CN110706287A - Vehicle positioning method, vehicle and positioning system based on ground identification grids - Google Patents
Vehicle positioning method, vehicle and positioning system based on ground identification grids Download PDFInfo
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- CN110706287A CN110706287A CN201910951388.6A CN201910951388A CN110706287A CN 110706287 A CN110706287 A CN 110706287A CN 201910951388 A CN201910951388 A CN 201910951388A CN 110706287 A CN110706287 A CN 110706287A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Abstract
The invention provides a vehicle positioning method, a vehicle and a positioning system based on a ground identification grid, and relates to the technical field of vehicle information management. The invention relates to a vehicle positioning method based on a ground identification grid, which comprises the following steps: and identifying first relative position information of the target vehicle, wherein the first relative position information is position information of the target vehicle automatically identified by the target vehicle relative to the meta-coordinates of the identification grid drawn at the position of the target vehicle in advance. And fusing and judging the first relative position information and the second relative position information of the target vehicle to obtain the final relative position information of the target vehicle. And combining the final relative position information with the actual position information of the element coordinates to obtain the final actual position information of the target vehicle. According to the positioning method, the vehicle and the positioning system, the first relative position information and the second relative position information are subjected to mutual redundant identification, so that the position of the target vehicle is identified quickly, the positioning accuracy of the target vehicle is high, and the overall functional safety is improved.
Description
Technical Field
The invention relates to the technical field of vehicle information management, in particular to a vehicle positioning method, a vehicle and a positioning system based on a ground identification grid.
Background
The current vehicle positioning technology mainly comprises the following types: vehicle positioning technologies based on satellite and ground base station positioning technologies, such as satellite systems using Beidou, GPS, GLONASS, Galileo, and Kilo-seeking location. 2. The method comprises the following steps that a vehicle positioning technology based on near field wireless communication utilizes systems such as Bluetooth beacons, Wi-Fi hotspots, ZigBee, UWB and the like for positioning; 3. the auxiliary vehicle positioning technology of vehicle inertial navigation utilizes a gyroscope, a vehicle speed sensor and the like arranged on a vehicle to estimate the position of the vehicle after the vehicle runs for a period of time based on the original vehicle position; 4. a vehicle positioning technology based on a mobile operation network base station; 5. a vehicle positioning technology based on a high-precision sensor installed on the vehicle and a video recognition landmark; 6. the multi-positioning technology is fused with the vehicle positioning technology.
For these existing positioning technologies, such as vehicle positioning technologies based on satellite and terrestrial base station positioning technologies, the positioning accuracy is typically 5-10m, and the conventional positioning delay is 30-50 s. Even in a new multi-satellite and multi-base station fusion positioning-based thousand-searching position system, the automotive grade positioning precision is about 5cm, and the positioning delay is 3-5s (the positioning delay is too long in a high-speed driving vehicle control scene). In addition, the location searching system needs to establish more ground base stations, so that the investment in the early stage is huge, the use cost is relatively high, and the position of a sheltered place and a basement cannot be positioned. For a vehicle positioning technology based on near field wireless communication, a positioning landmark needs to be specially built in advance, positioning accuracy can be improved only by means of multi-landmark cooperative positioning, and a professional high-definition map with landmark position data is needed. As an auxiliary vehicle positioning technique for inertial navigation of a vehicle, a gyroscope, a vehicle speed sensor, and the like mounted on the vehicle are used. Estimating a position of the vehicle after a period of travel based on the original vehicle position; the auxiliary vehicle positioning technology of vehicle inertial navigation needs an initial positioning position, more errors are brought by the deviation of the driving direction and frequent lane change, and the positioning accuracy is lower and lower along with the accumulation of time. Vehicle positioning technology based on a mobile operation network base station; this technique requires a positioning accuracy of 1m even at the 5G stage in the future. For the vehicle positioning technology based on the high-precision sensor installed on the vehicle and the video recognition landmark, the cost of the sensor with high position detection precision such as a laser radar, a millimeter wave radar, a binocular camera and the like is high. A high accuracy map based on the corresponding sensor information at landmarks is needed and the map needs to be updated in as real time as possible. For the vehicle positioning technology based on the fusion of multiple positioning technologies, the fusion needs complex control logic and higher cost.
Disclosure of Invention
The invention aims to provide a vehicle positioning method based on a ground identification grid, which solves the problems of low positioning precision and long positioning delay time of the existing positioning technology.
The invention also aims to solve the problems of high technical requirements and high cost of the existing positioning technology.
The invention further aims to provide a vehicle, which solves the problems of low positioning precision, long positioning delay time and high cost of the existing vehicle.
It is a further object of the present invention to provide an identification grid based vehicle locating system incorporating the above-described vehicle.
Particularly, the invention provides a vehicle positioning method based on a ground identification grid, which comprises the following steps:
identifying first relative position information of a target vehicle, wherein the first relative position information is position information of a target vehicle automatically identified by the target vehicle relative to a meta coordinate of an identification grid drawn in advance at the position of the target vehicle; the different areas comprise a plurality of different identification grids, and each identification grid corresponds to one meta-coordinate;
fusing and judging the first relative position information and second relative position information of the target vehicle to obtain final relative position information of the target vehicle, wherein the second relative position information is position information of a meta-coordinate of the target vehicle, which is identified by a landmark camera system, relative to an identification grid of the position where the target vehicle is located;
and combining the final relative position information with the actual position information of the meta-coordinates which is acquired and stored in advance to obtain the final actual position information of the target vehicle.
Optionally, the identification lattice comprises a plurality of identification lattices drawn on road surfaces in different areas; a landmark camera system is arranged at each identification lattice, and the second relative position information of the target vehicle at the corresponding identification lattice is identified through the landmark camera system;
optionally, the identification grid is a cross grid formed by a first identification line and a second identification line together, where the first identification line is a plurality of identification lines drawn in a direction parallel to the road edge and having a preset width and a preset distance, and the second identification line is a plurality of identification lines drawn in a direction perpendicular to the road edge and having the preset width and the preset distance.
Optionally, the meta-coordinates include:
on a linear road, the element coordinate is selected as any intersection point in the road identification grid, and the identification grid at the element coordinate position is identified by oblique lines; or
At a turning or intersection, the element coordinates are the intersections of two identification lines on the roads in two directions, which are parallel to the corresponding road edges of the roads.
Optionally, the process of automatically identifying the first relative position information of the target vehicle includes:
acquiring an image picture of the target vehicle at the identification grid at the corresponding position by using a vehicle camera system arranged on the target vehicle, and identifying to obtain the first relative position information;
optionally, the process of identifying the second relative position of the target vehicle by the landmark camera system includes:
and shooting an image picture of the target vehicle at the identification grid at the corresponding position by using the landmark camera system, and identifying to obtain the second relative position information.
Optionally, the process of fusing and determining the first relative position information and the second relative position information to obtain the final relative position information of the target vehicle includes:
when the first relative position information is consistent with the second relative position information, the first relative position information and the second relative position information are the final relative position information of the target vehicle; or
When the first relative position information is inconsistent with the second relative position information, firstly, the second relative position information is taken as accurate relative position information, the first relative position information is information which is not reliable, and when the proportion of the first relative position information of the passing vehicle which is not reliable in the preset time is not more than the preset proportion, the second relative position information is judged to be the final relative position information of the target vehicle; or
When the first relative position information is inconsistent with the second relative position information and the proportion of the first relative position information of the passing vehicle becoming the unreliable information within the preset time is greater than the preset proportion, determining that the second relative position information is the unreliable information, and at the moment, the first relative position information is the final relative position information of the target vehicle;
optionally, when it is determined that the first relative position information is inconsistent with the second relative position information and the second relative position information is untrusted information, adjusting the landmark camera system to update the second relative position information until the second relative position information is consistent with the first relative position information;
and when the first relative position information is judged to be inconsistent with the second relative position information and the first relative position information is not credible information, adjusting the vehicle camera system to update the first relative position information until the first relative position information is consistent with the second relative position information.
In particular, the present invention also provides a vehicle comprising a vehicle camera system, the vehicle camera system comprising a vehicle controller, the vehicle controller comprising:
the identification module is used for identifying first relative position information of the target vehicle; the first relative position information is position information of the target vehicle automatically identified by the target vehicle relative to a meta coordinate of an identification grid drawn in advance at the position of the target vehicle; respectively drawing at least one different identification grid on the road surface in different areas, wherein each identification grid corresponds to one element coordinate;
a final relative position information determination module, configured to perform fusion determination on the first relative position information and second relative position information of the target vehicle to obtain final relative position information of the target vehicle, where the second relative position information is position information of a meta-coordinate of the target vehicle, which is identified by a landmark camera system, with respect to the identifier grid at the position where the target vehicle is located; and
and the actual position information acquisition module is used for combining the final relative position information with the actual position information of the meta-coordinate, which is acquired and stored in advance, to obtain the final actual position information of the target vehicle.
Optionally, the vehicle camera system further includes a vehicle camera, where the vehicle camera is configured to obtain an image frame of a target vehicle at the corresponding identification grid at the position of the target vehicle; the identification module identifies the first relative position information according to the image picture acquired by the vehicle camera;
optionally, the vehicle controller is configured to perform determination according to the first relative position information and the second relative position information, and obtain the final actual position information of the target vehicle according to the actual position information of the meta-coordinate when the determination result is that the first relative position information is the final relative position information of the target vehicle;
optionally, the vehicle camera system further includes a first relative position updating module configured to, when the first relative position information is inconsistent with the second relative position information and it is determined that the second relative position information is the final relative position information of the target vehicle, adjust the position of the vehicle camera to update the first relative position information until the first relative position information is consistent with the second relative position information.
Particularly, the invention further provides a vehicle positioning system based on a ground identification grid, which comprises a landmark system and the above vehicle, wherein the vehicle is used for identifying the first relative position information of a target vehicle, the landmark system is used for identifying the second relative position information of the target vehicle, and the vehicle and the landmark system perform information interaction, so that the vehicle and the landmark system can both perform judgment according to the first relative position information and the second relative position information to obtain final relative position information of the target vehicle, and the final relative position information and the actual position information of the meta-coordinate are combined to obtain final actual position information of the target vehicle.
Optionally, the road surfaces of different areas correspond to different landmark systems, each of the landmark systems comprising:
the mark grids comprise at least one group of mark grids pre-drawn on a road surface, wherein the mark grids are crossed grids formed by a first mark line and a second mark line together, the first mark line is a plurality of mark lines which are drawn in a direction parallel to the road edge and have preset width and preset spacing, and the second mark line is a plurality of mark lines which are drawn in a direction perpendicular to the road edge and have the preset width and the preset spacing; and
and each identification grid is provided with a corresponding landmark camera system, and the second relative position information of the target vehicle in the corresponding identification grid is identified through the landmark camera system.
Optionally, each of the landmark camera systems includes:
at least one landmark camera for shooting the image information of the target vehicle in the corresponding identification grid range; and
the landmark controller is used for receiving the image picture of the target vehicle obtained by the landmark camera, analyzing and obtaining the second relative position information, and acquiring and storing the actual position information of the meta-coordinate in advance;
optionally, the landmark controller is further configured to perform determination according to the second relative position information and the first relative position information, and obtain actual position information of the target vehicle according to actual position information of the meta-coordinates acquired and stored in advance when the determination result is that the second relative position information is final relative position information of the target vehicle;
optionally, the landmark camera system further includes a second relative position updating module configured to, when the first relative position information is inconsistent with the second relative position information and it is determined that the first relative position information is the final relative position information of the target vehicle, adjust the position of the landmark camera to update the second relative position information until the first relative position information is consistent with the second relative position information.
According to the positioning method and the positioning system, the identification grids are preset in advance at positions needing positioning, and the target vehicle is subjected to mutual redundant identification at the positions of the identification grids through the first relative position information and the second relative position information, so that the position of the target vehicle is identified quickly, the positioning accuracy of the target vehicle is high, and the overall functional safety is improved.
Furthermore, each road surface with the identification grids is an independent position confirmation place, a special map and map updating are not needed, and the same target vehicle is identified regardless of the first relative position information and the second relative position information, so that the signal consistency is relatively good.
The vehicle positioning system mainly comprises an identification grid, a landmark camera system and a vehicle camera system. The landmark controller in the landmark camera system is also interacted with the vehicle, and the positioning system is simple in composition and relatively low in cost.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow diagram of a method for ground identification grid based vehicle localization according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a grid on a straight road, according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of an identification grid at a quarter turn or intersection according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of an identification grid at a non-quarter turn or intersection according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of coordinate selection of a target vehicle on a straight-line road relative to coordinates of a member, according to one embodiment of the present invention;
FIG. 6 is a schematic diagram of coordinate selection of relative meta-coordinates of a target vehicle on a turn or a cross-road according to one embodiment of the invention;
FIG. 7 is a schematic block diagram of a vehicle according to one embodiment of the present invention;
FIG. 8 is a schematic block diagram of a vehicle according to another embodiment of the invention; FIG. 9 is a schematic block diagram of a ground identification grid based vehicle positioning system in accordance with one embodiment of the present invention;
FIG. 10 is a schematic block diagram of a ground identification grid based vehicle positioning system in accordance with one embodiment of the present invention;
FIG. 11 is a schematic block diagram of a landmark system according to one embodiment of the present invention;
FIG. 12 is a schematic block diagram of a ground identification grid-based vehicle positioning system in accordance with another embodiment of the present invention;
FIG. 13 is a schematic flow diagram of the interaction between a vehicle and a positioning system of a vehicle positioning system according to one embodiment of the present invention.
Detailed Description
FIG. 1 is a schematic flow diagram of a method for ground identification grid based vehicle localization in accordance with one embodiment of the present invention. As shown in fig. 1, the vehicle positioning method based on the ground identification grid of the present embodiment may include:
s10, identifying first relative position information of the target vehicle, wherein the first relative position information is position information of the target vehicle automatically identified by the target vehicle relative to a meta coordinate of an identification grid drawn in advance at the position of the target vehicle; wherein, different areas comprise a plurality of groups of different identification grids, and each identification grid corresponds to a meta-coordinate;
s20, fusing and judging the first relative position information and second relative position information of the target vehicle to obtain final relative position information of the target vehicle, wherein the second relative position information is position information of a meta-coordinate of the target vehicle, which is identified by the landmark camera system, relative to an identification grid of the position where the target vehicle is located;
s30 combines the final relative position information with the actual seating position information of the meta coordinates acquired and stored in advance to obtain final actual position information of the target vehicle.
According to the positioning method, the identification grids are arranged at positions needing positioning, and the target vehicle is subjected to mutual redundant identification at the positions of the identification grids through the first relative position information and the second relative position information, so that the position of the target vehicle is identified quickly, the positioning accuracy of the target vehicle is high, and the overall function safety is improved.
In addition, each road surface with the identification grids is an independent position confirmation place, and special maps and map updating are not needed. And no matter the first relative position information and the second relative position information, the same target vehicle is identified, so the signal consistency is relatively good.
As a specific embodiment of the present invention, the marking cells include a plurality of marking cells drawn on road surfaces in different areas. And each identification grid is provided with a landmark camera system, and the landmark camera system is used for identifying first relative position information of the target vehicle at the corresponding identification grid.
Before the method is implemented, marking grids need to be drawn on the road surface corresponding to the position where the vehicle needs to be positioned. Each road segment may be mapped to one or more sets of identification grids. But each group of identification cells corresponds to only one meta-coordinate. In addition, a landmark camera system can be established in one group of identification grids or adjacent groups of identification grids. The landmark camera system can shoot image pictures of all the identification lattices in the area, and further analyzes the image pictures to obtain first relative position information of the target vehicle.
FIG. 2 is a schematic diagram of a grid on a straight road, according to one embodiment of the invention. Specifically, the identification cell 20 is a cross grid formed by a first identification line 21 and a second identification line 22 together. Wherein the first identification line 21 is a plurality of identification lines having a preset width and a preset pitch drawn in a direction parallel to the road edge 70. And the second marking lines 22 are a plurality of marking lines having a predetermined width and a predetermined interval drawn in a direction perpendicular to the road edge 70. Specifically, in this embodiment, the preset width of the marking line is about 10cm, and the preset distance is about 40 cm. In addition, in one embodiment, the edge of the marking grid 20 may be additionally provided with a marking line to ensure that the inner marking grid 20 is clear and complete, and the distance between the marking lines and the edge 70 of the road for safe driving is about 10 cm. In the embodiment, image recognition is performed based on the square identification grids 20 with the side length of 50cm, the positioning accuracy is high and can reach the level of 5cm, the identification grids 20 are used as image recognition references, the recognition speed is high, and the positioning delay is within 50 ms.
As a specific embodiment of the present invention, as shown in fig. 2, the selection of the meta-coordinate may specifically include two types. The first element coordinate 60 on the straight road is selected as any intersection in the section identification grid 20, and is marked by the oblique line 23 at the identification grid 20 at the position of the element coordinate 60. Specifically, in the actual operation process, the landmark camera system is limited by the technology, when the identification grid 20 is shot, a deformed area occurs at the edge position, and the deformation of the shot picture directly causes the inaccuracy of positioning. Therefore, in order to improve the positioning accuracy, the meta-coordinates 60 are preferably selected as a non-deformed region on a screen that can be captured by the landmark camera system. And preferably relatively close to the landmark camera system. The selection of the specific element coordinate 60 can be selected according to actual requirements. After the meta-coordinate 60 is selected, in order to identify the meta-coordinate 60, a diagonal line 23 is generally added to the grid at the meta-coordinate 60 as a mark, and the meta-coordinate 60 is selected at the outer right-angle vertex of the right-angle triangle.
As another example, FIG. 3 is a schematic illustration of an identification grid 20 at a quarter turn or intersection according to one embodiment of the present invention; fig. 4 is a schematic illustration of an identification grid 20 at a non-quarter turn or intersection according to one embodiment of the present invention. As shown in fig. 3 and 4, the selection of the element coordinate may further include, second, at a turn or an intersection, the element coordinate 60 is an intersection of two identification lines on the road in two directions, which are parallel to the corresponding road edge 70, respectively. And a slash 23 is added at the position of the element coordinate 60 to form an isosceles triangle as an identifier, and the element coordinate 60 is the position of the vertex angle of the isosceles triangle. In the actual operation process, the method for determining the identification lines in all directions preferentially draws the identification lines of a straight road section which is parallel to the first ultrahigh 2m after a road passes through a turning point, a sharp turning special road section or a special continuous turning road section which is more than or equal to 180 degrees, one or more identification lines tangent to the arc line of the road are added between the included angles of two road directions, and the road section is divided into two identification grids 20 with a part of identification grids 20 shared. After the drawing is determined, the actual geographic position of the element coordinate is measured and recorded by a high-precision positioning means, and the actual position information of the element coordinate is obtained. The commonly recorded actual geographic position comprises longitude and latitude and included angles between road directions and longitude, when the element coordinate is a turning point or an intersection, the included angles between all road directions and longitude are recorded, the turning point is regarded as two roads, and a label is defined for each road. In addition, at the position of a non-90-degree turn, 1m extension line is left after the marking line is crossed.
As a specific embodiment, the specific process of identifying the second relative position of the target vehicle by the landmark camera system includes:
and shooting an image picture of the target vehicle at the identification grid 20 at the corresponding position by using the landmark camera system, and analyzing and obtaining second relative position information.
As a specific embodiment, the process of automatically identifying the first relative position information of the target vehicle includes:
and acquiring an image picture of the target vehicle at the identification grid 20 at the corresponding position by using a vehicle camera system arranged on the target vehicle, and analyzing and obtaining first relative position information.
The principle of obtaining the first relative position information and the second relative position information is basically the same, and the images of the target vehicle and the identification grid 20 are obtained firstly by using the camera, and then the relative position information of the target vehicle and the element coordinates is obtained through analysis, calculation and identification.
FIG. 5 is a schematic diagram of coordinate selection of a target vehicle on a straight-line road relative to element coordinates 60, according to one embodiment of the present invention; FIG. 6 is a schematic diagram of coordinate selection of a target vehicle relative to element coordinates 60 on a turn or crossing road according to one embodiment of the present invention. In this embodiment, when the image information is analyzed, the target vehicle in the captured image is replaced with a rectangle with a side length parallel to or perpendicular to the road surface identification grid 20 as the vehicle position, and the vehicle edge is tangent to the rectangle (i.e., the vehicle edge is completely contained in the rectangle, and the edge has a tangent point). The landmark rectangular position coordinates are expressed as an orthogonal coordinate system in which the coordinate system is orthogonal with the element coordinate 60 as the origin, and the direction along the road edge 70 is the X-axis direction, and the direction perpendicular to the road edge 70 is the Y-axis direction. X1 is the X-axis coordinate of the rectangular near landmark camera, X2 is the X-axis coordinate of the rectangular far landmark camera, YI is the Y-axis coordinate of the rectangular near landmark camera, and Y2 is the Y-axis coordinate of the rectangular far landmark camera.
When the target vehicle is on a straight road, one set of coordinate information can be obtained, and when the target vehicle is in a turning transition area, the vehicle body is respectively positioned in different sets of identification grids 20, two sets of coordinate position information can be obtained. As shown in particular in fig. 5 and 6. Fig. 5 shows that on the straight road, the vehicle has only one set of coordinates (X1, X2, Y1, Y2). When the vehicle is located at a turn or intersection, as shown in fig. 6, the vehicle may have at least two sets of coordinates, taking the two sets of coordinates as an example, to obtain (X1, X2, Y1, Y2) and (X1 ', X2', Y1 ', Y2'), respectively. The first relative position information and the second relative position information are obtained in this manner. When comparing the first relative position information with the second relative position information, the coordinates obtained by the unified coordinate system need to be compared and analyzed.
As a specific embodiment, the process of fusing and determining the first relative position information and the second relative position information to obtain the final relative position information of the target vehicle includes:
when the first relative position information is consistent with the second relative position information, the first relative position information and the second relative position information are final relative position information of the target vehicle; or
When the first relative position information is inconsistent with the second relative position information, the second relative position information is taken as accurate relative position information, the first relative position information is unreliable information, and when the proportion that the first relative position information of the passing vehicle becomes the unreliable information in the preset time is not more than the preset proportion, the second relative position information is judged to be the final relative position information of the target vehicle; or
When the first relative position information is inconsistent with the second relative position information and the proportion of the first relative position information of the passing vehicle becoming the unreliable information within the preset time is larger than the preset proportion, the second relative position information is judged to be the unreliable information, and at the moment, the first relative position information is the final relative position information of the target vehicle.
The preset time and the preset ratio may be set such that, when a vehicle at 2/3 passes through a certain identifier 20 within one hour, if the first relative position information of the vehicle is not consistent with the second relative position information, it indicates that the second relative position information at the position is not reliable. Of course, the ratio can also be freely designed according to actual requirements and precision requirements.
As a specific embodiment, when it is determined that the first relative position information is inconsistent with the second relative position information and the second relative position information is not reliable information, the landmark camera system is adjusted to update the second relative position information until the second relative position information is consistent with the first relative position information. In this embodiment, it is explained that a deviation may occur in the landmark camera system, which results in all errors of the second relative position information obtained by the landmark camera system. After the condition occurs, the system can be timely repaired to a maintenance personnel for system maintenance, and the accurate second relative position information is obtained after the maintenance personnel adjust the landmark camera system.
As another specific embodiment, when it is determined that the first relative position information is inconsistent with the second relative position information and the first relative position information is not reliable information, the vehicle camera system is adjusted to update the first relative position information until the first relative position information is consistent with the second relative position information. This is the case when the vehicle camera system in a certain vehicle has a deviation, and the vehicle camera system may have a high possibility of deviation due to shaking or other situations that may occur during the running of the vehicle. Under the condition that the landmark camera system is confirmed to be accurate, the vehicle camera system can be adjusted, so that the first relative position information obtained by the camera system is also accurate, and the positioning accuracy of the target vehicle is ensured.
In this embodiment, both the vehicle internal system and the landmark camera system independently determine the first relative position information and the second relative position information, and independently update respective systems according to the determination result, so as to improve the accuracy of the positioning method for the target vehicle.
FIG. 7 is a schematic block diagram of a vehicle according to one embodiment of the present invention. As a specific embodiment of the present invention, the present embodiment also provides a vehicle that may include a vehicle controller 42, and the vehicle controller 42 may include the identification module 11, the final relative position information determination unit 12, and the actual position information acquisition unit 13. The identification module 11 is configured to identify first relative position information of the target vehicle, where the first relative position information is position information of the target vehicle automatically identified by the target vehicle relative to the meta-coordinate 60 of the identifier 20 pre-drawn at the position of the target vehicle. At least one different marking grid is respectively drawn on the road surface of different areas, and each marking grid corresponds to one element coordinate 60. And the final relative position information determining module 12 is configured to perform fusion determination on the first relative position information and second relative position information of the target vehicle to obtain final relative position information of the target vehicle, where the second relative position information is position information of a meta-coordinate 60 of an identifier grid of a position where the target vehicle is located, the position information being identified by the landmark camera system, and the actual position information acquiring module 13 acquires the final relative position information and combines the final relative position information with the actual position information of the meta-coordinate 60, which is acquired in advance and stored.
The positioning system 100 of this embodiment only needs to set the identification grids at some positions that need to be positioned, and the target vehicle is identified in the identification grid positions through mutual redundancy of the first relative position information and the second relative position information, so that the position of the target vehicle is identified quickly, the positioning accuracy of the target vehicle is high, and the overall functional safety is improved.
In addition, each road surface with the identification grids is an independent position confirmation place, and special maps and map updating are not needed. And no matter the first relative position information and the second relative position information, the same target vehicle is identified, so the signal consistency is relatively good.
Specifically, as shown in fig. 7, the vehicle camera system 40 may further include a vehicle camera 41, where the vehicle camera 41 is configured to obtain an image picture of the target vehicle at the identification grid 20 of the corresponding position where the target vehicle is located. The identification module 11 identifies the first relative position information according to the image picture acquired by the vehicle camera 41.
Specifically, the vehicle controller 42 is configured to perform determination based on the first relative position information and the second relative position information, and obtain final actual position information of the target vehicle based on the actual position information of the meta-coordinates when the determination result is that the first relative position information is the final relative position information of the target vehicle.
Fig. 8 is a schematic block diagram of a vehicle according to another embodiment of the invention. Specifically, as shown in fig. 8, the vehicle camera system further includes a first relative position updating module 14, and the first relative position updating module 14 is configured to adjust the position of the vehicle camera 41 to update the first relative position information until the first relative position information is consistent with the second relative position information when the first relative position information is inconsistent with the second relative position information and the second relative position information is determined to be the final relative position information of the target vehicle. The continuously updated vehicle camera system 40 can ensure the accuracy of the vehicle camera system 40 for vehicle positioning, thereby improving the precision of vehicle positioning.
FIG. 9 is a schematic block diagram of a ground identification grid-based vehicle positioning system 100, according to one embodiment of the present invention; FIG. 10 is a schematic block diagram of a ground identification grid-based vehicle locating system 100 in accordance with one embodiment of the present invention. As a specific embodiment, the vehicle positioning system 100 of the present embodiment may include a vehicle 200 and a landmark system 10, where the vehicle 200 is configured to identify first relative position information of a target vehicle, the landmark system 10 is configured to identify second relative position information of the target vehicle, and the vehicle 200 and the landmark system 10 perform information interaction, so that the vehicle 200 and the landmark system 10 can both perform determination according to the first relative position information and the second relative position information to obtain final relative position information of the target vehicle, and combine the final relative position information and actual position information of a meta-coordinate to obtain final actual position information of the target vehicle. The actual position information of the meta-coordinates in this embodiment is already stored in the landmark system 10 when the landmark system is established. The actual position information of the meta-coordinates in the vehicle 200 is acquired from the landmark system 10 and stored through interaction with the landmark system 10.
In this embodiment, the vehicle positioning system 100 includes the vehicle 200 and the landmark system 10, and the vehicle positioning system 100 of this embodiment is simple in structure and ensures the accuracy of the vehicle positioning system 100 by the recognition and interaction of the vehicle 200 and the landmark system 10 to the vehicle position.
FIG. 11 is a schematic block diagram of a landmark system according to one embodiment of the present invention. In the present embodiment, the road surfaces in different areas correspond to different landmark systems 10, and each landmark system 10 may include an identification grid 20 and a landmark camera system 30. Wherein one or more sets of identification grids 20 may be drawn for each road segment. But each group of identification cells 20 corresponds to only one meta-coordinate 60. A corresponding landmark camera system 30 is established at each identification cell 20, and the landmark camera system 30 identifies first relative position information of the target vehicle in the corresponding identification cell 20. A landmark camera system 30 may be established in a group of cells 20 or adjacent groups of cells 20. The landmark camera system 30 may capture image frames of all the identification grids 20 of the area.
Specifically, in the present embodiment, the identification cell 20 is a cross grid formed by the first identification line 21 and the second identification line 22. Wherein the first identification line 21 is a plurality of identification lines having a preset width and a preset pitch drawn in a direction parallel to the road edge 70. And the second marking lines 22 are a plurality of marking lines having a predetermined width and a predetermined interval drawn in a direction perpendicular to the road edge 70. Specifically, in this embodiment, the preset width of the marking line is about 10cm, and the preset distance is about 40 cm. In addition, in one embodiment, the edge of the marking grid 20 may be additionally provided with a marking line to ensure that the inner marking grid 20 is clear and complete, and the distance between the marking lines and the edge 70 of the road for safe driving is about 10 cm. In the embodiment, image recognition is performed based on the square identification grids 20 with the side length of 50cm, the positioning accuracy is high and can reach the level of 5cm, the identification grids 20 are used as image recognition references, the recognition speed is high, and the positioning delay is within 50 ms.
As a specific embodiment, as shown in fig. 10 and 11, each landmark camera system 30 of the present embodiment may include at least one landmark camera 31 and a landmark controller 32. Wherein, at least one landmark camera 31 is used for shooting the image information of the target vehicle within the corresponding identification grid 20. The landmark controller 32 is configured to receive the image of the target vehicle obtained by the landmark camera 31, analyze and obtain the second relative position information, and previously acquire and store the actual position information of the meta-coordinate 60.
As a specific example, the landmark controller 32 is further configured to perform determination based on the first relative position information and the second relative position information, and when the determination result is that the second relative position information is the final relative position information of the target vehicle, obtain the actual position information of the target vehicle based on the actual position information of the meta coordinates 60 acquired and stored in advance.
As a specific example, when the first relative position information does not coincide with the second relative position information and it is determined that the first relative position information is the final relative position information of the target vehicle, the position of the landmark camera 31 is adjusted to update the second relative position information until it coincides with the first relative position information. The position of the landmark camera 31 is continuously adjusted, so that the accuracy of the landmark camera 31 on the position of the target vehicle is ensured, and the positioning precision of the vehicle is improved.
Specifically, the vehicle camera system 40 and the landmark controller 32 may be in communication with each other (hard-wired communication or wireless communication). After the vehicle camera system 40 obtains the first relative position information and receives the actual position information of the meta-coordinates transmitted by the landmark controller 32, the first relative position information may be converted into the actual position information, so as to obtain the actual positioning information of the target vehicle. Because only the coordinate information of the element, the first relative position information and the second relative position information are interacted between the vehicle and the landmark camera 31, the interactive information is less, and the dual positioning and mutual verification are realized, the redundancy is realized, and the safety of the whole function is good.
FIG. 12 is a schematic block diagram of a vehicle localization system according to another embodiment of the present invention. As a specific embodiment, the landmark camera system further includes a second relative position updating module 33, and the second relative position updating module 33 is configured to adjust the position of the vehicle camera 41 to update the first relative position information until the first relative position information is consistent with the second relative position information when the first relative position information is inconsistent with the second relative position information and the first relative position information is determined to be the final relative position information of the target vehicle.
The vehicle positioning system 100 of the embodiment mainly includes a vehicle 200 and a landmark system 10, the vehicle 200 also includes only a vehicle camera system 40, the landmark system 10 includes only an identification grid 20 and a landmark camera system 30, wherein a landmark controller 32 in the landmark camera system 30 interacts with the vehicle 200, and the positioning system 100 is simple in composition and relatively low in cost.
FIG. 13 is a schematic flow diagram of the interaction between a vehicle and a positioning system of a vehicle positioning system according to one embodiment of the present invention. As shown in fig. 13, in the vehicle positioning system 100 of the present embodiment, the mutual interaction process between the vehicle 200 and the landmark system 10 is shown in the figure, specifically including,
firstly, establishing a network connection between the vehicle 200 and the landmark system 10, specifically, establishing a network connection between the vehicle camera system 40 of the vehicle 200 and the landmark camera system 30;
secondly, when the target vehicle does not enter the identification grid, the vehicle camera 41 of the vehicle 200 starts to search the identification grid 20 on the ground, and if the identification grid 20 is identified, the meta-coordinate position of the target vehicle relative to the identification grid 20 is identified and the position is issued;
thirdly, when the target vehicle enters the area of the identification grid 20, the vehicle camera system 40 identifies the meta-coordinate position (i.e. the first relative position information) of the target vehicle relative to the identification grid 20 and issues the position, and simultaneously the landmark camera system 30 also starts to identify the meta-coordinate position (i.e. the second relative position information) of the target vehicle relative to the identification grid 20 and issues the position information;
thirdly, the vehicle camera system 40 acquires the information of the landmark camera system 30, fusion judgment is carried out on the first relative position information and the second relative position information of the target vehicle, meanwhile, the landmark camera system 30 receives the first relative position information of the vehicle camera system 40 for fusion judgment, final relative position information is confirmed, and the state of the vehicle or the landmark system is updated according to the judgment result;
finally, when the target vehicle leaves the area of the logo 20, the vehicle exits the locating state at this time. Vehicles not within the grid 20 are not suitable for use in the present method and system for locating.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A vehicle positioning method based on a ground identification grid is characterized by comprising the following steps:
identifying first relative position information of a target vehicle, wherein the first relative position information is position information of a target vehicle automatically identified by the target vehicle relative to a meta coordinate of an identification grid drawn in advance at the position of the target vehicle; the different areas comprise a plurality of different identification grids, and each identification grid corresponds to one meta-coordinate;
fusing and judging the first relative position information and second relative position information of the target vehicle to obtain final relative position information of the target vehicle, wherein the second relative position information is position information of a meta-coordinate of the target vehicle, which is identified by a landmark camera system, relative to an identification grid of the position where the target vehicle is located;
and combining the final relative position information with the actual position information of the meta-coordinates which is acquired and stored in advance to obtain the final actual position information of the target vehicle.
2. The ground identification grid-based vehicle positioning method according to claim 1,
the identification grids comprise a plurality of identification grids drawn on the road surfaces in different areas; a landmark camera system is arranged at each identification lattice, and the second relative position information of the target vehicle at the corresponding identification lattice is identified through the landmark camera system;
optionally, the identification grid is a cross grid formed by a first identification line and a second identification line together, where the first identification line is a plurality of identification lines drawn in a direction parallel to the road edge and having a preset width and a preset distance, and the second identification line is a plurality of identification lines drawn in a direction perpendicular to the road edge and having the preset width and the preset distance.
3. The ground identification grid-based vehicle positioning method according to claim 2,
the meta-coordinates include:
on a linear road, the element coordinate is selected as any intersection point in the road identification grid, and the identification grid at the element coordinate position is identified by oblique lines; or
At a turning or intersection, the element coordinates are the intersections of two identification lines on the roads in two directions, which are parallel to the corresponding road edges of the roads.
4. The ground identification grid-based vehicle positioning method according to claim 2,
the process of the first relative position information automatically identified by the target vehicle includes:
acquiring an image picture of the target vehicle at the identification grid at the corresponding position by using a vehicle camera system arranged on the target vehicle, and identifying to obtain the first relative position information;
optionally, the process of identifying the second relative position of the target vehicle by the landmark camera system includes:
and shooting an image picture of the target vehicle at the identification grid at the corresponding position by using the landmark camera system, and identifying to obtain the second relative position information.
5. The ground identification grid-based vehicle positioning method according to any one of claims 2-4,
the process of fusing and determining the first relative position information and the second relative position information to obtain the final relative position information of the target vehicle comprises the following steps:
when the first relative position information is consistent with the second relative position information, the first relative position information and the second relative position information are the final relative position information of the target vehicle; or
When the first relative position information is inconsistent with the second relative position information, firstly, the second relative position information is taken as accurate relative position information, the first relative position information is information which is not reliable, and when the proportion of the first relative position information of the passing vehicle which is not reliable in the preset time is not more than the preset proportion, the second relative position information is judged to be the final relative position information of the target vehicle; or
When the first relative position information is inconsistent with the second relative position information and the proportion of the first relative position information of the passing vehicle becoming the unreliable information within the preset time is greater than the preset proportion, determining that the second relative position information is the unreliable information, and at the moment, the first relative position information is the final relative position information of the target vehicle;
optionally, when it is determined that the first relative position information is inconsistent with the second relative position information and the second relative position information is untrusted information, adjusting the landmark camera system to update the second relative position information until the second relative position information is consistent with the first relative position information;
and when the first relative position information is judged to be inconsistent with the second relative position information and the first relative position information is not credible information, adjusting the vehicle camera system to update the first relative position information until the first relative position information is consistent with the second relative position information.
6. A vehicle comprising a vehicle camera system, the vehicle camera system comprising a vehicle controller, the vehicle controller comprising:
the identification module is used for identifying first relative position information of the target vehicle; the first relative position information is position information of the target vehicle automatically identified by the target vehicle relative to a meta coordinate of an identification grid drawn in advance at the position of the target vehicle; respectively drawing at least one different identification grid on the road surface in different areas, wherein each identification grid corresponds to one element coordinate;
a final relative position information determination module, configured to perform fusion determination on the first relative position information and second relative position information of the target vehicle to obtain final relative position information of the target vehicle, where the second relative position information is position information of a meta-coordinate of the target vehicle, which is identified by a landmark camera system, with respect to the identifier grid at the position where the target vehicle is located; and
and the actual position information acquisition module is used for combining the final relative position information with the actual position information of the meta-coordinate, which is acquired and stored in advance, to obtain the final actual position information of the target vehicle.
7. The vehicle of claim 6,
the vehicle camera system further comprises a vehicle camera, and the vehicle camera is used for acquiring an image picture of a target vehicle at the corresponding identification grid at the position of the target vehicle; the identification module identifies the first relative position information according to the image picture acquired by the vehicle camera;
optionally, the vehicle controller is configured to perform determination according to the first relative position information and the second relative position information, and obtain the final actual position information of the target vehicle according to the actual position information of the meta-coordinate when the determination result is that the first relative position information is the final relative position information of the target vehicle;
optionally, the vehicle camera system further includes a first relative position updating module configured to, when the first relative position information is inconsistent with the second relative position information and it is determined that the second relative position information is the final relative position information of the target vehicle, adjust the position of the vehicle camera to update the first relative position information until the first relative position information is consistent with the second relative position information.
8. A vehicle positioning system based on a ground identification grid is characterized by comprising a landmark system and the vehicle of claim 6 or 7, wherein the vehicle is used for identifying the first relative position information of a target vehicle, the landmark system is used for identifying the second relative position information of the target vehicle, and the vehicle and the landmark system perform information interaction, so that the vehicle and the landmark system can both perform judgment according to the first relative position information and the second relative position information to obtain final relative position information of the target vehicle, and the final relative position information and the actual position information of the meta-coordinates are combined to obtain final actual position information of the target vehicle.
9. The ground identification grid-based vehicle positioning system of claim 8,
the road surfaces of different areas correspond to different landmark systems, and each landmark system comprises:
the mark grids comprise at least one group of mark grids pre-drawn on a road surface, wherein the mark grids are crossed grids formed by a first mark line and a second mark line together, the first mark line is a plurality of mark lines which are drawn in a direction parallel to the road edge and have preset width and preset spacing, and the second mark line is a plurality of mark lines which are drawn in a direction perpendicular to the road edge and have the preset width and the preset spacing; and
and each identification grid is provided with a corresponding landmark camera system, and the second relative position information of the target vehicle in the corresponding identification grid is identified through the landmark camera system.
10. The ground identification grid-based vehicle positioning system of claim 9,
each of the landmark camera systems includes:
at least one landmark camera for shooting the image information of the target vehicle in the corresponding identification grid range; and
the landmark controller is used for receiving the image picture of the target vehicle obtained by the landmark camera, analyzing and obtaining the second relative position information, and acquiring and storing the actual position information of the meta-coordinate in advance;
optionally, the landmark controller is further configured to perform determination according to the second relative position information and the first relative position information, and obtain actual position information of the target vehicle according to actual position information of the meta-coordinates acquired and stored in advance when the determination result is that the second relative position information is final relative position information of the target vehicle;
optionally, the landmark camera system further includes a second relative position updating module configured to, when the first relative position information is inconsistent with the second relative position information and it is determined that the first relative position information is the final relative position information of the target vehicle, adjust the position of the landmark camera to update the second relative position information until the first relative position information is consistent with the second relative position information.
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| CN116840834A (en) * | 2023-09-01 | 2023-10-03 | 东之乔科技有限公司 | Constructor positioning method, constructor positioning device, constructor positioning equipment and constructor positioning medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116840834A (en) * | 2023-09-01 | 2023-10-03 | 东之乔科技有限公司 | Constructor positioning method, constructor positioning device, constructor positioning equipment and constructor positioning medium |
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