CN110658542B - Method, device, equipment and storage medium for positioning and identifying automatic driving automobile - Google Patents
Method, device, equipment and storage medium for positioning and identifying automatic driving automobile Download PDFInfo
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- CN110658542B CN110658542B CN201910961229.4A CN201910961229A CN110658542B CN 110658542 B CN110658542 B CN 110658542B CN 201910961229 A CN201910961229 A CN 201910961229A CN 110658542 B CN110658542 B CN 110658542B
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention relates to the technical field of automatic driving, and discloses a method, a device, equipment and a storage medium for positioning and identifying an automatic driving automobile, wherein the method comprises the following steps: the method comprises the steps of obtaining a current positioning speed calculated by a global satellite navigation positioning system at the current moment, obtaining a current actual speed of a vehicle to be identified, obtaining a historical positioning speed calculated by the global satellite navigation positioning system at the last period moment, and obtaining a historical actual speed of the vehicle to be identified at the last period moment, so that the accuracy of positioning information of the global satellite navigation positioning system is identified according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed, and the technical problem of identifying whether the positioning information of the global satellite navigation positioning system of the automatically driven automobile is accurate or not is solved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method, a device, equipment and a storage medium for positioning and identifying an automatic driving automobile.
Background
With the development of an automatic driving automobile, the role of a high-precision positioning System in the automatic driving automobile becomes more important, the automatic driving automobile can be completed in different driving tasks more safely and efficiently depending on centimeter-level high-precision positioning, a Global Navigation Satellite System (GNSS) and an Inertial Navigation positioning System (INS) are generally adopted in the current automatic driving automobile to achieve higher absolute positioning coordinates, and meanwhile, sensors such as a camera are used for fusion positioning so as to achieve the purpose of realizing lane level, and the high-precision positioning System is actually a multi-sensor fusion positioning System. In such a multi-sensor fusion positioning system, the satellite signals of the GNSS are particularly important for positioning, and only the satellite signals can acquire the absolute position coordinates of the current vehicle on the earth, in the current navigation system, whether the current satellite signals are blocked or not is generally judged by observing the number of visible particles of the satellite and a precision attenuation factor (the precision attenuation factor is related to the distribution position of the received satellite, and the smaller the precision attenuation factor is, the better the current signals are), so as to judge the quality of the current positioning, and if the number of visible particles of the satellite meets the requirement (the number of visible particles is greater than 4), the current satellite signals are considered to be credible, and can be used as input signal parameters for fusion positioning and positioning calculation.
However, the satellite system has low transmission power and interference resistance, and civil codes are open, so the vehicle-mounted GNSS receiver is very easy to be artificially interfered, and the satellite interference is divided into two types, one is suppressed interference and the other is deceptive interference. After the compression type interference, a receiver signal on the vehicle is shielded and does not have the capability of receiving satellite positioning information; another is spoofing interference, where the receiver can receive satellite signals, but the signal is considered tampered with, and an erroneous positioning signal is received. Therefore, if the autonomous driving vehicle is subjected to deceptive interference, the receiver still can receive satellite signals, the number of visible particles cannot be reduced, wrong positioning information can be received after the interference, at the moment, the receiver cannot judge a positioning result through a traditional method for judging the positioning quality according to the number of visible particles of the satellite and precision attenuation, the satellite data at the moment can be considered to be still credible, the misplaced GNSS data can be transmitted, the positioning error is increased due to the fact that the wrong GNSS data is combined with other sensor data, and the unpredictable error greatly threatens the safety of the autonomous driving vehicle.
Therefore, there is a technical problem of how to identify whether the positioning information of the global satellite navigation positioning system of the autonomous vehicle is accurate.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for identifying the positioning of an automatic driving automobile, and aims to solve the technical problem of identifying whether the positioning information of a global satellite navigation positioning system of the automatic driving automobile is accurate or not.
In order to achieve the above object, the present invention provides an automatic driving automobile positioning and identifying method, which comprises the following steps:
acquiring a current positioning speed calculated at the current moment through a global satellite navigation positioning system, and acquiring the current actual speed of a vehicle to be identified;
acquiring historical positioning speed calculated by the global satellite navigation positioning system at the previous period time, and acquiring historical actual speed of the vehicle to be identified at the previous period time;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed.
Preferably, the acquiring a current positioning speed calculated by a global satellite navigation positioning system at a current moment and acquiring a current actual speed of the vehicle to be identified specifically include:
acquiring current positioning information of a global satellite navigation positioning system at the current moment;
calculating the current positioning speed according to the current positioning information;
and acquiring the current actual speed acquired at the current moment through a speed-per-hour meter.
Preferably, the obtaining a historical positioning speed calculated by the global navigation satellite system at a previous period of time and obtaining a historical actual speed of the vehicle to be identified at the previous period of time specifically include:
acquiring historical positioning information of the global satellite navigation positioning system at the last period;
calculating historical positioning speed according to the historical positioning information;
and acquiring the historical actual speed acquired at the previous period moment through a speed-per-hour meter.
Preferably, the identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed specifically includes:
calculating a positioning speed increment according to the current positioning speed and the historical positioning speed;
calculating an actual speed increment according to the current actual speed and the historical actual speed;
calculating a current speed difference value according to the current positioning speed and the current actual speed;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current speed difference value, the positioning speed increment and the actual speed increment.
Preferably, the identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current speed difference, the positioning speed increment and the actual speed increment specifically includes:
comparing the absolute value of the positioning speed increment with a preset first threshold value;
when the absolute value of the positioning speed increment is smaller than the preset first threshold, comparing the absolute value of the current speed difference with a preset second threshold;
when the absolute value of the current speed difference is smaller than the preset second threshold, calculating a speed increment difference according to the positioning speed increment and the actual speed increment;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
Preferably, the identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference specifically includes:
comparing the absolute value of the speed increment difference value with a preset third threshold value;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result.
Preferably, the identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result specifically includes:
when the absolute value of the speed increment difference is smaller than the preset third threshold, identifying that the positioning information of the global satellite navigation positioning system is accurate;
and when the absolute value of the speed increment difference value is greater than or equal to the preset third threshold value, identifying that the positioning information of the global satellite navigation positioning system is inaccurate.
In addition, in order to achieve the above object, the present invention further provides an automatic driving vehicle positioning recognition device, including:
the current speed module is used for acquiring the current positioning speed calculated at the current moment through the global satellite navigation positioning system and acquiring the current actual speed of the vehicle to be identified;
the historical speed module is used for acquiring the historical positioning speed calculated by the global satellite navigation positioning system at the previous period time and acquiring the historical actual speed of the vehicle to be identified at the previous period time;
and the information identification module is used for identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed.
In addition, in order to achieve the above object, the present invention further provides an automatic driving vehicle positioning recognition apparatus, including: the automatic driving automobile positioning and identifying method comprises a memory, a processor and an automatic driving automobile positioning and identifying program which is stored on the memory and can run on the processor, wherein the automatic driving automobile positioning and identifying program is configured with steps for realizing the automatic driving automobile positioning and identifying method.
In addition, to achieve the above object, the present invention further provides a storage medium having an automatic driving vehicle positioning recognition program stored thereon, wherein the automatic driving vehicle positioning recognition program, when executed by a processor, implements the steps of the automatic driving vehicle positioning recognition method as described above.
According to the positioning and identifying method for the automatically driven automobile, the current positioning speed calculated by a global satellite navigation positioning system at the current moment is obtained, the current actual speed of the vehicle to be identified is obtained, the historical positioning speed calculated by the global satellite navigation positioning system at the last period moment is obtained, and the historical actual speed of the vehicle to be identified at the last period moment is obtained, so that the accuracy of the positioning information of the global satellite navigation positioning system is identified according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed, and the technical problem of identifying whether the positioning information of the global satellite navigation positioning system of the automatically driven automobile is accurate is solved.
Drawings
FIG. 1 is a schematic diagram of an automatic driving vehicle positioning and recognizing device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of an automatic driving vehicle positioning and recognizing method according to the present invention;
FIG. 3 is a schematic flow chart illustrating a second embodiment of the method for identifying the location of an automatically driven vehicle according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of an automatic driving vehicle positioning and recognizing method according to the present invention;
FIG. 5 is a functional block diagram of a first embodiment of an automatic driving vehicle positioning and recognizing apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic driving vehicle positioning and recognizing device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the automatic driving car location recognition apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a non-volatile Memory (e.g., a magnetic disk Memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in FIG. 1 does not constitute a limitation of an autonomous vehicle location identification device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an automatic driving vehicle location recognition program.
In the location recognition device of the autonomous driving vehicle shown in fig. 1, the network interface 1004 is mainly used for connecting an external network and performing data communication with other network devices; the user interface 1003 is mainly used for connecting to a user equipment and performing data communication with the user equipment; the apparatus of the present invention calls the autonomous driving vehicle positioning recognition program stored in the memory 1005 through the processor 1001 and performs the following operations:
acquiring a current positioning speed calculated at the current moment through a global satellite navigation positioning system, and acquiring the current actual speed of a vehicle to be identified;
acquiring historical positioning speed calculated by the global satellite navigation positioning system at the previous period time, and acquiring historical actual speed of the vehicle to be identified at the previous period time;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed.
Further, processor 1001 may invoke an autonomous vehicle location identification program stored in memory 1005, and also perform the following operations:
acquiring current positioning information of a global satellite navigation positioning system at the current moment;
calculating the current positioning speed according to the current positioning information;
and acquiring the current actual speed acquired at the current moment through a speed-per-hour meter.
Further, processor 1001 may invoke an autonomous vehicle location identification program stored in memory 1005, and also perform the following operations:
acquiring historical positioning information of the global satellite navigation positioning system at the last period;
calculating historical positioning speed according to the historical positioning information;
and acquiring the historical actual speed acquired at the previous period moment through a speed-per-hour meter.
Further, processor 1001 may invoke an autonomous vehicle location identification program stored in memory 1005, and also perform the following operations:
calculating a positioning speed increment according to the current positioning speed and the historical positioning speed;
calculating an actual speed increment according to the current actual speed and the historical actual speed;
calculating a current speed difference value according to the current positioning speed and the current actual speed;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current speed difference value, the positioning speed increment and the actual speed increment.
Further, processor 1001 may invoke an autonomous vehicle location identification program stored in memory 1005, and also perform the following operations:
comparing the absolute value of the positioning speed increment with a preset first threshold value;
when the absolute value of the positioning speed increment is smaller than the preset first threshold, comparing the absolute value of the current speed difference with a preset second threshold;
when the absolute value of the current speed difference is smaller than the preset second threshold, calculating a speed increment difference according to the positioning speed increment and the actual speed increment;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
Further, processor 1001 may invoke an autonomous vehicle location identification program stored in memory 1005, and also perform the following operations:
comparing the absolute value of the speed increment difference value with a preset third threshold value;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result.
Further, processor 1001 may invoke an autonomous vehicle location identification program stored in memory 1005, and also perform the following operations:
when the absolute value of the speed increment difference is smaller than the preset third threshold, identifying that the positioning information of the global satellite navigation positioning system is accurate;
and when the absolute value of the speed increment difference value is greater than or equal to the preset third threshold value, identifying that the positioning information of the global satellite navigation positioning system is inaccurate.
In the embodiment, the accuracy of the positioning information of the global satellite navigation positioning system is identified according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed by acquiring the current positioning speed calculated by the global satellite navigation positioning system at the current moment, the current actual speed of the vehicle to be identified, and the historical actual speed of the vehicle to be identified at the previous moment, so that the technical problem of identifying whether the positioning information of the global satellite navigation positioning system of the automatic driving automobile is accurate or not is solved.
Based on the hardware structure, the embodiment of the automatic driving automobile positioning and identifying method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for identifying the location of the automatically driven vehicle according to the present invention.
In a first embodiment, the method for identifying the location of an autonomous vehicle comprises the following steps:
step S10, obtaining the current positioning speed calculated by the global satellite navigation positioning system at the current moment, and obtaining the current actual speed of the vehicle to be identified.
It should be noted that the execution subject in this embodiment may be an automatic driving vehicle positioning recognition device, and may also be other devices that can achieve the same or similar functions.
It should be noted that, the obtaining of the current positioning speed calculated at the current time by the global satellite navigation positioning system and the obtaining of the current actual speed of the vehicle to be identified specifically includes obtaining the current positioning information of the global satellite navigation positioning system at the current time, calculating the current positioning speed according to the current positioning information, and obtaining the current actual speed acquired at the current time by the speedometer.
It should be understood that when there is a satellite signal received by the spoofing global satellite navigation positioning system due to human interference while the number of visible satellites data remains unchanged, the positioning value deviates from the original position at the interfered moment, and the velocity value calculated by the global satellite navigation positioning system is abnormal.
It can be understood that the global satellite navigation positioning system may generate positioning information according to the received satellite signals in real time, and may calculate a positioning speed according to the positioning information, and further, at the current time, the global satellite navigation positioning system receives the current satellite signals, generates current positioning information according to the current satellite signals, and calculates a current positioning speed according to the current positioning information, where the current positioning speed is a speed value calculated by the global satellite navigation positioning system at the current time.
It CAN be understood that, during the running process of the vehicle to be identified, the current actual speed of the vehicle to be identified may be obtained, and the specific way of obtaining the current actual speed may be to obtain the current actual speed acquired at the current time through a speed-per-hour meter, may also be to read the current actual speed of a chassis wheel speed meter from a vehicle CAN line, and may also be other ways, which is not limited in this embodiment.
And step S20, acquiring a historical positioning speed calculated by the global satellite navigation positioning system at the time of the previous cycle, and acquiring a historical actual speed of the vehicle to be identified at the time of the previous cycle.
It should be noted that, the obtaining of the historical positioning speed calculated by the global satellite navigation positioning system at the previous period time and the obtaining of the historical actual speed of the vehicle to be identified at the previous period time specifically includes obtaining the historical positioning information of the global satellite navigation positioning system at the previous period time, calculating the historical positioning speed according to the historical positioning information, and obtaining the historical actual speed acquired by the speedometer at the previous period time.
It should be understood that a speed acquisition period may be set for the gnss, and the speed acquisition period may be set according to actual situations, for example, the speed acquisition period may be 20S, 30S, or 60S, or may be other time periods, which is not limited in this embodiment, and the speed acquisition period is illustrated as 60S.
It is to be understood that the previous cycle time is a time before the current time is separated by one speed acquisition cycle, for example, the current time is 2: 20, the last cycle time is 2: and 19, at the previous period, obtaining historical satellite signals received by the global satellite navigation positioning system at the previous period, generating historical positioning information according to the historical satellite signals, and calculating a historical positioning speed according to the historical positioning information, wherein the historical positioning speed is a speed value calculated by the global satellite navigation positioning system at the previous period.
It CAN be understood that, a specific way of obtaining the historical actual speed of the vehicle to be identified at the previous cycle time may be to obtain the historical actual speed acquired by the speedometer at the previous cycle time, may also be to read the historical actual speed of the chassis wheel speed meter from the vehicle CAN line, and may also be another way, which is not limited in this embodiment.
And step S30, identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed.
It should be noted that after the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed are obtained through the foregoing steps, the accuracy of the positioning information of the global satellite navigation positioning system can be identified by calculating these speed values.
In the embodiment, the accuracy of the positioning information of the global satellite navigation positioning system is identified according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed by acquiring the current positioning speed calculated by the global satellite navigation positioning system at the current moment, the current actual speed of the vehicle to be identified, and the historical actual speed of the vehicle to be identified at the previous moment, so that the technical problem of identifying whether the positioning information of the global satellite navigation positioning system of the automatic driving automobile is accurate or not is solved.
In an embodiment, as shown in fig. 3, the second embodiment of the location identification method for an autonomous vehicle according to the present invention is proposed based on the first embodiment, and the step S30 includes:
step S301, calculating a positioning speed increment according to the current positioning speed and the historical positioning speed.
It should be noted that, the positioning speed increment may be calculated according to the current positioning speed and the historical positioning speed, and the positioning speed increment may be a positive value or a negative value, which is not limited in this embodiment.
In a specific implementation, for example, the current positioning speed is 80km/h, the historical positioning speed is 60km/h, and the increment of the positioning speed calculated according to the current positioning speed and the historical positioning speed is 20.
In a specific implementation, for another example, the current positioning speed is 60km/h, and the historical positioning speed is 80km/h, then the incremental positioning speed calculated from the current positioning speed and the historical positioning speed is-20.
Step S302, calculating an actual speed increment according to the current actual speed and the historical actual speed.
It should be noted that, an actual speed increment may be calculated according to the current actual speed and the historical actual speed, and the actual speed increment may be a positive value or a negative value, which is not limited in this embodiment.
In a specific implementation, for example, the current actual speed is 82km/h, the historical positioning speed is 61km/h, and the actual speed increment calculated from the current actual speed and the historical actual speed is 21.
In a specific implementation, for example, the current actual speed is 61km/h, the historical positioning speed is 82km/h, and the actual speed increment calculated from the current actual speed and the historical actual speed is-21.
Step S303, calculating a current speed difference value according to the current positioning speed and the current actual speed.
It should be noted that, the current speed difference may be calculated according to the current positioning speed and the current actual speed, and the current speed difference may be a positive value or a negative value, which is not limited in this embodiment.
In a specific implementation, for example, the current positioning speed is 80km/h, the current actual speed is 82km/h, and the current speed difference calculated according to the current positioning speed and the current actual speed is-2.
And step S304, identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current speed difference value, the positioning speed increment and the actual speed increment.
It can be understood that after the current velocity difference, the positioning velocity increment and the actual velocity increment are calculated in the previous steps, the accuracy of the positioning information of the global satellite navigation positioning system is identified by performing threshold judgment on the current velocity difference, the positioning velocity increment and the actual velocity increment.
In this embodiment, a positioning speed increment is calculated according to the current positioning speed and the historical positioning speed, an actual speed increment is calculated according to the current actual speed and the historical actual speed, a current speed difference is calculated according to the current positioning speed and the current actual speed, and the accuracy of the positioning information of the global satellite navigation positioning system is identified according to the current speed difference, the positioning speed increment and the actual speed increment, so that the accuracy of the positioning information of the global satellite navigation positioning system is identified by calculating the current speed difference, the positioning speed increment and the actual speed increment.
In an embodiment, as shown in fig. 4, a third embodiment of the location identification method for an autonomous vehicle according to the present invention is proposed based on the first embodiment or the second embodiment, and in this embodiment, the description is made based on the second embodiment, and the step S304 includes:
step S3041, comparing the absolute value of the positioning speed increment with a preset first threshold.
It should be noted that the preset first threshold is set by the user according to an actual situation, which is not limited in this embodiment, and the preset first threshold is taken as 30 in this embodiment for description.
It should be understood that the accuracy of the positioning information is determined by comparing the absolute value of the positioning speed increment with a preset first threshold, when the absolute value of the positioning speed increment is greater than the preset first threshold, the current positioning information is determined to be inaccurate and unreliable, and when the absolute value of the positioning speed increment is less than the preset first threshold, the subsequent determination is performed.
In a specific implementation, for example, assuming that the incremental positioning speed is 40, it can be seen that the incremental positioning speed is greater than the preset first threshold, and the positioning information of the gnss is inaccurate at this time.
Step S3042, when the absolute value of the positioning speed increment is smaller than the preset first threshold, comparing the absolute value of the current speed difference with a preset second threshold.
It should be noted that the second threshold is set by the user according to an actual situation, which is not limited in this embodiment, and the embodiment is described by taking the preset second threshold as 3 as an example.
It should be understood that the accuracy of the positioning information is determined by comparing the absolute value of the current speed difference with a preset second threshold, when the absolute value of the current speed difference is greater than the preset second threshold, it is determined that the positioning information at this time is inaccurate and unreliable, and when the absolute value of the current speed difference is less than the preset second threshold, the subsequent determination is performed.
In a specific implementation, for example, assuming that the positioning speed increment is 20 and the current speed difference is 2, it is seen that the positioning speed increment is smaller than the preset first threshold, and then the current speed difference is compared with the preset second threshold, and the current speed difference is also smaller than the preset second threshold, at this time, the subsequent determination is continued.
Step S3043, when the absolute value of the current speed difference is smaller than the preset second threshold, calculating a speed increment difference according to the positioning speed increment and the actual speed increment.
It should be noted that, when the absolute value of the current speed difference is smaller than the preset second threshold, the speed increment difference is calculated according to the positioning speed increment and the actual speed increment, where the speed increment difference may be a positive value or a negative value, and this embodiment does not limit this.
In a specific implementation, for example, the positioning speed increment is 40, the actual speed increment is 21, and the difference between the speed increments calculated from the positioning speed increment and the actual speed increment is 1.
Step S3044, identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
It should be noted that, the accuracy of identifying the positioning information of the global satellite navigation positioning system according to the speed increment difference is specifically that an absolute value of the speed increment difference is compared with a preset third threshold, when the absolute value of the speed increment difference is smaller than the preset third threshold, the positioning information of the global satellite navigation positioning system is identified to be accurate, and when the absolute value of the speed increment difference is greater than or equal to the preset third threshold, the positioning information of the global satellite navigation positioning system is identified to be inaccurate.
It should be noted that the third threshold is set by the user according to an actual situation, which is not limited in this embodiment, and the embodiment takes the preset third threshold as 2 as an example for description.
In a specific implementation, for example, the speed increment difference is 1, and it can be seen that the speed increment difference is smaller than the preset third threshold, and it can be identified that the positioning information of the gnss is accurate.
In a specific implementation, for example, assuming that the speed increment difference is 3, the speed increment difference is greater than a preset third threshold, and it may be identified that the positioning information of the gnss is inaccurate.
It should be understood that after the inaccuracy of the positioning information of the gnss is recognized, the gnss is temporarily rejected to participate in the data fusion of the gnss, and at this time, the gnss performs the fused positioning calculation only by the INS and other sensors, and continues the above steps at the next cycle.
In this embodiment, the absolute value of the positioning speed increment is compared with a preset first threshold, when the absolute value of the positioning speed increment is smaller than the preset first threshold, the absolute value of the current speed difference is compared with a preset second threshold, and when the absolute value of the current speed difference is smaller than the preset second threshold, the speed increment difference is calculated according to the positioning speed increment and the actual speed increment, so as to identify the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
In addition, an embodiment of the present invention further provides a storage medium, where an automatic driving vehicle positioning recognition program is stored on the storage medium, and when executed by a processor, the automatic driving vehicle positioning recognition program implements the following operations:
acquiring a current positioning speed calculated at the current moment through a global satellite navigation positioning system, and acquiring the current actual speed of a vehicle to be identified;
acquiring historical positioning speed calculated by the global satellite navigation positioning system at the previous period time, and acquiring historical actual speed of the vehicle to be identified at the previous period time;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed.
Further, the automatic driving automobile positioning and identifying program is executed by the processor to realize the following operations:
acquiring current positioning information of a global satellite navigation positioning system at the current moment;
calculating the current positioning speed according to the current positioning information;
and acquiring the current actual speed acquired at the current moment through a speed-per-hour meter.
Further, the automatic driving automobile positioning and identifying program is executed by the processor to realize the following operations:
acquiring historical positioning information of the global satellite navigation positioning system at the last period;
calculating historical positioning speed according to the historical positioning information;
and acquiring the historical actual speed acquired at the previous period moment through a speed-per-hour meter.
Further, the automatic driving automobile positioning and identifying program is executed by the processor to realize the following operations:
calculating a positioning speed increment according to the current positioning speed and the historical positioning speed;
calculating an actual speed increment according to the current actual speed and the historical actual speed;
calculating a current speed difference value according to the current positioning speed and the current actual speed;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current speed difference value, the positioning speed increment and the actual speed increment.
Further, the automatic driving automobile positioning and identifying program is executed by the processor to realize the following operations:
comparing the absolute value of the positioning speed increment with a preset first threshold value;
when the absolute value of the positioning speed increment is smaller than the preset first threshold, comparing the absolute value of the current speed difference with a preset second threshold;
when the absolute value of the current speed difference is smaller than the preset second threshold, calculating a speed increment difference according to the positioning speed increment and the actual speed increment;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
Further, the automatic driving automobile positioning and identifying program is executed by the processor to realize the following operations:
comparing the absolute value of the speed increment difference value with a preset third threshold value;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result.
Further, the automatic driving automobile positioning and identifying program is executed by the processor to realize the following operations:
when the absolute value of the speed increment difference is smaller than the preset third threshold, identifying that the positioning information of the global satellite navigation positioning system is accurate;
and when the absolute value of the speed increment difference value is greater than or equal to the preset third threshold value, identifying that the positioning information of the global satellite navigation positioning system is inaccurate.
In the embodiment, the accuracy of the positioning information of the global satellite navigation positioning system is identified according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed by acquiring the current positioning speed calculated by the global satellite navigation positioning system at the current moment, the current actual speed of the vehicle to be identified, and the historical actual speed of the vehicle to be identified at the previous moment, so that the technical problem of identifying whether the positioning information of the global satellite navigation positioning system of the automatic driving automobile is accurate or not is solved.
In addition, referring to fig. 5, an embodiment of the present invention further provides an automatic driving vehicle positioning and recognizing device, where the automatic driving vehicle positioning and recognizing device includes:
and the current speed module 10 is used for acquiring the current positioning speed calculated by the global satellite navigation positioning system at the current moment and acquiring the current actual speed of the vehicle to be identified.
It should be noted that, the obtaining of the current positioning speed calculated at the current time by the global satellite navigation positioning system and the obtaining of the current actual speed of the vehicle to be identified specifically includes obtaining the current positioning information of the global satellite navigation positioning system at the current time, calculating the current positioning speed according to the current positioning information, and obtaining the current actual speed acquired at the current time by the speedometer.
It should be understood that when there is a satellite signal received by the spoofing global satellite navigation positioning system due to human interference while the number of visible satellites data remains unchanged, the positioning value deviates from the original position at the interfered moment, and the velocity value calculated by the global satellite navigation positioning system is abnormal.
It can be understood that the global satellite navigation positioning system may generate positioning information according to the received satellite signals in real time, and may calculate a positioning speed according to the positioning information, and further, at the current time, the global satellite navigation positioning system receives the current satellite signals, generates current positioning information according to the current satellite signals, and calculates a current positioning speed according to the current positioning information, where the current positioning speed is a speed value calculated by the global satellite navigation positioning system at the current time.
It CAN be understood that, during the running process of the vehicle to be identified, the current actual speed of the vehicle to be identified may be obtained, and the specific way of obtaining the current actual speed may be to obtain the current actual speed acquired at the current time through a speed-per-hour meter, may also be to read the current actual speed of a chassis wheel speed meter from a vehicle CAN line, and may also be other ways, which is not limited in this embodiment.
And a historical speed module 20, configured to obtain a historical positioning speed calculated by the global satellite navigation positioning system at a previous period time, and obtain a historical actual speed of the vehicle to be identified at the previous period time.
It should be noted that, the obtaining of the historical positioning speed calculated by the global satellite navigation positioning system at the previous period time and the obtaining of the historical actual speed of the vehicle to be identified at the previous period time specifically includes obtaining the historical positioning information of the global satellite navigation positioning system at the previous period time, calculating the historical positioning speed according to the historical positioning information, and obtaining the historical actual speed acquired by the speedometer at the previous period time.
It should be understood that a speed acquisition period may be set for the gnss, and the speed acquisition period may be set according to actual situations, for example, the speed acquisition period may be 20S, 40S, or 60S, or may be other time periods, which is not limited in this embodiment, and the speed acquisition period is illustrated as 60S.
It is to be understood that the previous cycle time is a time before the current time is separated by one speed acquisition cycle, for example, the current time is 2: 20, the last cycle time is 2: and 19, at the previous period, obtaining historical satellite signals received by the global satellite navigation positioning system at the previous period, generating historical positioning information according to the historical satellite signals, and calculating a historical positioning speed according to the historical positioning information, wherein the historical positioning speed is a speed value calculated by the global satellite navigation positioning system at the previous period.
It CAN be understood that, a specific way of obtaining the historical actual speed of the vehicle to be identified at the previous cycle time may be to obtain the historical actual speed acquired by the speedometer at the previous cycle time, may also be to read the historical actual speed of the chassis wheel speed meter from the vehicle CAN line, and may also be another way, which is not limited in this embodiment.
And the information identification module 30 is configured to identify the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed, and the historical actual speed.
It should be noted that after the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed are obtained through the foregoing steps, the accuracy of the positioning information of the global satellite navigation positioning system can be identified by calculating these speed values.
In the embodiment, the accuracy of the positioning information of the global satellite navigation positioning system is identified according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed by acquiring the current positioning speed calculated by the global satellite navigation positioning system at the current moment, the current actual speed of the vehicle to be identified, and the historical actual speed of the vehicle to be identified at the previous moment, so that the technical problem of identifying whether the positioning information of the global satellite navigation positioning system of the automatic driving automobile is accurate or not is solved.
In an embodiment, the current speed module 10 is further configured to obtain current positioning information of the global satellite navigation positioning system at a current time, calculate a current positioning speed according to the current positioning information, and obtain a current actual speed acquired at the current time through a speed per hour table.
In an embodiment, the historical speed module 20 is further configured to obtain historical positioning information of the gnss at a previous period, calculate a historical positioning speed according to the historical positioning information, and obtain a historical actual speed acquired by a speedometer at the previous period.
In an embodiment, the information identifying module 30 is further configured to calculate a positioning speed increment according to the current positioning speed and the historical positioning speed, calculate an actual speed increment according to the current actual speed and the historical actual speed, calculate a current speed difference according to the current positioning speed and the current actual speed, and identify the accuracy of the positioning information of the global satellite navigation positioning system according to the current speed difference, the positioning speed increment, and the actual speed increment.
In an embodiment, the information identifying module 30 is further configured to compare the absolute value of the positioning speed increment with a preset first threshold, compare the absolute value of the current speed difference with a preset second threshold when the absolute value of the positioning speed increment is smaller than the preset first threshold, calculate a speed increment difference according to the positioning speed increment and the actual speed increment when the absolute value of the current speed difference is smaller than the preset second threshold, and identify the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
In an embodiment, the information identifying module 30 is further configured to compare the absolute value of the speed increment difference with a preset third threshold, and identify the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result.
In an embodiment, the information identifying module 30 is further configured to identify that the positioning information of the global satellite navigation positioning system is accurate when the absolute value of the velocity increment difference is smaller than the preset third threshold, and identify that the positioning information of the global satellite navigation positioning system is inaccurate when the absolute value of the velocity increment difference is greater than or equal to the preset third threshold.
Other embodiments or specific implementation methods of the automatic driving vehicle positioning and identifying device of the present invention may refer to the above embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling an intelligent autopilot positioning and recognizing device (such as a mobile phone, a computer, an autopilot positioning and recognizing device, an air conditioner, or a network autopilot positioning and recognizing device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An automatic driving automobile positioning and identifying method is characterized by comprising the following steps:
acquiring a current positioning speed calculated at the current moment through a global satellite navigation positioning system, and acquiring the current actual speed of a vehicle to be identified;
acquiring historical positioning speed calculated by the global satellite navigation positioning system at the previous period time, and acquiring historical actual speed of the vehicle to be identified at the previous period time;
calculating a positioning speed increment according to the current positioning speed and the historical positioning speed;
calculating an actual speed increment according to the current actual speed and the historical actual speed;
calculating a current speed difference value according to the current positioning speed and the current actual speed;
comparing the absolute value of the positioning speed increment with a preset first threshold value;
when the absolute value of the positioning speed increment is smaller than the preset first threshold, comparing the absolute value of the current speed difference with a preset second threshold;
when the absolute value of the current speed difference is smaller than the preset second threshold, calculating a speed increment difference according to the positioning speed increment and the actual speed increment;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
2. The method according to claim 1, wherein the obtaining a current positioning speed calculated by a global satellite navigation positioning system at a current time and obtaining a current actual speed of the vehicle to be identified comprises:
acquiring current positioning information of a global satellite navigation positioning system at the current moment;
calculating the current positioning speed according to the current positioning information;
and acquiring the current actual speed acquired at the current moment through a speed-per-hour meter.
3. The method according to claim 1, wherein the obtaining of the historical positioning speed calculated by the global satellite navigation positioning system at the previous period time and the historical actual speed of the vehicle to be identified at the previous period time comprises:
acquiring historical positioning information of the global satellite navigation positioning system at the last period;
calculating historical positioning speed according to the historical positioning information;
and acquiring the historical actual speed acquired at the previous period moment through a speed-per-hour meter.
4. The method according to claim 1, wherein the identifying the accuracy of the positioning information of the gnss according to the speed increment difference specifically comprises:
comparing the absolute value of the speed increment difference value with a preset third threshold value;
and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result.
5. The method according to claim 4, wherein the identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the comparison result specifically comprises:
when the absolute value of the speed increment difference is smaller than the preset third threshold, identifying that the positioning information of the global satellite navigation positioning system is accurate;
and when the absolute value of the speed increment difference value is greater than or equal to the preset third threshold value, identifying that the positioning information of the global satellite navigation positioning system is inaccurate.
6. An autonomous driving vehicle positioning and recognizing apparatus, comprising:
the current speed module is used for acquiring the current positioning speed calculated at the current moment through the global satellite navigation positioning system and acquiring the current actual speed of the vehicle to be identified;
the historical speed module is used for acquiring the historical positioning speed calculated by the global satellite navigation positioning system at the previous period time and acquiring the historical actual speed of the vehicle to be identified at the previous period time;
the information identification module is used for identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the current positioning speed, the current actual speed, the historical positioning speed and the historical actual speed;
the information identification module is also used for calculating a positioning speed increment according to the current positioning speed and the historical positioning speed; calculating an actual speed increment according to the current actual speed and the historical actual speed; calculating a current speed difference value according to the current positioning speed and the current actual speed; comparing the absolute value of the positioning speed increment with a preset first threshold value; when the absolute value of the positioning speed increment is smaller than the preset first threshold, comparing the absolute value of the current speed difference with a preset second threshold; when the absolute value of the current speed difference is smaller than the preset second threshold, calculating a speed increment difference according to the positioning speed increment and the actual speed increment; and identifying the accuracy of the positioning information of the global satellite navigation positioning system according to the speed increment difference.
7. An autonomous vehicle location identification device, the autonomous vehicle location identification device comprising: memory, a processor and an autonomous vehicle location identification program stored on the memory and executable on the processor, the autonomous vehicle location identification program being configured to implement the steps of the autonomous vehicle location identification method according to any of claims 1 to 5.
8. A storage medium having stored thereon an autonomous vehicle location identification program, the autonomous vehicle location identification program when executed by a processor implementing the steps of the autonomous vehicle location identification method of any of claims 1 to 5.
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| CN111460375B (en) * | 2020-03-30 | 2023-07-25 | 北京百度网讯科技有限公司 | Method, device, equipment and medium for determining validity of positioning data |
| CN111780767A (en) * | 2020-07-09 | 2020-10-16 | 中国船舶工业系统工程研究院 | Unmanned ship position accuracy judging and controlling system based on navigational speed |
| CN113048989B (en) * | 2021-04-06 | 2022-12-09 | 北京三快在线科技有限公司 | Positioning method and positioning device of unmanned equipment |
| CN112859131B (en) * | 2021-04-12 | 2021-09-07 | 北京三快在线科技有限公司 | Positioning method and device of unmanned equipment |
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