CN110632635A - Positioning method and device of automatic driving vehicle, electronic equipment and readable medium - Google Patents

Positioning method and device of automatic driving vehicle, electronic equipment and readable medium Download PDF

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Publication number
CN110632635A
CN110632635A CN201910936167.1A CN201910936167A CN110632635A CN 110632635 A CN110632635 A CN 110632635A CN 201910936167 A CN201910936167 A CN 201910936167A CN 110632635 A CN110632635 A CN 110632635A
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Prior art keywords
target vehicle
positioning
vehicle
predicted
vehicles
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路兆铭
李聪
王鲁晗
温向明
傅彬
王刚
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The embodiment of the disclosure discloses a positioning method, a positioning device, electronic equipment and a readable medium of an automatic driving vehicle, wherein the positioning method comprises the following steps: acquiring a predicted position of a target vehicle at the current moment; acquiring the GPS positioning position of the target vehicle at the current moment, and calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And respectively calculating the distance offset k between the positioning position of the road side equipment to the target vehicle and the predicted position2And a distance offset k between the predicted position and the position where the target vehicle is located by the other vehicle3(ii) a According to the distance offset k1、k2、k3And configuring weight parameters, and calculating to obtain the accurate position of the target vehicle. The technical scheme combines roadside equipment, other equipment and GPS (global positioning system) near the target vehicle to position the target vehicle at the current moment, and can position the target vehicleAnd correcting the predicted position of the current moment predicted at the last moment, so that the target vehicle is accurately positioned.

Description

Positioning method and device of automatic driving vehicle, electronic equipment and readable medium
Technical Field
The present disclosure relates to the field of autonomous driving technologies, and in particular, to a method and an apparatus for locating an autonomous vehicle, an electronic device, and a readable medium.
Background
As the demand of people for positioning accuracy is continuously increased, the positioning technology is also continuously developed. The most common technique for positioning service at present is Real-Time Kinematic (RTK) carrier phase differential technique, which can achieve positioning accuracy of decimeter level or even centimeter level. RTK location is the most reliable and most stable technique of present location trade, but because the terminal need receive the signal that comes from the satellite, inevitably will receive sheltering from of objects such as house, trees, the positioning accuracy can only reach decimetre level even the meter level under this kind of condition, can not satisfy autopilot's demand far away. In addition, in order to realize centimeter-level positioning, a reference station needs to be erected, difference is carried out through reliable positioning data of the reference station, and the risk of single-point service exists on the whole framework.
In the process of proposing the present disclosure, the inventor finds that the RTK positioning in the prior art is the most reliable and stable technology in the positioning industry at present, but because the RTK positioning needs to receive signals from satellites, the RTK positioning is easily affected by atmospheric conditions and topographic factors, and in some areas with serious shelters, such as tunnels, the positioning accuracy in high-rise areas is low, and blind areas exist. Although the problem of a blind area of a GPS can be solved by acquiring vehicle state information using an Inertial Navigation System (INS), the method is not suitable for a long-time independent positioning scene such as a tunnel due to an accumulated time error.
Disclosure of Invention
The embodiment of the disclosure provides a positioning method and device for an automatic driving vehicle, electronic equipment and a readable medium.
In a first aspect, an embodiment of the present disclosure provides a method for locating an autonomous vehicle, including:
acquiring a predicted position of a target vehicle at the current moment, wherein the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment;
acquiring the GPS positioning position of the target vehicle at the current moment, and calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And
respectively positioning the position of the target vehicle at the current moment by using other vehicles near the target vehicle and road side equipment, and calculating the distance offset k between the positioning position of the target vehicle by the other vehicles and the predicted position2And a distance offset k between the positioning position of the roadside apparatus to the target vehicle and the predicted position3；
According to the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning positions of the other vehicles to the target vehicle and the positioning positions of the roadside equipment to the target vehicle.
With reference to the first aspect, in a first implementation manner of the first aspect, the obtaining a predicted position of the target vehicle at the current time, where the predicted position is predicted according to position information of the target vehicle at a time immediately before the current time, is implemented as:
using the position information of the target vehicle at the previous moment of the current moment as the input data of an inertial measurement unit, and outputting the predicted position of the target vehicle at the current moment;
wherein the position information of the target vehicle at the previous time of the current time is acquired by any one of the following methods: GPS location, roadside device location near the target vehicle, or other vehicle location near the target vehicle.
With reference to the first aspect, in a second implementation manner of the first aspect, the method further includes:
and taking the accurate position of the target vehicle obtained by calculation as input data of an inertial measurement unit, and outputting the predicted position of the target vehicle at the next moment of the current moment.
With reference to the first aspect, in a third implementation manner of the first aspect, the locating the position of the target vehicle at the current time by using another vehicle near the target vehicle and a roadside device respectively is implemented as:
acquiring the position of other vehicles near a target vehicle, the relative angle with the target vehicle and the relative distance with the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the other vehicles, the relative angle with the target vehicle and the relative distance with the target vehicle; and
the method comprises the steps of obtaining the position of a roadside device near a target vehicle, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the roadside device, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle.
With reference to the third implementation manner of the first aspect, the present disclosure provides, in a fourth implementation manner of the first aspect, the acquiring the positions of other vehicles near the target vehicle and the position of a roadside device near the target vehicle, including:
the target vehicle sends a positioning request to the vehicle network platform, wherein the positioning request comprises: the roadside device positioning request for the target vehicle and positioning requests for the target vehicle by other vehicles near the target vehicle;
the Internet of vehicles platform receives the positioning request, searches and determines roadside equipment and other vehicles near the target vehicle;
the location of roadside devices near the target vehicle and the locations of other vehicles are accepted using V2X communication technology.
With reference to the first aspect, in a fifth implementation manner of the first aspect, the distance offset k is a function of the distance offset1、k2、k3The equation for configuring the weight parameters is:
Figure BDA0002221644540000031
Figure BDA0002221644540000032
Figure BDA0002221644540000033
wherein i ═ 1,2, …, N, represents the number of other vehicles; k is a radical of2iIndicating the distance offset between the positioning position of the ith other vehicle to the target vehicle and the predicted position; j ═ 1,2, …, M, indicating the number of roadside devices; k is a radical of3jRepresenting the distance offset of the positioning position of the jth roadside device on the target vehicle from the predicted position; lambda [ alpha ]1A weight parameter representative of the GPS location; lambda [ alpha ]2A weight parameter representing a positioning position of the target vehicle by the other vehicle; lambda [ alpha ]3A weight parameter representing a positioning position of the roadside apparatus to the target vehicle.
With reference to the first aspect, in a sixth implementation manner of the first aspect, the equation for obtaining the accurate position of the target vehicle by calculating according to the weight parameter, the GPS positioning location, the positioning location of the roadside device to the target vehicle, and the positioning locations of the other vehicles to the target vehicle is as follows:
Figure BDA0002221644540000041
Figure BDA0002221644540000042
wherein the content of the first and second substances,
Figure BDA0002221644540000043
representing an accurate location of the target vehicle;
Figure BDA0002221644540000044
representing the GPS position fix;
Figure BDA0002221644540000045
representing the location position of the other vehicle to the target vehicle;indicating the positioning position of the roadside apparatus to the target vehicle.
In a second aspect, the disclosed embodiments provide a positioning device for an autonomous vehicle, comprising:
the system comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is configured to obtain a predicted position of a target vehicle at the current moment, and the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment;
a second obtaining module configured to obtain a GPS positioning position of the target vehicle at the current time, and calculate a distance offset k between the GPS positioning position and the predicted position1(ii) a And
a first calculation module configured to locate the position of the target vehicle at the current time by using a roadside device near the target vehicle and other vehicles, respectively, and calculate a distance offset k between the location position of the roadside device on the target vehicle and the predicted position2And a distance offset k between the predicted position and the position where the target vehicle is located by the other vehicle3；
A second calculation module configured to calculate the distance offset k according to the distance offset1、k2、k3Configuring a weight parameter, and determining the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle, and the positioning of the other vehicles to the target vehicleAnd calculating the position to obtain the accurate position of the target vehicle.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor; wherein the one or more computer instructions are executed by the processor to implement the method steps of:
acquiring a predicted position of a target vehicle at the current moment, wherein the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment;
acquiring the GPS positioning position of the target vehicle at the current moment, and calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And
respectively positioning the position of the target vehicle at the current moment by using roadside equipment and other vehicles near the target vehicle, and calculating the distance offset k between the positioning position of the roadside equipment on the target vehicle and the predicted position2And a distance offset k between the predicted position and the position where the target vehicle is located by the other vehicle3；
According to the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle and the positioning positions of the other vehicles to the target vehicle.
In a fourth aspect, the disclosed embodiments provide a readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method according to any one of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the positioning method of the automatic driving vehicle provided by the embodiment of the disclosure comprises the following steps: acquiring a predicted position of a target vehicle at the current moment, wherein the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment; acquiring the GPS positioning position of the target vehicle at the current momentAnd calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And respectively positioning the position of the target vehicle at the current moment by using roadside equipment and other vehicles near the target vehicle, and calculating the distance offset k between the positioning position of the roadside equipment on the target vehicle and the predicted position2And a distance offset k between the predicted position and the position where the target vehicle is located by the other vehicle3(ii) a According to the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle and the positioning positions of the other vehicles to the target vehicle. According to the technical scheme, the positioning of the roadside device, other devices and the GPS near the target vehicle to the current time position of the target vehicle is combined, the predicted position of the target vehicle at the current time predicted from the previous time can be corrected, and therefore the target vehicle is accurately positioned. By offsetting the amount k according to the distance1、k2、k3The method has the advantages that the weight parameters are configured, positioning data of road side equipment, other equipment and a GPS can be reasonably utilized, the GPS positioning is prevented from being easily influenced by regions such as high buildings and tunnels, the defect that road side units or other vehicles are few in number in a wide and remote region or data lack caused by unreliable communication of target vehicles, road side units and other vehicles is overcome, and the automatic driving vehicle can be effectively positioned in the scene.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:
FIG. 1 shows a flow chart of a positioning method of an autonomous vehicle according to an embodiment of the disclosure;
FIG. 2 shows a schematic diagram of a target vehicle and other vehicle location scenarios, according to an embodiment of the present disclosure;
FIG. 3 illustrates a block diagram of a positioning device 300 of an autonomous vehicle according to an embodiment of the disclosure;
FIG. 4 shows a block diagram of an electronic device according to an embodiment of the disclosure;
FIG. 5 illustrates a schematic block diagram of a computer system suitable for use in implementing a method for locating an autonomous vehicle in accordance with an embodiment of the disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.
In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, behaviors, components, parts, or combinations thereof, and are not intended to preclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or combinations thereof may be present or added.
It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As mentioned above, as the demand for positioning accuracy is continuously increased, the positioning technology is also continuously developed. The most common technique for positioning service at present is Real-Time Kinematic (RTK) carrier phase differential technique, which can achieve positioning accuracy of decimeter level or even centimeter level. RTK location is the most reliable and most stable technique of present location trade, but because the terminal need receive the signal that comes from the satellite, inevitably will receive sheltering from of objects such as house, trees, the positioning accuracy can only reach decimetre level even the meter level under this kind of condition, can not satisfy autopilot's demand far away. In addition, in order to realize centimeter-level positioning, a reference station needs to be erected, difference is carried out through reliable positioning data of the reference station, and the risk of single-point service exists on the whole framework.
In the process of proposing the present disclosure, the inventor finds that the RTK positioning in the prior art is the most reliable and stable technology in the positioning industry at present, but because the RTK positioning needs to receive signals from satellites, the RTK positioning is easily affected by atmospheric conditions and topographic factors, and in some areas with serious shelters, such as tunnels, the positioning accuracy in high-rise areas is low, and blind areas exist. Although the problem of a blind area of a GPS can be solved by acquiring vehicle state information using an Inertial Navigation System (INS), the method is not suitable for a long-time independent positioning scene such as a tunnel due to an accumulated time error.
In view of the above drawbacks, an embodiment of the present disclosure provides a method for locating an autonomous vehicle, including: acquiring a predicted position of a target vehicle at the current moment, wherein the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment; acquiring the GPS positioning position of the target vehicle at the current moment, and calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And respectively positioning the position of the target vehicle at the current moment by using roadside equipment and other vehicles near the target vehicle, and calculating the distance offset k between the positioning position of the roadside equipment on the target vehicle and the predicted position2And a distance offset k between the predicted position and the position where the target vehicle is located by the other vehicle3(ii) a According to the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle and the positioning positions of the other vehicles to the target vehicle. The technical scheme combines the positioning of the roadside equipment, other equipment and the GPS near the target vehicle to the current time position of the target vehicle, and can correct the predicted position of the target vehicle at the current time predicted by the previous time, thereby realizing the purpose of correcting the predicted position of the target vehicle at the current time predicted by the previous timeAnd (4) accurately positioning the target vehicle. By offsetting the amount k according to the distance1、k2、k3The method has the advantages that the weight parameters are configured, positioning data of road side equipment, other equipment and a GPS can be reasonably utilized, the GPS positioning is prevented from being easily influenced by regions such as high buildings and tunnels, the defect that road side units or other vehicles are few in number in a wide and remote region or data lack caused by unreliable communication of target vehicles, road side units and other vehicles is overcome, and the automatic driving vehicle can be effectively positioned in the scene.
FIG. 1 shows a flow chart of a method of locating an autonomous vehicle according to an embodiment of the disclosure.
As shown in fig. 1, the positioning method of the autonomous vehicle includes the following steps S101 to S104.
In step S101, a predicted position of a target vehicle at a current time is obtained, and the predicted position is predicted according to position information of the target vehicle at a previous time of the current time;
in step S102, a GPS positioning position of the target vehicle at the current time is acquired, and a distance offset k between the GPS positioning position and the predicted position is calculated1；
In step S103, the position of the target vehicle at the current time is located by using another vehicle near the target vehicle and a roadside device, respectively, and a distance offset k between the location position of the target vehicle and the predicted position is calculated by the other vehicle2And a distance offset k between the positioning position of the roadside apparatus to the target vehicle and the predicted position3；
In step S104, according to the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle and the positioning positions of the other vehicles to the target vehicle.
According to the embodiment of the disclosure, the target vehicle is provided with a GPS receiver for receiving GPS signals and obtaining longitude and latitude information of the target vehicle. The target vehicle is also equipped with various sensors, such as an IMU, a vision camera, a lidar, a millimeter-wave radar, and the like. The IMU is an inertial measurement unit for predicting the position of the target vehicle from its initial position. Other sensors may be used for identification of roadside devices as well as other vehicles. Various sensors may be integrated on the roadside apparatus for identifying and locating the target vehicle. Various sensors may also be integrated with other vehicles for identifying and locating target vehicles.
The target vehicle is also provided with communication equipment for network access and information interaction with road side equipment and other vehicles. The roadside device and the target vehicle can exchange information based on an I2V mode or a short-distance communication mode. The other vehicles may exchange information with the target vehicle based on a V2V mode or a multi-hop communication mode. It is understood that the above information interaction patterns among the target vehicle, the road side device and other vehicles are only exemplary illustrations, and the disclosure is not limited thereto.
According to an embodiment of the present disclosure, in step S101, the obtaining of the predicted position of the target vehicle at the current time, the predicted position being predicted from the position information of the target vehicle at the previous time of the current time, is implemented as:
using the position information of the target vehicle at the previous moment of the current moment as the input data of an inertial measurement unit, and outputting the predicted position of the target vehicle at the current moment;
wherein the position information of the target vehicle at the previous time of the current time is acquired by any one of the following methods: GPS location, roadside device location near the target vehicle, or other vehicle location near the target vehicle.
In the embodiment of the disclosure, the IMU configured on the target vehicle may be used to obtain the predicted position of the target vehicle at the current time, and specifically, the GPS positioning may be combined with the IMU, for example, at the previous time of the current time, the position of the target vehicle may be positioned by using the GPS to obtain latitude and longitude information of the target vehicle, and then the latitude and longitude information is transmitted to the IMU as an input signal, and the IMU outputs the predicted position of the target vehicle at the current time. Those skilled in the art will appreciate that the position information of the target vehicle at the previous time as the input signal of the IMU may also be provided by the roadside device or other vehicles in the present disclosure, that is, at the previous time of the current time, the position information of the target vehicle obtained from the roadside device or other vehicles is transmitted as the input signal to the IMU, and the IMU outputs the predicted position of the target vehicle at the current time, which is not limited by the present disclosure.
As another embodiment, the accurate position of the target vehicle obtained in step S104 may be used as input data of the IMU, and the IMU may output the predicted position of the target vehicle. Specifically, the data of the target vehicle may be located by using the GPS at the initial time of the target vehicle as the input data of the IMU, the accurate position of the target vehicle at the current time is obtained through steps S101 to S104, and then the predicted position of the target vehicle at the next time of the current time is output by using the calculated accurate position of the target vehicle as the input data of the IMU. Then, step S101 to step S104 are repeated.
According to an embodiment of the present disclosure, the predicted position is predicted from the position information of the target vehicle at the time immediately before the current time by using the following formula:
Figure BDA0002221644540000091
where C (t) is vehicle control information, v (t) is a current speed of the vehicle obtained from the vehicle control information, u (t) is an angular speed at which the vehicle is steered, and x (t)0(t-1)、y0(t-1) represents the position information of the target vehicle at the time immediately preceding the current time (which may be the coordinates of a position point in a coordinate system on the road plane), α0(t) represents the angle of the target vehicle in the forward direction with respect to the X-axis. Obtaining the predicted position of the target vehicle at the current moment according to the formula and recording as (x)0(t),y0(t))。
According to an embodiment of the present disclosure, the distance offset k1Is referred to asThe distance between the GPS position fix and the predicted position output by the IMU at the previous time. The distance offset k2Refers to the distance between the positioning position of the target vehicle by other vehicles and the predicted position output by the IMU at the current time. The distance offset k3The distance between the positioning position of the target vehicle by the roadside device and the predicted position output by the IMU at the current time is referred to.
To obtain a distance offset k1、k2、k3First, the GPS positioning position needs to be determined and recorded asThe positioning position of the other vehicles on the target vehicle is recorded
Figure BDA0002221644540000102
And recording the positioning position of the target vehicle by the roadside device
Figure BDA0002221644540000103
In the embodiment of the present disclosure, the GPS positioning position may be acquired by a GPS receiver provided on the target vehicle, or may be acquired by a separate mobile terminal, such as a mobile phone. The method comprises the steps that a device for detecting the positioning position of a target vehicle and the positioning positions of other vehicles on the target vehicle can acquire the positioning data of the target vehicle by using sensors arranged on road side equipment or other vehicles according to the conditions of the sensors arranged on the target vehicle, the road side equipment and other vehicles, and the positioning data of the road side equipment and other vehicles can be transmitted to the target vehicle by using communication equipment, and after the target vehicle acquires the positioning data, the positioning positions of the road side equipment on the target vehicle and the positioning positions of other vehicles on the target vehicle can be acquired according to the positioning data. The present disclosure is explained by taking one embodiment as an example:
in step S103, the locating the position of the target vehicle at the current time by using another vehicle near the target vehicle and a roadside device, respectively, is implemented as:
acquiring the position of other vehicles near a target vehicle, the relative angle with the target vehicle and the relative distance with the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the other vehicles, the relative angle with the target vehicle and the relative distance with the target vehicle; and
the method comprises the steps of obtaining the position of a roadside device near a target vehicle, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the roadside device, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle.
According to an embodiment of the present disclosure, the number of other vehicles i is at least one, i ═ 1,2, …, N; the number of roadside devices j is at least one, j being 1,2, …, M.
How to obtain the positioning position of the other vehicle to the target vehicle is described below by taking fig. 2 as an example
Figure BDA0002221644540000104
It can be understood that the same method can be used for obtaining the positioning position of the road side equipment on the target vehicle
Figure BDA0002221644540000105
And will not be described in detail herein.
FIG. 2 shows a schematic diagram of a target vehicle and other vehicle location scenarios, according to an embodiment of the present disclosure;
as shown in fig. 2, the position of the other vehicle B near the target vehicle a may be represented as (X, Y), and (X, Y) is a position point determined in a coordinate system on a road plane, where the coordinate system on the road plane may be arbitrarily determined, for example, as shown in fig. 2, the X-axis is a direction of a center line of the road a, and the Y-axis is a direction perpendicular to the center line of the road a.
The relative angle at which the other vehicle B locates the target vehicle a is θ and the relative distance at which the other vehicle B locates the target vehicle a is d.
According to the road sidePosition (x, y) of the device, relative angle θ to the target vehicle, and relative distance d to the target vehicleiCalculating the position of the target vehicle at the current moment
Figure BDA0002221644540000111
The following formula may be employed:
Figure BDA0002221644540000112
when the number of the other vehicles i is multiple, the positioning positions of the other vehicles on the target vehicle are calculated according to the following formula
Figure BDA0002221644540000113
Figure BDA0002221644540000114
Figure BDA0002221644540000115
It should be noted that in the calculation
Figure BDA0002221644540000116
I is replaced by j, and N is replaced by M.
In an embodiment of the present disclosure, the acquiring a position of a roadside device near a target vehicle and a position of another vehicle near the target vehicle includes:
the target vehicle sends a positioning request to the vehicle network platform, wherein the positioning request comprises: the roadside device positioning request for the target vehicle and positioning requests for the target vehicle by other vehicles near the target vehicle;
the Internet of vehicles platform receives the positioning request, searches and determines roadside equipment and other vehicles near the target vehicle;
the location of roadside devices near the target vehicle and the locations of other vehicles are accepted using V2X communication technology.
According to the embodiment of the disclosure, the GPS positioning position is obtained
Figure BDA0002221644540000117
Positioning positions of other vehicles on the target vehicle
Figure BDA0002221644540000118
And positioning position of the roadside device on the target vehicleThen, the predicted positions (x) of the target vehicle at the current time are calculated respectively0(t),y0(t)) distance offset k1、k2、k3。
According to the embodiment of the present disclosure, in step S104, the distance offset k is calculated according to the distance1、k2、k3The equation for configuring the weight parameters is:
Figure BDA0002221644540000121
Figure BDA0002221644540000122
Figure BDA0002221644540000123
wherein i ═ 1,2, …, N, represents the number of other vehicles; k is a radical of2iIndicating the distance offset between the positioning position of the ith other vehicle to the target vehicle and the predicted position; j ═ 1,2, …, M, indicating the number of roadside devices; k is a radical of3jRepresenting the distance offset of the positioning position of the jth roadside device on the target vehicle from the predicted position; lambda [ alpha ]1A weight parameter representative of the GPS location; lambda [ alpha ]2A weight parameter representing a positioning position of the target vehicle by the other vehicle; lambda [ alpha ]3Representing the roadside apparatus pairAnd the weight parameter of the positioning position of the target vehicle.
According to an embodiment of the present disclosure, in step S104, the equation for calculating the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle, and the positioning positions of the other vehicles to the target vehicle is:
Figure BDA0002221644540000125
wherein the content of the first and second substances,
Figure BDA0002221644540000126
representing an accurate location of the target vehicle;
Figure BDA0002221644540000127
representing the GPS position fix;
Figure BDA0002221644540000128
representing the location position of the other vehicle to the target vehicle;
Figure BDA0002221644540000129
indicating the positioning position of the roadside apparatus to the target vehicle.
According to the embodiment of the disclosure, the road side equipment, other equipment and the GPS near the target vehicle are combined to position the current time position of the target vehicle, and the predicted position of the target vehicle at the current time predicted by the last time can be corrected, so that the target vehicle is accurately positioned. By offsetting the amount k according to the distance1、k2、k3The weight parameters are configured, the positioning data of roadside equipment, other equipment and a GPS can be reasonably utilized, the GPS positioning is prevented from being easily influenced by areas such as high buildings, tunnels and the like, and the situation that the positioning is wider and biased is avoidedIn a remote area, the number of road side units or other vehicles is small, or the data is lack due to unreliable communication between a target vehicle, the road side units and other vehicles, so that the automatic driving vehicle can be effectively positioned in the scene.
Fig. 3 shows a block diagram of a positioning device 300 of an autonomous vehicle according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 3, the positioning apparatus of the illustrated autonomous vehicle includes:
a first obtaining module 310, configured to obtain a predicted position of a target vehicle at a current time, where the predicted position is predicted according to position information of the target vehicle at a previous time of the current time;
a second obtaining module 320 configured to obtain a GPS positioning position of the target vehicle at the current time, and calculate a distance offset k between the GPS positioning position and the predicted position1(ii) a And
a first calculation module 330 configured to locate the position of the target vehicle at the current time by using other vehicles near the target vehicle and a roadside device, respectively, and calculate a distance offset k between the location position of the target vehicle and the predicted position by the other vehicles2And a distance offset k between the positioning position of the roadside apparatus to the target vehicle and the predicted position3；
A second calculation module 340 configured to calculate the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning positions of the other vehicles to the target vehicle and the positioning positions of the roadside equipment to the target vehicle.
According to an embodiment of the present disclosure, the obtaining of the predicted position of the target vehicle at the current time, the predicted position being predicted from the position information of the target vehicle at the previous time of the current time, is implemented as:
using the position information of the target vehicle at the previous moment of the current moment as the input data of an inertial measurement unit, and outputting the predicted position of the target vehicle at the current moment;
wherein the position information of the target vehicle at the previous time of the current time
Obtained by any one of the following methods: GPS location, roadside device location near the target vehicle, or other vehicle location near the target vehicle.
According to an embodiment of the present disclosure, the locating the position of the target vehicle at the current time using another vehicle near the target vehicle and a roadside device, respectively, is implemented as:
acquiring the position of other vehicles near a target vehicle, the relative angle with the target vehicle and the relative distance with the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the other vehicles, the relative angle with the target vehicle and the relative distance with the target vehicle; and
the method comprises the steps of obtaining the position of a roadside device near a target vehicle, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the roadside device, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle.
According to an embodiment of the present disclosure, the acquiring the position of the other vehicle in the vicinity of the target vehicle and the acquiring the position of the roadside apparatus in the vicinity of the target vehicle include:
the target vehicle sends a positioning request to the vehicle network platform, wherein the positioning request comprises: the roadside device positioning request for the target vehicle and positioning requests for the target vehicle by other vehicles near the target vehicle;
the Internet of vehicles platform receives the positioning request, searches and determines roadside equipment and other vehicles near the target vehicle;
the location of roadside devices near the target vehicle and the locations of other vehicles are accepted using V2X communication technology.
According to an embodiment of the present disclosure, the distance offset k is determined according to the distance1、k2、k3The equation for configuring the weight parameters is:
Figure BDA0002221644540000141
Figure BDA0002221644540000142
Figure BDA0002221644540000143
wherein i ═ 1,2, …, N, represents the number of other vehicles; k is a radical of2iIndicating the distance offset between the positioning position of the ith other vehicle to the target vehicle and the predicted position; j ═ 1,2, …, M, indicating the number of roadside devices; k is a radical of3jRepresenting the distance offset of the positioning position of the jth roadside device on the target vehicle from the predicted position; lambda [ alpha ]1A weight parameter representative of the GPS location; lambda [ alpha ]2A weight parameter representing a positioning position of the target vehicle by the other vehicle; lambda [ alpha ]3A weight parameter representing a positioning position of the roadside apparatus to the target vehicle.
According to an embodiment of the present disclosure, the equation for calculating the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle, and the positioning positions of the other vehicles to the target vehicle is:
Figure BDA0002221644540000151
Figure BDA0002221644540000152
wherein the content of the first and second substances,representing an accurate location of the target vehicle;
Figure BDA0002221644540000154
representing the GPS position fix;
Figure BDA0002221644540000155
representing the location position of the other vehicle to the target vehicle;indicating the positioning position of the roadside apparatus to the target vehicle.
The present disclosure also discloses an electronic device, and fig. 4 shows a block diagram of the electronic device according to an embodiment of the present disclosure.
As shown in fig. 4, the electronic device 400 includes a memory 401 and a processor 402; wherein the content of the first and second substances,
the memory 401 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 402 to implement the method steps of:
acquiring a predicted position of a target vehicle at the current moment, wherein the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment;
acquiring the GPS positioning position of the target vehicle at the current moment, and calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And
respectively positioning the position of the target vehicle at the current moment by using other vehicles near the target vehicle and road side equipment, and calculating the distance offset k between the positioning position of the target vehicle by the other vehicles and the predicted position2And a distance offset k between the positioning position of the roadside apparatus to the target vehicle and the predicted position3；
According to the distance offset k1、k2、k3Configuring weight parameters and rootAnd calculating the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning positions of the other vehicles to the target vehicle and the positioning positions of the roadside equipment to the target vehicle.
FIG. 5 illustrates a schematic block diagram of a computer system suitable for use in implementing a method for locating an autonomous vehicle in accordance with an embodiment of the disclosure.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can execute various processes in the above-described embodiments according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, the above described methods may be implemented as computer software programs according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the above-described object class determination method. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present disclosure may be implemented by software or by programmable hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.
As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or the computer system in the above embodiments; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims (10)

1. A method of locating an autonomous vehicle, comprising:
acquiring a predicted position of a target vehicle at the current moment, wherein the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment;
acquiring the GPS positioning position of the target vehicle at the current moment, and calculating the distance offset k between the GPS positioning position and the predicted position1(ii) a And
respectively positioning the position of the target vehicle at the current moment by using other vehicles near the target vehicle and road side equipment, and calculating the distance offset k between the positioning position of the target vehicle by the other vehicles and the predicted position2And a distance offset k between the positioning position of the roadside apparatus to the target vehicle and the predicted position3；
According to the distance offset k1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning positions of the other vehicles to the target vehicle and the positioning positions of the roadside equipment to the target vehicle.
2. The method of locating an autonomous vehicle as claimed in claim 1, wherein the obtaining of the predicted position of the target vehicle at the present time, which is predicted from the position information of the target vehicle at the previous time of the present time, is implemented as:
using the position information of the target vehicle at the previous moment of the current moment as the input data of an inertial measurement unit, and outputting the predicted position of the target vehicle at the current moment;
wherein the position information of the target vehicle at the previous time of the current time is acquired by any one of the following methods: GPS location, roadside device location near the target vehicle, or other vehicle location near the target vehicle.
3. The method of locating an autonomous vehicle of claim 1, further comprising:
and taking the accurate position of the target vehicle obtained by calculation as input data of an inertial measurement unit, and outputting the predicted position of the target vehicle at the next moment of the current moment.
4. The method of locating an autonomous vehicle as claimed in claim 1, wherein the locating the position of the target vehicle at the current time using another vehicle in the vicinity of the target vehicle and a roadside apparatus, respectively, is implemented as:
acquiring the position of other vehicles near a target vehicle, the relative angle with the target vehicle and the relative distance with the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the other vehicles, the relative angle with the target vehicle and the relative distance with the target vehicle; and
the method comprises the steps of obtaining the position of a roadside device near a target vehicle, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle, and calculating the position of the target vehicle at the current moment according to the position of the roadside device, the relative angle of the roadside device and the target vehicle and the relative distance of the roadside device and the target vehicle.
5. The method of locating an autonomous vehicle as recited in claim 4, wherein the acquiring the position of the other vehicle in the vicinity of the target vehicle and the acquiring the position of the roadside apparatus in the vicinity of the target vehicle include:
the target vehicle sends a positioning request to the vehicle network platform, wherein the positioning request comprises: the roadside device positioning request for the target vehicle and positioning requests for the target vehicle by other vehicles near the target vehicle;
the Internet of vehicles platform receives the positioning request, searches and determines roadside equipment and other vehicles near the target vehicle;
the location of roadside devices near the target vehicle and the locations of other vehicles are accepted using V2X communication technology.
6. Method for locating an autonomous vehicle according to claim 1, characterized in that said offset k depends on the distance1、k2、k3The equation for configuring the weight parameters is:
Figure FDA0002221644530000021
Figure FDA0002221644530000022
Figure FDA0002221644530000023
wherein i ═ 1,2, …, N, represents the number of other vehicles; k is a radical of2iIndicating the distance offset between the positioning position of the ith other vehicle to the target vehicle and the predicted position; j ═ 1,2, …, M, indicating the number of roadside devices; k is a radical of3jRepresenting the distance offset of the positioning position of the jth roadside device on the target vehicle from the predicted position; lambda [ alpha ]1A weight parameter representative of the GPS location; lambda [ alpha ]2A weight parameter representing a positioning position of the target vehicle by the other vehicle; lambda [ alpha ]3A weight parameter representing a positioning position of the roadside apparatus to the target vehicle.
7. The method of claim 1, wherein the equation for calculating the accurate position of the target vehicle according to the weight parameter, the GPS location position, the location position of the roadside device to the target vehicle, and the location positions of the other vehicles to the target vehicle is as follows:
wherein the content of the first and second substances,
Figure FDA0002221644530000033
representing an accurate location of the target vehicle;
Figure FDA0002221644530000035
representing the GPS position fix;
Figure FDA0002221644530000034
representing the location position of the other vehicle to the target vehicle;
Figure FDA0002221644530000036
indicating the positioning position of the roadside apparatus to the target vehicle.
8. A positioning device for an autonomous vehicle, comprising:
the system comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is configured to obtain a predicted position of a target vehicle at the current moment, and the predicted position is predicted according to position information of the target vehicle at the previous moment of the current moment;
a second obtaining module configured to obtain a GPS positioning position of the target vehicle at the current time, and calculate a distance offset k between the GPS positioning position and the predicted position1(ii) a And
a first calculation module for calculating the first time interval,is configured to locate the position of the target vehicle at the current time using a roadside apparatus and other vehicles in the vicinity of the target vehicle, respectively, and calculate a distance offset k of the roadside apparatus from the predicted position2And a distance offset k between the predicted position and the position where the target vehicle is located by the other vehicle3；
A second calculation module configured to calculate the distance offset k according to the distance offset1、k2、k3Configuring a weight parameter, and calculating to obtain the accurate position of the target vehicle according to the weight parameter, the GPS positioning position, the positioning position of the roadside device to the target vehicle and the positioning positions of the other vehicles to the target vehicle.
9. An electronic device comprising a memory and a processor; wherein the one or more computer instructions are executed by the processor to implement the method steps of any one of claims 1-6.
10. A readable storage medium having stored thereon computer instructions, characterized in that the computer instructions, when executed by a processor, carry out the method steps of any of claims 1-6.
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