'axis (or E axis), and the vertical axis is the Y' axis (or N axis). If the coordinates of the current position of the vehicle in the north-south forward coordinate system are (x ', y'), the relative positions of the vehicle and the target auxiliary positioning reference object are known as follows: x "= -Lcos (θ - γ), y" = Lsin (θ - γ), where L is the distance between the vehicle and the target auxiliary positioning reference object, and θ is the included angle between the line connecting the vehicle and the target auxiliary positioning reference object and the vehicle running direction.

According to the current position (x ', y') of the vehicle under the north-south forward coordinate system and the mapping relation between the north-south forward coordinate system and the geographic coordinate system, the current position of the vehicle under the geographic coordinate system, namely the longitude and latitude coordinates of the vehicle, can be calculated: e=e1-Lcos (θ—γ)/R, n=n1+lsin (θ—γ)/R, where (E1, N1) is the latitude and longitude coordinates of the target auxiliary positioning reference object, R is the earth radius, (E, N) is the latitude and longitude coordinates of the current position of the vehicle, L is the distance (herein may simply be referred to as the measurement distance) between the vehicle and the target auxiliary positioning reference object, θ is the angle (herein may simply be referred to as the measurement angle) between the line of the vehicle and the target auxiliary positioning reference object and the vehicle running direction, and γ is the minimum rotation angle required for the abscissa and ordinate axes of the vehicle body coordinate system translated to the target auxiliary positioning reference object to rotate to the north-south forward coordinate system.

Optionally, when the vehicle-mounted sensor of the vehicle fails, the accuracy is lower or an interference signal exists, the accuracy of the auxiliary positioning may not meet the requirement, so in order to further ensure whether the vehicle can run based on the longitude and latitude coordinates calculated by the auxiliary positioning, the auxiliary positioning accuracy can be compared with the preset positioning accuracy requirement, and the vehicle can run using the longitude and latitude coordinates of the auxiliary positioning only when the auxiliary positioning accuracy is higher than the preset positioning accuracy requirement.

Specifically, after determining longitude and latitude coordinates of the vehicle according to a relative position relationship between the vehicle and the target auxiliary positioning reference object and a mapping relationship between the north-south forward coordinate system and the geographic coordinate system, calculating auxiliary positioning accuracy corresponding to the longitude and latitude coordinates according to positioning error calibration parameters, the regional high-accuracy auxiliary positioning data, a distance from a last auxiliary positioning point to the detected target auxiliary positioning reference object, a position coordinate of the auxiliary positioning reference object detected by the vehicle, and a relative position relationship between the vehicle detected by the vehicle and the target auxiliary positioning reference object; and if the auxiliary positioning precision meets the preset positioning precision requirement, traveling through longitude and latitude coordinates positioned by the regional high-precision auxiliary positioning data.

For example, in one embodiment, the positioning error calibration parameters include a longitudinal error and a lateral error. As shown in fig. 7, the longitudinal error=δr+δl+lδθ ctgθ, and the lateral error=δr+lδθ. δr is a position coordinate error of a target auxiliary positioning reference object (reference object 1 is taken as an example in the figure), δl is a distance measurement error when a vehicle (such as a vehicle-mounted sensor) measures a distance between the vehicle and the target auxiliary positioning reference object, δθ is an angle measurement error when the vehicle (such as a vehicle-mounted sensor) measures an included angle between a running direction of the vehicle and a connecting line of the vehicle and the target auxiliary positioning reference object, L represents a minimum distance between the measured distance and the actual distance, and θ represents an included angle between the connecting line of the vehicle corresponding to L and the target auxiliary positioning reference object and the running direction of the vehicle.

For example, in an embodiment, when the area high-precision auxiliary positioning data further includes an actual position coordinate of the target auxiliary positioning reference object, the actual position coordinate of the target auxiliary positioning reference object may be obtained from the area high-precision auxiliary positioning data, then the measured position coordinate of the target auxiliary positioning reference object detected by the vehicle may be obtained, according to the relative position relationship between the lane reference point corresponding to the target auxiliary positioning reference object and the target auxiliary positioning reference object in the area high-precision auxiliary positioning data and the recorded relative position relationship between the lane reference object and the target auxiliary positioning reference object, and the distance travelled by the vehicle from the last auxiliary positioning point to the detected target auxiliary positioning reference object, the actual distance between the vehicle and the target auxiliary positioning reference object, the actual angle delta between the line of the vehicle and the target auxiliary positioning reference object and the actual position coordinate of the target auxiliary positioning reference object may be determined, then the measured position coordinate of the target auxiliary positioning reference object detected by the vehicle may be obtained, the measured distance delta between the vehicle and the target auxiliary positioning reference object and the vehicle may be calculated, the measured position delta may be calculated as the absolute difference between the measured position delta and the measured coordinate, and the measured absolute difference of the measured delta may be used as the absolute difference of the measured delta. The measured position coordinates and the actual position coordinates are located in the same coordinate system, for example, in a vehicle body coordinate system and a geographic coordinate system.

According to the embodiment of the invention, the actual distance between the vehicle and the target auxiliary positioning reference object can be determined according to the relative position relation between the target auxiliary positioning reference object and the lane reference point corresponding to the target auxiliary positioning reference object recorded in the region high-precision auxiliary positioning data and the distance from the last auxiliary positioning point to the position where the target auxiliary positioning reference object is detected. When the vehicle travels a first preset distance from a previous auxiliary positioning point, the first preset distance is the distance between the auxiliary positioning point and a first lane reference point, and the first lane reference point is a lane reference point closest to the auxiliary positioning point in the vehicle traveling direction, so when the lane reference point corresponding to the target auxiliary positioning reference object is the first lane reference point (or may be the next lane reference point in the vehicle traveling direction, the first lane reference point is taken as an example in the embodiment of the invention), the distance between the first lane reference point and the vehicle can be determined by the absolute value of the difference between the distance from the previous auxiliary positioning point to the detected target auxiliary positioning reference object and the first preset distance, and then the actual distance between the vehicle and the target auxiliary positioning reference object is determined by using the distance between the first lane reference point and the vehicle and the relative position relationship between the target auxiliary positioning reference object and the first lane reference point.

According to the embodiment of the invention, the actual included angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the running direction of the vehicle can be determined according to the relative position relation between the target auxiliary positioning reference object and the lane reference point corresponding to the target auxiliary positioning reference object recorded in the region high-precision auxiliary positioning data and the actual distance.

The embodiment of the invention can take the combination of the longitudinal error and the transverse error or the average value of the longitudinal error and the transverse error as the auxiliary positioning precision corresponding to the longitude and latitude coordinates. The preset positioning accuracy requirement can be that the longitudinal error is smaller than a first error threshold, the transverse error is smaller than a second error threshold, the average value of the longitudinal error and the transverse error is smaller than a third error threshold, and the specific content can be determined according to the actual requirement. The first error threshold, the second error threshold, and the third error threshold are empirical values, and may be the same or different.

Optionally, in the auxiliary positioning process, abnormal events such as undetected auxiliary positioning reference objects, detected auxiliary positioning reference objects and auxiliary positioning reference objects which are not in the region high-precision auxiliary positioning data, detected auxiliary positioning reference objects and corresponding auxiliary positioning reference objects in the region high-precision auxiliary positioning data have differences or the differences do not meet preset difference requirements may occur, so in order to enable a cloud server and a cloud server technician to timely learn the abnormal events and solve the abnormal events, when the abnormal events occur in the auxiliary positioning process based on the region high-precision auxiliary positioning data, the abnormal event description information aiming at the abnormal events may be reported to the cloud server.

For example, in one embodiment, when the anomaly event includes a non-detected assisted positioning reference, the anomaly event description information includes a reference identification of the non-detected assisted positioning reference; when the abnormal event includes that the detected auxiliary positioning reference object is not in the area high-precision auxiliary positioning data, the abnormal event description information includes position information and appearance characteristic information of the detected auxiliary positioning reference object; when the abnormal event comprises that the detected auxiliary positioning reference object and the corresponding auxiliary positioning reference object in the high-precision auxiliary positioning data of the area have differences or the differences do not meet the preset difference requirement, the abnormal event description information comprises the reference object identification of the detected auxiliary positioning reference object and the difference information between the detected auxiliary positioning reference object and the corresponding auxiliary positioning reference object in the high-precision auxiliary positioning data of the area; when the abnormal event comprises that the auxiliary positioning precision is lower than the original positioning precision, the abnormal event description information comprises the auxiliary positioning precision and a reference object identification of an auxiliary positioning reference object corresponding to the auxiliary positioning precision.

For example, in an embodiment, the reference object identifier is a reference object identifier determined according to appearance feature information of the auxiliary positioning reference object, and specifically may be part or all of appearance feature information in the appearance feature information, which can uniquely identify the auxiliary positioning reference object, or may be information calculated according to a preset algorithm (an algorithm agreed by the vehicle and the cloud server) according to part or all of the appearance feature information. The high-precision auxiliary positioning data of the area issued to the vehicle by the road side equipment can comprise a reference object mark, and the reference object mark can be generated according to the appearance characteristic information when the vehicle needs to be used.

Optionally, the reason for the occurrence of the abnormal event may be that the vehicle-mounted sensor is abnormal or other actuators are abnormal, so that in order to enable the cloud server to timely determine whether the reason for the occurrence of the abnormal event is related to the vehicle, the vehicle may further report any one or more of a vehicle state, a vehicle-mounted sensor state and original data detected by the vehicle-mounted sensor when the abnormal event occurs to the cloud server.

The vehicle state includes a vehicle motion state, whether or not each actuator in the vehicle has failed, what type of failure has occurred, and the like, and the vehicle-mounted sensor state includes whether or not the vehicle-mounted sensor has failed, what type of failure has occurred, and the like.

After the cloud server receives the abnormal event description information, the cloud server can verify the abnormal content described in the abnormal event description information, and if the abnormal content passes the verification, the area high-precision map and/or the area high-precision auxiliary positioning data can be updated. When the abnormal event needs to be verified, if the cloud server receives any one or more of the vehicle state, the vehicle-mounted sensor state and the original data detected by the vehicle-mounted sensor when the abnormal event occurs, the cloud server can confirm whether the occurrence of the abnormal event is related to the vehicle as soon as possible.

The verification method may include: and (3) manually performing field verification, and performing verification through reported sensor data and/or abnormal event description information of other vehicles. By the method, whether the reason for the abnormality is because the area high-precision map and/or the area high-precision auxiliary positioning data are not updated or because the measurement is error due to the failure of the vehicle can be confirmed.

When the vehicle sends information related to the abnormal event to the cloud server, the information can be sent to the road side equipment through the V2X communication device, and then the road side equipment uploads the information to the cloud server.

According to the auxiliary positioning method provided by the embodiment of the invention, after the high-precision area map sent by the road side equipment and the high-precision area auxiliary positioning data in the high-precision area map range are received, if the vehicle is determined to enter an auxiliary positioning partition in the running process based on the high-precision area map, whether the target auxiliary positioning reference object is detected or not is judged according to the appearance characteristic information, the lane reference point and the relative position relation, and if the target auxiliary positioning reference object is determined to be detected, the longitude and latitude coordinates of the vehicle can be positioned through coordinate system conversion and the relative position relation between the vehicle and the target auxiliary positioning reference object. Therefore, compared with the prior art that accurate positioning cannot be achieved due to weak positioning signals and the like, the embodiment of the invention can achieve auxiliary positioning of the regional high-precision map based on the auxiliary positioning reference object in the regional high-precision auxiliary positioning data and the related information of the auxiliary positioning reference object, so that the problem that the original positioning system cannot achieve accurate positioning due to weak positioning signals and the like is solved, and the positioning precision is improved.

Based on the above embodiments, another embodiment of the present invention provides an auxiliary positioning device, as shown in fig. 8, including:

A receiving unit 20, configured to receive an area high precision map sent by a roadside apparatus and area high precision auxiliary positioning data within the area high precision map, where the area high precision auxiliary positioning data includes at least one auxiliary positioning partition, the auxiliary positioning partition includes appearance feature information of an auxiliary positioning reference object having a unique identifiable feature, a lane reference point for sensing a relative positional relationship with the auxiliary positioning reference object, and a relative positional relationship between the auxiliary positioning reference object and the lane reference point;

a judging unit 22, configured to judge whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point, and the relative positional relationship if it is determined that the vehicle enters an auxiliary positioning partition during traveling based on the area high-precision map, where the target auxiliary positioning reference object is an auxiliary positioning reference object of an auxiliary positioning partition where the vehicle is currently located;

a conversion unit 24, configured to convert a vehicle body coordinate system into a north-south forward coordinate system with the target auxiliary positioning reference object as an origin, if it is determined that the target auxiliary positioning reference object is detected, where a horizontal axis positive direction of the north-south forward coordinate system is a forward east direction, and a vertical axis positive direction is a forward north direction;

The position determining unit 26 is configured to determine longitude and latitude coordinates of the vehicle according to a relative position relationship between the vehicle and the target auxiliary positioning reference object, and a mapping relationship between the north-south forward coordinate system and the geographic coordinate system.

Optionally, the apparatus further includes:

Optionally, the judging unit 22 includes:

Optionally, the conversion unit 24 includes:

Optionally, the determining unit 22 is configured to determine, when the area high precision auxiliary positioning data further includes a vehicle system applicability requirement required for using an auxiliary positioning function, whether the vehicle meets the vehicle system applicability requirement before determining whether a target auxiliary positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative positional relationship if it is determined that the vehicle enters an auxiliary positioning area during the traveling based on the area high precision map; if the vehicle meets the applicability requirement of the vehicle system, in the process of traveling based on the area high-precision map, if the vehicle is determined to enter an auxiliary positioning zone, judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation.

Optionally, the apparatus further includes:

Optionally, the computing unit includes:

Optionally, the apparatus further includes:

Based on the above method embodiments, another embodiment of the present invention provides a storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to implement the above method.

Based on the above embodiments, another embodiment of the present invention provides a vehicle including:

one or more processors;

storage means for storing one or more programs,

wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above. The vehicle may be a non-autonomous vehicle or an autonomous vehicle.

The system and device embodiments correspond to the method embodiments, and have the same technical effects as the method embodiments, and specific description refers to the method embodiments. The apparatus embodiments are based on the method embodiments, and specific descriptions may be referred to in the method embodiment section, which is not repeated herein. Those of ordinary skill in the art will appreciate that: the drawing is a schematic diagram of one embodiment and the modules or flows in the drawing are not necessarily required to practice the invention.

Those of ordinary skill in the art will appreciate that: the modules in the apparatus of the embodiments may be distributed in the apparatus of the embodiments according to the description of the embodiments, or may be located in one or more apparatuses different from the present embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of assisting in positioning, the method comprising:

determining longitude and latitude coordinates of the vehicle according to the relative position relation between the vehicle and the target auxiliary positioning reference object and the mapping relation between the north-south forward coordinate system and the geographic coordinate system;

judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relation, wherein the method comprises the following steps of:

detecting whether the auxiliary positioning reference object is contained or not according to a detection range defined by the relative position relation between the first vehicle road reference point and the target auxiliary positioning reference object and the relative position relation between the second vehicle road reference point and the target auxiliary positioning reference object in the process of driving the vehicle from the first vehicle road reference point to the second vehicle road reference point, wherein the first vehicle road reference point is a lane reference point closest to the last auxiliary positioning point in the vehicle driving direction, and the second vehicle road reference point is a lane reference point adjacent to the first vehicle road reference point in the vehicle driving direction;

2. The method of claim 1, wherein determining that the vehicle enters a secondary positioning zone comprises:

and when the vehicle runs a first preset distance from the last auxiliary positioning point, determining that the vehicle enters an auxiliary positioning zone, wherein the first preset distance is the distance between the auxiliary positioning point and a first vehicle road reference point.

3. The method of claim 1, wherein converting the body coordinate system to a north-south forward coordinate system having the target aided positioning reference as an origin, comprises:

4. The method of claim 1, wherein when the area high precision assistance-localization data further includes a vehicle system suitability requirement required for using an assistance-localization real-time function, if it is determined that the vehicle enters an assistance-localization area during the traveling based on the area high precision map, determining whether a target assistance-localization real-time reference is detected based on the appearance characteristic information, the lane reference point, and the relative positional relationship, the method further comprises:

5. The method of claim 1, wherein the regional high precision assistance-localization data further comprises correspondence descriptive information characterizing whether an assistance-localization reference in the regional high precision assistance-localization data is in correspondence with a corresponding reference in the regional high precision map, wherein when there is a discrepancy, the correspondence descriptive information comprises a reference identity of an assistance-localization reference that is inconsistent with a reference in the regional high precision map and an update time of the inconsistent assistance-localization reference, the reference identity being an identity determined from appearance characteristic information of the assistance-localization reference;

6. The method of any of claims 1-5, wherein after determining the longitude and latitude coordinates of the vehicle from the relative positional relationship of the vehicle and the target aided positioning reference, the mapping of the north-south forward coordinate system to the geographic coordinate system, the method further comprises:

Calculating the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to positioning error calibration parameters, the regional high-precision auxiliary positioning data, the distance from the last auxiliary positioning point to the position where the target auxiliary positioning reference object is detected by the vehicle, the position coordinates of the target auxiliary positioning reference object detected by the vehicle and the relative position relation between the vehicle detected by the vehicle and the target auxiliary positioning reference object;

7. The method of claim 6, wherein when the positioning error calibration parameter includes a longitudinal error and a lateral error, and the area high-precision assistance-localization real-time data further includes an actual position coordinate of a target assistance-localization real-time reference object, calculating the assistance-localization real-time precision corresponding to the longitude and latitude coordinate according to the positioning error calibration parameter, the area high-precision assistance-localization real-time data, a distance traveled by the vehicle from a last assistance-localization real-time point to the detection of the target assistance-localization real-time reference object, a position coordinate of the target assistance-localization real-time reference object detected by the vehicle, and a relative position relation between the vehicle detected by the vehicle and the target assistance-localization real-time reference object, comprising:

determining an actual distance between the vehicle and the target auxiliary positioning reference object and an actual included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle running direction according to a relative position relation between the target auxiliary positioning reference object and a lane reference point corresponding to the target auxiliary positioning reference object recorded in the region high-precision auxiliary positioning data and a distance from a last auxiliary positioning point to the detected target auxiliary positioning reference object;

8. The method of claim 6, wherein the method further comprises:

9. An auxiliary positioning device, characterized in that it comprises:

The position determining unit is used for determining longitude and latitude coordinates of the vehicle according to the relative position relation between the vehicle and the target auxiliary positioning reference object and the mapping relation between the north-south forward coordinate system and the geographic coordinate system;

the judging unit includes:

the detection module is used for detecting whether the auxiliary positioning reference object is contained or not according to a detection range defined by the relative position relation between the first lane reference point and the target auxiliary positioning reference object and the relative position relation between the second lane reference point and the target auxiliary positioning reference object in the process of driving the vehicle from the first lane reference point to the second lane reference point, wherein the first lane reference point is a lane reference point closest to the last auxiliary positioning point in the driving direction of the vehicle, and the second lane reference point is a lane reference point adjacent to the first lane reference point in the driving direction of the vehicle;