CN110887494A - Vehicle positioning method and device - Google Patents
Vehicle positioning method and device Download PDFInfo
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- CN110887494A CN110887494A CN201911202950.1A CN201911202950A CN110887494A CN 110887494 A CN110887494 A CN 110887494A CN 201911202950 A CN201911202950 A CN 201911202950A CN 110887494 A CN110887494 A CN 110887494A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The embodiment of the application provides a vehicle positioning method and device. The vehicle positioning method comprises the following steps: acquiring first position information of a target vehicle at the current moment according to vehicle state information of the target vehicle; if the positioning state of the target vehicle at the current moment does not meet the preset condition, determining second position information of the target vehicle at the current moment according to a lane center line of a lane where the target vehicle is located; and correcting the first position information according to the second position information to obtain a positioning result of the target vehicle. The technical scheme of the embodiment of the application can ensure that the vehicle can still be accurately positioned under the condition that GPS signals are poor or visual positioning fails in tunnels, urban canyons and the like.
Description
Technical Field
The application relates to the technical field of computers and communication, in particular to a vehicle positioning method and device.
Background
In advanced driving assistance and automatic driving systems, the geographic information position and the road lane position posture of a vehicle are determined by high-precision positioning, and the system is a key ring for ensuring the safety of advanced driving assistance and automatic driving. However, in most of the existing general navigation positioning and automatic driving positioning schemes, the positioning technology is not stable under the constraint of the real environment. In the scheme based on the integrated navigation, the GPS positioning is mainly depended on, and in the tunnel and the urban canyon region, the GPS signal loss or the multipath attenuation is serious, so that the positioning is often interrupted. The scheme mainly based on visual perception positioning depends on image visual processing seriously, and once weather and artificial loss of a road lane line on a road surface are met, the positioning stability is poor.
Disclosure of Invention
The embodiment of the application provides a vehicle positioning method and device, and further can ensure that a vehicle can be accurately positioned at least to a certain extent when a GPS signal is lost or visual positioning fails.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, there is provided a vehicle positioning method including: acquiring first position information of a target vehicle at the current moment according to vehicle state information of the target vehicle; if the positioning state of the target vehicle at the current moment does not meet the preset condition, determining second position information of the target vehicle at the current moment according to a lane center line of a lane where the target vehicle is located; and correcting the first position information according to the second position information to obtain a positioning result of the target vehicle.
According to an aspect of an embodiment of the present application, there is provided a vehicle positioning apparatus including: the acquisition module is used for acquiring first position information of a target vehicle at the current moment according to the vehicle state information of the target vehicle; the determining module is used for determining second position information of the target vehicle at the current moment according to a lane center line of a lane where the target vehicle is located if the positioning state of the target vehicle at the current moment does not meet a preset condition; and the correction module is used for correcting the first position information according to the second position information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, based on the foregoing solution, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes: and if the positioning information can not be obtained according to the GPS positioning of the target vehicle at the current moment, determining that the preset condition is not met.
In some embodiments of the present application, based on the foregoing solution, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes: and if the positioning information can not be obtained according to the lane lines on the two sides of the target vehicle and the reference object in the preset range of the target vehicle at the current moment, determining that the preset condition is not met.
In some embodiments of the present application, based on the foregoing solution, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes: and if the positioning information can not be obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, determining that the preset condition is not met.
In some embodiments of the present application, based on the foregoing solution, the vehicle positioning apparatus further includes: and if the GPS positioning information of the target vehicle is obtained through GPS positioning at the current moment, correcting the first position information according to the GPS positioning information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, based on the foregoing solution, the vehicle positioning apparatus further includes: and if third position information is obtained at the current moment according to lane lines on two sides of the target vehicle and a reference object in a preset range of the target vehicle, correcting the first position information according to the third position information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, based on the foregoing solution, the vehicle positioning apparatus further includes: and if fourth position information is obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, correcting the first position information according to the fourth position information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, based on the foregoing solution, the obtaining module is configured to: acquiring the course angular rate and the speed of the target vehicle at the last moment; and calculating first position information of the target vehicle at the current moment according to the course angular speed and the speed at the previous moment.
In some embodiments of the present application, based on the foregoing solution, the modification module is configured to: and fusing the second position information and the first position information by a filtering method to obtain a positioning result of the target vehicle.
According to an aspect of embodiments of the present application, there is provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a vehicle positioning method as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the vehicle positioning method as described in the embodiments above.
In the technical scheme provided by some embodiments of the application, as the vehicle encounters a tunnel and an urban high-rise environment during traveling, the GPS signal part fails, even lane line recognition results in visual recognition positioning are temporarily disabled due to various environmental reasons such as illumination changes and ground lane line wear, therefore, in order to realize accurate positioning of the vehicle under the condition of GPS signal loss or visual positioning failure, the technical scheme of the embodiment of the application corrects the position information of the target vehicle by adopting the lane central line of the target vehicle, and since a high-precision map is available, the lane center line of the target vehicle is also available, and the reliability of the high-precision map is high, therefore, the vehicle can still be accurately positioned through the technical scheme provided by the embodiment of the application under the condition that the GPS signal is lost or the visual positioning is invalid.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a diagram illustrating an exemplary system architecture to which aspects of embodiments of the present application may be applied;
FIG. 2 shows a flow diagram of a vehicle localization method according to an embodiment of the present application;
FIG. 3 shows a flow diagram of a vehicle localization method according to an embodiment of the present application;
FIG. 4 shows an interaction flow diagram of a vehicle localization method according to an embodiment of the present application;
FIG. 5 shows a schematic diagram of lateral and longitudinal distances according to an embodiment of the present application;
FIG. 6 shows a block diagram of an image processing apparatus according to an embodiment of the present application;
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Fig. 1 shows a schematic diagram of an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied.
As shown in fig. 1, the vehicle positioning method is applied to a vehicle positioning system. The vehicle positioning system comprises a vehicle 110 and a network side device 120, wherein a vehicle communication terminal is installed on the vehicle 110, and the vehicle communication terminal is communicated with the network side device 120 through a wireless network.
It should be understood that the number of vehicles 110, network-side devices 120 in fig. 1 is merely illustrative. There may be any number of vehicles 110, network side devices 120, as desired for implementation.
By vehicle is meant any type of autonomous vehicle such as a motorcycle, car, truck, bicycle, Recreational Vehicle (RV), etc., which may include, but is not limited to, an on-board positioning device for obtaining positioning results from satellite data, a wheel speed meter for obtaining the speed of the vehicle, an inertial navigation unit for obtaining the heading angular rate of the vehicle, and a camera on-board.
In an embodiment of the present application, an inertial navigation unit disposed on a target vehicle may obtain a course angular velocity of the vehicle, a wheel speed meter on the target vehicle may obtain a speed of the vehicle in real time, and first position information of the target vehicle at a current time may be estimated according to the course angular velocity and the speed.
In an embodiment of the application, after the first position information of the target vehicle is obtained, whether the positioning state of the target vehicle at the current time meets a preset condition or not may be determined based on a determination result of the positioning state of the target vehicle at the current time, if the positioning state of the target vehicle at the current time does not meet the preset condition, the second position information of the target vehicle at the current time is determined according to a lane center line of a lane where the target vehicle is located, and the first position information is corrected according to the second position information, so that the positioning result of the target vehicle is obtained.
In an embodiment of the application, the location state of the target vehicle at the current time not meeting the preset condition may include that the target vehicle cannot obtain GPS location information according to GPS location at the current time, the target vehicle cannot obtain location information according to vehicle lines on two sides of the target vehicle and a reference object within a preset range of the target vehicle at the current time, and the target vehicle cannot obtain location information according to lane center lines of adjacent lanes at the current time.
In an embodiment of the application, if the location state of the target vehicle at the current time meets a preset condition, the first location information of the target vehicle may be corrected according to GPS location information, or location information obtained according to vehicle lines on two sides of the target vehicle and a reference object within a preset range of the target vehicle, or location information obtained according to lane center lines of adjacent lanes, so as to obtain a location result of the target vehicle.
In an embodiment of the present application, a manner of correcting the first position information may be to fuse the first position information and the second position information by using a filtering method, where the filtering manner may be an extended kalman filter, a lossless kalman filter, or a particle filter, and the embodiment of the present application is not limited herein.
It should be noted that the vehicle positioning method provided in the embodiment of the present application may be executed by the network-side device 120, and accordingly, the vehicle positioning apparatus may be disposed in the network-side device 120. However, in other embodiments of the present application, the vehicle 110 may also have a similar function as the network-side device 120, so as to perform the vehicle positioning method provided in the embodiments of the present application.
The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:
fig. 2 shows a flowchart of a vehicle positioning method according to an embodiment of the present application, which may be performed by a server, which may be the network-side device 120 shown in fig. 1, or a terminal, such as the terminal 110 shown in fig. 1. Referring to fig. 2, the method includes:
step S210, acquiring first position information of a target vehicle at the current moment according to the vehicle state information of the target vehicle;
step S220, if the positioning state of the target vehicle at the current moment does not meet the preset condition, determining second position information of the target vehicle at the current moment according to the lane center line of the lane where the target vehicle is located;
and step S230, correcting the first position information according to the second position information to obtain a positioning result of the target vehicle.
These steps are described in detail below.
In step S210, first position information of a target vehicle at a current time is acquired according to vehicle state information of the target vehicle.
The target vehicle refers to any type of autonomous vehicle, such as a motorcycle, a car, a truck, a bicycle, a Recreational Vehicle (RV), and the like, and may include, but is not limited to, an on-board positioning device for acquiring positioning results from satellite data, a wheel speed meter for acquiring a speed of the vehicle, an on-board camera, and an inertial navigation unit for acquiring a course angular rate of the vehicle.
In one possible implementation manner, the first position information of the target vehicle at the current time is obtained according to the vehicle state information of the target vehicle by calculating the first position information of the target vehicle at the current time according to the speed and the course angular rate of the target vehicle.
In an embodiment of the present application, the step S210 of calculating the first position information of the target vehicle at the current time according to the speed and the heading angular rate of the target vehicle may specifically be to calculate the first position information of the target vehicle at the current time according to the heading angular rate, the speed, and the positioning position of the target vehicle at the previous time, referring to fig. 3:
step S2101, obtaining the course angular rate and the speed of the target vehicle at the previous moment;
and step S2102, calculating first position information of the target vehicle at the current moment according to the course angular speed and the speed of the previous moment.
These steps are described in detail below.
In step S2101, the course angular rate and speed of the target vehicle at the previous time are acquired.
The previous time refers to a previous time adjacent to the current time, and assuming that the current time is k, the previous time may be represented as k-1. The inertial navigation unit arranged on the target vehicle can acquire the course angular speed of the vehicle, and the wheel speed meter on the target vehicle can acquire the speed of the vehicle in real time.
In step S2102, first position information of the target vehicle at the current time is calculated according to the course angular rate and the speed at the previous time.
In one possible implementation, calculating the position at the current time based on the course angular rate and the speed of the target vehicle at the previous time specifically includes:
calculating first position information of the target vehicle using the following formula:
[Px]k＝[Px]k-1+V·cos(ωk-1)·ΔT；
[Py]k＝[Py]k-1+V·sin(ωk-1)·ΔT；
ωk＝ωk-1+β·ΔT
wherein ([ P ]x]k，[Py]k) For the target vehicle's position at time k, i.e., the target vehicle's first position information, ([ P ]x]k-1，[Py]k-1) Is the position of the target vehicle at time k-1, ωkIs the heading, ω, of the target vehicle at time kk-1The target vehicle's heading at time k-1, V the target vehicle's speed at time k-1, β the target vehicle's heading angular velocity at time k-1, and Δ T the time difference between time k and time k-1.
Continuing to refer to fig. 2, in step S220, if the positioning state of the target vehicle at the current time does not satisfy the preset condition, determining second position information of the target vehicle at the current time according to a lane center line of a lane where the target vehicle is located.
The determining of the second position information of the target vehicle at the current time according to the lane center line of the lane in which the target vehicle is located may be to use the position information of the lane center line as the second position information of the target vehicle.
In one embodiment of the present application, the position information of the lane center line can be obtained through a high-precision map, the high-precision map accurately provides the position information of the lane on the road, namely the width of the lane and the position information of the lane center line or the position information of the lane and the lane dividing line, and the precision of the related position information is better than 1 meter.
In an embodiment of the present application, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes:
and if the positioning information can not be obtained according to the GPS positioning of the target vehicle at the current moment, determining that the preset condition is not met.
At present, a vehicle is usually positioned directly through a Global Positioning System (GPS), that is, GPS data of a satellite is received through a GPS receiver to obtain current longitude and latitude information, but only position information of an open area can be obtained through the GPS receiver, and there are phenomena of GPS signal interruption or signal quality deterioration in tunnels, culverts and other areas, so that the longitude and latitude data of the GPS receiver is not true, and output time information jumps, which reduces Positioning accuracy and real-time performance, and when a vehicle fails in tunnels, culverts and other areas, the vehicle cannot be accurately positioned, which also affects safe and stable operation of the vehicle. And when the positioning information cannot be obtained according to the GPS positioning of the target vehicle at the current moment, determining that the preset condition is not met.
In an embodiment of the present application, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes:
and if the positioning information can not be obtained according to the lane lines on the two sides of the target vehicle and the reference object in the preset range of the target vehicle at the current moment, determining that the preset condition is not met.
In this embodiment, the high-precision positioning for vehicle control is divided into longitudinal positioning and lateral positioning in terms of the direction of travel and perpendicular to the direction of travel. And the transverse positioning is used for checking whether the vehicle is in the center of the lane, and the longitudinal positioning is used for knowing whether the current lane of the vehicle is located at the lane position corresponding to the high-precision map so as to decide whether to change the lane. In advanced assistant driving and automatic driving, when a vehicle automatically follows the vehicle and plans a path autonomously, the vehicle needs to be continuously adjusted to transversely return to the center of a lane, longitudinally control the distance between the vehicle and a front vehicle, or comprehensively determine whether to change the lane or continuously keep the vehicle in the lane according to the peripheral static lane information of the current position, the dynamic vehicle environment and the global navigation target.
In the driving process of the vehicle, on one hand, the vehicle-mounted camera equipment continuously returns the distance between the vehicle and the lane lines on the two sides, namely the transverse distance, and corrects the transverse position of the vehicle by using the transverse distance, and on the other hand, the vehicle-mounted camera equipment also returns the distance between a reference object in a preset range such as a ground mark or a roadside traffic sign and the vehicle, namely the longitudinal distance.
Referring to fig. 5, two vehicles, one target vehicle and one adjacent vehicle of the target vehicle, are driven on the road, and during the driving of the vehicles, the vehicle-mounted camera device of the target vehicle can return the transverse distance 501 between the lane lines on the two sides of the lane where the target vehicle is located and the target vehicle, and correct the transverse position of the target vehicle by using the transverse distance 501; on the other hand, the in-vehicle imaging apparatus may also return the longitudinal distance 503 between the reference object and the target vehicle and correct the longitudinal position of the target vehicle with the longitudinal distance 503.
If the vehicle cannot acquire the transverse distance and the longitudinal distance due to factors such as sheltering of urban canyons, tunnels, viaducts, street trees and the like erected by tall buildings and multipath reflection interference in the driving process of the vehicle, namely, positioning information cannot be acquired according to lane lines on two sides of a target vehicle and a reference object in a preset range of the target vehicle at the current moment, it is determined that the transverse distance information cannot be acquired according to the lane lines on two sides of the target vehicle, so that transverse positioning of the vehicle cannot be corrected according to the transverse distance information, and meanwhile, longitudinal distance information cannot be acquired according to the reference object in the preset range of the target vehicle, so that longitudinal positioning of the vehicle cannot be corrected according to the longitudinal distance information, and therefore, the vehicle is determined not to meet the preset condition.
In an embodiment of the present application, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes:
and if the positioning information can not be obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, determining that the preset condition is not met.
In this embodiment, if the image pickup device or the sensor on the vehicle detects a traveling vehicle of a side lane, and the traveling vehicle of the side lane can be set to travel on the center line of the side lane, the distance between the center line of the traveling vehicle of the side lane and the center line of the own lane is taken as lateral distance information to correct the lateral positioning of the vehicle, however, if the positioning information cannot be obtained from the lane center line of the adjacent lane of the lane where the target vehicle is located at the present time, that is, it is determined that the lateral distance information cannot be obtained using the lane center line of the adjacent lane, and thus the lateral positioning of the vehicle cannot be corrected using the lateral positioning information, it is determined that the preset condition is not satisfied.
Continuing to refer to fig. 5, if the positioning information cannot be obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, that is, it is determined that the lateral distance 502 cannot be obtained by using the lane center line of the adjacent vehicle, it is determined that the preset condition is not satisfied.
With the technical solution provided by the above embodiment, since the first position information of the target vehicle determined according to the state information of the target vehicle is the coarse positioning result, if the first position information is used as the final positioning position output by the system, the navigation positioning is necessarily deviated, and therefore the first position information needs to be corrected. In the process of vehicle traveling, the situation that a GPS signal is partially failed due to the fact that the vehicle encounters a tunnel and an urban high-rise environment can occur, even a lane line identification result in visual identification and positioning is temporarily failed due to various environmental reasons such as illumination change and ground lane line abrasion, therefore, in order to achieve accurate positioning of the vehicle under the situation that the GPS signal is lost or the visual positioning is failed, the technical scheme of the embodiment corrects the position information of the target vehicle by adopting the lane center line of the target vehicle, and can achieve accurate positioning of the vehicle under the situation that the GPS signal is lost or the visual positioning is failed.
In an embodiment of the present application, if a GPS signal is not interfered by ambient environmental factors during a driving process of a vehicle, that is, GPS positioning information of a target vehicle can be obtained through GPS positioning at a current time, that is, a positioning state of the target vehicle at the current time meets a preset condition, the GPS positioning information may be used to correct first position information of the target vehicle at the current time, and in this embodiment, the method further includes:
and if the GPS positioning information of the target vehicle is obtained through GPS positioning at the current moment, correcting the first position information according to the GPS positioning information to obtain a positioning result of the target vehicle.
In this embodiment, the first position information is corrected according to the GPS positioning information, and the first position information and the second position information may be fused by using a filtering method, where the filtering method may be an extended kalman filter, a lossless kalman filter, or a particle filter, and the embodiment of the present application is not limited herein.
In an embodiment of the present application, if a vehicle-mounted camera (e.g., a camera mounted on a vehicle) is capable of recognizing lane lines on two sides of the vehicle and other positioning reference objects during a traveling process of the vehicle to obtain positioning information, that is, if a positioning state of a target vehicle at a current time meets a preset condition, a first position information of the target vehicle at the current time may be modified by using the positioning information, in which the method further includes:
and if third position information is obtained at the current moment according to lane lines on two sides of the target vehicle and a reference object in a preset range of the target vehicle, correcting the first position information according to the third position information to obtain a positioning result of the target vehicle.
In this embodiment, the first position information is corrected according to the third position information, and the first position information and the third position information may be fused by using a filtering method, where the filtering method may be an extended kalman filter, a lossless kalman filter, a particle filter, or the like, and the embodiment of the present application is not limited herein.
In an embodiment of the present application, if an on-board camera (e.g., a camera mounted on a vehicle) is capable of identifying lane center lines of lanes adjacent to a lane where a target vehicle is located during traveling of the vehicle, and obtaining positioning information, that is, if a positioning state of the target vehicle at a current time meets a preset condition, a first position information of the target vehicle at the current time may be corrected by using the positioning information, in which the method further includes:
and if fourth position information is obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, correcting the first position information according to the fourth position information to obtain a positioning result of the target vehicle.
In this embodiment, in the embodiment, the first position information is corrected according to the fourth position information, the first position information and the fourth position information may be fused by using a filtering method, where the filtering method may be an extended kalman filter, a lossless kalman filter, a particle filter, or the like, and the embodiment of the present application is not limited herein.
With continued reference to fig. 2, in step S230, the first position information is corrected according to the second position information, so as to obtain a positioning result of the target vehicle.
In an embodiment of the present application, the first position information may be fused with the second position information by a filtering method according to a manner of correcting the first position information according to the second position information, in this embodiment, the step S230 specifically includes:
and fusing the second position information and the first position information in a filtering mode to obtain a positioning result of the target vehicle.
In this embodiment, the filtering manner may be an extended kalman filter, a lossless kalman filter, a particle filter, or the like, and the embodiment of the present application is not limited herein.
Among them, Extended Kalman Filter (EKF) is an Extended form of standard Kalman Filter in a nonlinear situation, and is a high-efficiency recursive Filter (autoregressive Filter). The basic idea of EKF is to linearize the nonlinear system using taylor series expansion and then filter the signal using the kalman filtering framework, so it is a sub-optimal filtering. The measurement result with higher precision than that of a single sensor is obtained by fusing the measurement data of a plurality of sensors which have linear or nonlinear relations and are not accurate enough. Essentially a recursive least squares method.
The Unscented Kalman Filter (Unscented Kalman Filter, UKF) is a combination of Unscented Transform (UT) and a standard Kalman Filter system, and a nonlinear system equation is adapted to the standard Kalman system under a linear assumption by the UT Transform. Unlike EKF, the UKF adapts nonlinear system equations to a standard Kalman filter system under linear assumptions by means of lossless transformation, rather than having to implement recursive filtering by means of linearized nonlinear functions, as in EKF. The basic ideas of UKF are Kalman filtering and lossless transformation, which can effectively overcome the problems of low EKF estimation precision and poor stability, and the calculation precision of nonlinear distribution statistics is high because high-order terms are not needed to be ignored.
The idea of Particle filtering (PF: Particle Filter) is based on the Monte Carlo method (Monte Carlo methods), which uses a set of particles to represent the probability, and can be used on any form of state space model. The core idea is to express the distribution of random state particles by extracting the random state particles from the posterior probability, and the method is a Sequential Importance Sampling method (Sequential Importance Sampling). Briefly, the particle filtering method is a process of approximating a probability density function by searching a group of random samples propagating in a state space, and substituting an integral operation with a sample mean value to obtain a state minimum variance distribution. The samples herein refer to particles, and any form of probability density distribution can be approximated when the number of samples N → ∞ is.
Explaining by taking an extended Kalman filtering method as an example, the second position information and the first position information are fused through extended Kalman filtering, and the third position information of the target vehicle is obtained.
The nonlinear system state equation is Xk|k-1＝A*Xk-1|k-1+B*Uk-1；
The observation equation of the nonlinear system is Yk＝C*Xk|k-1+alpha；
Wherein, Xk|k-1Is the state of the system at time k,Uk-1is the control quantity of the system at the moment k-1. A is the state transition matrix and B is the input matrix. Y iskIs the measured value at time k, C is the parameter of the measurement system, and alpha is the observation noise.
Setting the system state X as [ X, y, phi, epsilon _ X, epsilon _ y, epsilon _ omega ], wherein X and y are respectively the horizontal and vertical coordinates of an east-north-sky coordinate system (ENU coordinate), phi vehicle heading angle (included angle with the east), epsilon _ X is error in X direction, epsilon _ y is error in y direction, and epsilon _ omega is error in heading angle and angular velocity.
Initializing a noise variance matrix Q, N, R and a state X, defining a covariance matrix P, setting an initial value, wherein Q, N, R, P is a diagonal matrix, bringing a discretization state equation and the initialization result into an extended Kalman filter EKF recursive algorithm to perform recursive cyclic processing, updating the P and the Kalman optimal gain K in real time, and finally dynamically updating a state variable X.
The implementation of recursive loop processing by using an extended Kalman filter EKF recursive algorithm specifically comprises the following steps:
first, initializing a state variable X, a covariance matrix P, a noise variance matrix Q, R, N;
secondly, the input quantity U [ v, omega at the time k-1 is combined according to the state at the time k-1]Where v and omega are velocity and angular velocity, respectively, and predict the state vector X at time kk|k-1；
Xk|k-1＝A*Xk-1|k-1+B*Uk-1
Wherein, Xk|k-1To use the last-moment system state to predict the result of the current-moment system state, Xk-1|k-1For optimal results of the system state at the last moment, Uk-1Is the control quantity of the system state at the current moment, if no control quantity exists, Uk-1May be 0.
Thirdly, calculating a covariance matrix P at the k moment according to a system state equationk|k-1；
Pk|k-1＝A’*Pk-1|k-1*A’T+Bk-1*N*Bk-1 T+Q
Wherein, Pk-1|k-1The covariance matrix at the moment of k-1, Q is the covariance matrix of process noise, N is the input covariance matrix, and A' is the Jacobian matrix of A;
fourthly, solving a Kalman optimal gain K;
K＝Pk|k-1*C’*(C’*Pk|k-1*C’T+R)-1
wherein C' is the Jacobian matrix of C, and R is the observation covariance matrix.
Fifth, combine the current measurement (x)a,ya) The state vector and the covariance matrix can be updated by using Kalman gain;
Xk|k＝Xk|k-1 T+K*([xa,ya]-C(Xk|k-1))
Pk|k＝(1-K*C’)*Pk|k-1*(1-K*C’)T+K*R*KT
in an embodiment of the application, when the GPS positioning is valid, or the vehicle-mounted camera returns the information of the lateral distance between the lane lines on the two sides of the target vehicle and the target vehicle, or the information of the longitudinal distance between the target vehicle and the reference object, or the information of the lateral distance between the lane center line of the lane where the target vehicle is located and the lane center line of the adjacent lane, the corresponding kalman gain can be calculated, and the state variable and the covariance matrix are updated, so as to obtain the positioning result of the target vehicle.
FIG. 4 shows an interactive flow diagram of a vehicle localization method according to one embodiment of the present application. Mainly comprises steps S410-S480.
And step S410, determining first position information of the target vehicle at the current moment according to the vehicle state information of the target vehicle.
In one possible implementation manner, the first position information of the target vehicle at the current time is obtained according to the vehicle state information of the target vehicle by calculating the first position information of the target vehicle at the current time according to the speed and the course angular rate of the target vehicle.
Step S420, after the first position information of the target vehicle is acquired, whether the GPS positioning of the target vehicle is effective is judged, if yes, step S430 is executed; if not, go to step S440.
If the target vehicle can obtain GPS positioning information through GPS positioning at the current moment, the GPS positioning is considered to be effective; if the GPS signal is interrupted or the signal quality is deteriorated at the current moment because of the tunnel, culvert and other sections, the GPS positioning is considered to be invalid.
And step S430, if the GPS positioning is effective, acquiring the GPS positioning information of the target vehicle at the current moment through the GPS positioning, and correcting the first position information of the target vehicle based on the GPS positioning information to obtain the positioning result of the target vehicle.
Step S440, judging whether lane lines on two sides of the target vehicle and the reference object are effective, and if the judgment result is effective, executing step S450; if the determination result is invalid, step S460 is executed.
If the vehicle cannot acquire the transverse distance and the longitudinal distance due to factors such as sheltering of urban canyons, tunnels, viaducts, street trees and the like erected by tall buildings and multipath reflection interference in the driving process of the vehicle, namely positioning information cannot be acquired according to lane lines on two sides of a target vehicle and a reference object in a preset range of the target vehicle at the current moment, it is determined that the transverse distance information cannot be acquired according to the lane lines on two sides of the target vehicle, so that transverse positioning of the vehicle cannot be corrected according to the transverse distance information, and meanwhile, longitudinal distance information cannot be acquired according to the reference object in the preset range of the target vehicle, so that longitudinal positioning of the vehicle cannot be corrected according to the longitudinal distance information, it is determined that the lane lines on two sides of the target vehicle and the reference object fail, otherwise, it is determined that the lane lines on two sides of the target vehicle and the reference object are valid.
And S450, if the lane lines and the reference objects on the two sides of the target vehicle are judged to be effective, correcting the first position information based on the lane lines and the reference objects on the two sides to obtain a positioning result of the target vehicle.
Step S460, judging whether the adjacent vehicle has a vehicle, if so, executing step S480; if not, go to step S470.
And step S470, if the vehicle-mounted camera equipment or the sensor of the target vehicle detects that no vehicle exists in the adjacent lane, correcting according to the lane center line of the lane where the target vehicle is located, and obtaining the positioning result of the target vehicle.
And determining second position information of the target vehicle at the current moment according to the lane central line of the lane where the target vehicle is located, and correcting the first position information by using the second position information to obtain a positioning result of the target vehicle.
In one embodiment of the present application, the location information of the lane center line may be obtained by a high-precision map that accurately provides location information of the lane on the road.
In step S480, if the vehicle-mounted camera or the sensor of the target vehicle detects that there is a vehicle in the adjacent lane, and the vehicle in the adjacent lane is set to run on the lane center line of the adjacent lane, the first position information may be corrected based on the lane center line of the adjacent lane, so as to obtain a positioning result of the target vehicle.
Fig. 6 shows a block diagram of an image processing apparatus according to an embodiment of the present application, and referring to fig. 6, an image processing apparatus 600 according to an embodiment of the present application includes: an acquisition module 02, a determination module 604, and a correction module 606.
The obtaining module 602 is configured to obtain first position information of a target vehicle at a current moment according to vehicle state information of the target vehicle; a determining module 604, configured to determine, if the location state of the target vehicle at the current time does not meet a preset condition, second location information of the target vehicle at the current time according to a lane center line of a lane where the target vehicle is located; and a correcting module 606, configured to correct the first position information according to the second position information, so as to obtain a positioning result of the target vehicle.
In some embodiments of the present application, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes: and if the positioning information can not be obtained according to the GPS positioning of the target vehicle at the current moment, determining that the preset condition is not met.
In some embodiments of the present application, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes: and if the positioning information can not be obtained according to the lane lines on the two sides of the target vehicle and the reference object in the preset range of the target vehicle at the current moment, determining that the preset condition is not met.
In some embodiments of the present application, if the location state of the target vehicle at the current time does not satisfy the preset condition, the method includes: and if the positioning information can not be obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, determining that the preset condition is not met.
In some embodiments of the present application, the vehicle positioning apparatus further comprises: and if the GPS positioning information of the target vehicle is obtained through GPS positioning at the current moment, correcting the first position information according to the GPS positioning information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, the vehicle positioning apparatus further comprises: and if third position information is obtained at the current moment according to lane lines on two sides of the target vehicle and a reference object in a preset range of the target vehicle, correcting the first position information according to the third position information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, the vehicle positioning apparatus further comprises: and if fourth position information is obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, correcting the first position information according to the fourth position information to obtain a positioning result of the target vehicle.
In some embodiments of the present application, the obtaining module 602 is configured to: acquiring the course angular rate and the speed of the target vehicle at the last moment; and calculating first position information of the target vehicle at the current moment according to the course angular speed and the speed at the previous moment.
In some embodiments of the present application, the modification module 606 is configured to: and fusing the second position information and the first position information by a filtering method to obtain a positioning result of the target vehicle.
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
It should be noted that the computer system 700 of the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for system operation are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An Input/Output (I/O) interface 705 is also connected to the bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 1608 including a hard disk and the like; and a communication section 709 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A vehicle positioning method, characterized by comprising:
acquiring first position information of a target vehicle at the current moment according to vehicle state information of the target vehicle;
if the positioning state of the target vehicle at the current moment does not meet the preset condition, determining second position information of the target vehicle at the current moment according to a lane center line of a lane where the target vehicle is located;
and correcting the first position information according to the second position information to obtain a positioning result of the target vehicle.
2. The method of claim 1, wherein if the positioning status of the target vehicle at the current time does not satisfy the predetermined condition, the method comprises:
and if the positioning information can not be obtained according to the GPS positioning of the target vehicle at the current moment, determining that the preset condition is not met.
3. The method of claim 1, wherein if the positioning status of the target vehicle at the current time does not satisfy the predetermined condition, the method comprises:
and if the positioning information can not be obtained according to the lane lines on the two sides of the target vehicle and the reference object in the preset range of the target vehicle at the current moment, determining that the preset condition is not met.
4. The method of claim 1, wherein if the positioning status of the target vehicle at the current time does not satisfy the predetermined condition, the method comprises:
and if the positioning information can not be obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, determining that the preset condition is not met.
5. The method of claim 2, further comprising:
and if the GPS positioning information of the target vehicle is obtained through GPS positioning at the current moment, correcting the first position information according to the GPS positioning information to obtain a positioning result of the target vehicle.
6. The method of claim 3, further comprising:
and if third position information is obtained at the current moment according to lane lines on two sides of the target vehicle and a reference object in a preset range of the target vehicle, correcting the first position information according to the third position information to obtain a positioning result of the target vehicle.
7. The method of claim 4, further comprising:
and if fourth position information is obtained according to the lane center line of the adjacent lane of the lane where the target vehicle is located at the current moment, correcting the first position information according to the fourth position information to obtain a positioning result of the target vehicle.
8. The method of claim 1, wherein the obtaining first position information of the target vehicle at the current time according to the vehicle state information of the target vehicle comprises:
acquiring the course angular rate and the speed of the target vehicle at the last moment;
and calculating first position information of the target vehicle at the current moment according to the course angular speed and the speed at the previous moment.
9. The method of claim 1, wherein the modifying the first location information based on the second location information to obtain third location information of the target vehicle comprises:
and fusing the second position information and the first position information by a filtering method to obtain a positioning result of the target vehicle.
10. A vehicle positioning device, comprising:
the acquisition module is used for acquiring first position information of a target vehicle at the current moment according to the vehicle state information of the target vehicle;
the determining module is used for determining second position information of the target vehicle at the current moment according to a lane center line of a lane where the target vehicle is located if the positioning state of the target vehicle at the current moment does not meet a preset condition;
and the correction module is used for correcting the first position information according to the second position information to obtain a positioning result of the target vehicle.
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