CN110926484A

CN110926484A - Vehicle position obtaining method and device and intelligent vehicle

Info

Publication number: CN110926484A
Application number: CN202010083859.9A
Authority: CN
Inventors: 任勇; 王磊; 王劲
Original assignee: Ciic Technology Co Ltd
Current assignee: Ciic Technology Co Ltd
Priority date: 2020-02-10
Filing date: 2020-02-10
Publication date: 2020-03-27
Anticipated expiration: 2040-02-10
Also published as: CN110926484B

Abstract

The embodiment of the invention discloses a method and a device for acquiring a vehicle position and an intelligent vehicle, wherein the method for acquiring the vehicle position comprises the following steps: the method comprises the steps of acquiring target motion data corresponding to a target vehicle in the driving process through sensing equipment, receiving a plurality of reference motion data corresponding to the target vehicle in the driving process returned by a positioning device, wherein the positioning device comprises a plurality of positioning modules, each positioning module corresponds to one reference motion data, acquiring environment information of the current position of the target vehicle, determining a positioning module calling strategy corresponding to the environment information, calling the reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data, carrying out data adjustment on the target motion data according to the called reference motion data, and determining the position of the target vehicle based on an adjustment result, so that the accuracy of vehicle positioning can be improved.

Description

Vehicle position obtaining method and device and intelligent vehicle

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a method and a device for acquiring a vehicle position and an intelligent vehicle.

Background

Vehicles known in the art are capable of determining their current location based on at least one sensor mounted on the vehicle. For example, many vehicles include a Global Positioning System (GPS), from which the location of the vehicle can be inferred with considerable accuracy. The determination of the position by means of GPS requires radio signals from the satellite space.

However, the GPS signal is very susceptible to interference, for example, in a region with a dense building, the GPS signal is affected by the building, and the positioning is inaccurate.

Disclosure of Invention

The embodiment of the invention provides a method and a device for acquiring a vehicle position and driving equipment, which can improve the accuracy of vehicle positioning.

The embodiment of the invention provides a method for acquiring a vehicle position, which comprises the following steps:

acquiring corresponding target motion data of a target vehicle in the driving process through sensing equipment;

receiving a plurality of reference motion data corresponding to a target vehicle in a driving process returned by a positioning device, wherein the positioning device comprises a plurality of positioning modules, and each positioning module corresponds to one reference motion data;

acquiring environmental information of the current position of the target vehicle, and determining a positioning module calling strategy corresponding to the environmental information;

calling reference motion data corresponding to the positioning module calling strategy from the reference motion data, and performing data adjustment on the target motion data according to the called reference motion data;

based on the adjustment result, the position of the target vehicle is determined.

Correspondingly, the embodiment of the invention also provides a device for acquiring the position of the vehicle, which comprises:

the acquisition module is used for acquiring corresponding target motion data of a target vehicle in the driving process through the sensing equipment;

the positioning device comprises a plurality of positioning modules, wherein each positioning module corresponds to one piece of reference motion data;

the acquisition module is used for acquiring the environmental information of the current position of the target vehicle and determining a positioning module calling strategy corresponding to the environmental information;

the calling module is used for calling the reference motion data corresponding to the calling strategy of the positioning module from the plurality of reference motion data and carrying out data adjustment on the target motion data according to the called reference motion data;

a determination module to determine a location of the target vehicle based on the adjustment result.

Optionally, in some embodiments of the present invention, the invoking module includes:

the first drawing submodule is used for drawing a first motion track of the target vehicle according to the target motion data;

the calling sub-module is used for calling at least two positioning modules from the plurality of positioning modules according to the positioning module calling strategy to obtain a calling module set;

the second drawing submodule is used for extracting reference motion data corresponding to each positioning module in the calling module set, drawing a second motion track of the target vehicle based on the called reference motion data and obtaining at least two second motion tracks;

the adjusting submodule is used for carrying out track adjustment on the first motion track through the at least two second motion tracks to obtain an adjusted motion track;

the determining module is specifically configured to: determining a position of the target vehicle based on the adjusted motion trajectory.

Optionally, in some embodiments of the present invention, the adjusting sub-module includes:

a first extraction unit, configured to extract a target coordinate point set corresponding to the first motion trajectory, where the target coordinate point set includes a plurality of target coordinate points, and;

the second extraction unit is used for extracting coordinate points corresponding to the at least two second motion tracks to obtain a reference coordinate point set corresponding to each second motion track, wherein the reference coordinate point set comprises a plurality of reference coordinate points, and one reference coordinate point corresponds to one target coordinate point;

and the adjusting unit is used for carrying out track adjustment on the first motion track according to the target coordinate point set and the at least two reference coordinate point sets to obtain an adjusted motion track.

Optionally, in some embodiments of the present invention, the adjusting unit includes:

the calculating subunit is used for calculating the offset between the target coordinate point and the corresponding reference coordinate point according to the incidence relation between the target coordinate point and the reference coordinate point;

and the determining subunit determines the reference coordinate point meeting the preset condition as the adjusted coordinate point when the offset meets the preset condition, and generates the adjusted motion track based on the adjusted coordinate point.

Optionally, in some embodiments of the present invention, the determining subunit is specifically configured to:

judging whether the offset is smaller than a first threshold value;

when the offset is smaller than a first threshold, judging whether the offset is smaller than a second threshold, and if the offset is larger than or equal to the second threshold, performing weight reduction processing on a reference coordinate point corresponding to the offset to obtain a weighted coordinate point;

calculating an adjusted coordinate point according to the weighted coordinate point and the weight corresponding to the weighted coordinate point;

and generating an adjusted motion trail based on the coordinate points after weight reduction.

Optionally, in some embodiments of the present invention, the determining subunit is further specifically configured to:

and when the offset is smaller than a first threshold and smaller than a second threshold, determining a reference coordinate point corresponding to the offset as an adjusted coordinate point, and generating an adjusted motion track based on the adjusted coordinate point.

Optionally, in some embodiments of the present invention, the obtaining module includes:

the first determining submodule is used for acquiring the building density of the current position of the target vehicle according to the environment information;

the first calling sub-module is used for determining all the positioning modules as modules to be called when the building density is a first density;

the second calling sub-module is used for selecting a positioning module corresponding to the second density from the plurality of positioning modules and determining the selected positioning module as a module to be called when the building density is the second density;

the calling module is specifically configured to: and calling the reference motion data corresponding to the module to be called, and performing data adjustment on the target motion data according to the called reference motion data.

Optionally, in some embodiments of the present invention, the second calling submodule is specifically configured to:

extracting position information of each positioning module, wherein the position information is used for representing the position of the positioning module on the target vehicle;

determining the signal intensity corresponding to each positioning module based on the position information and the environment information;

and when the signal intensity is greater than the preset signal intensity, determining the positioning module with the signal intensity greater than the preset signal intensity as a module to be called.

Optionally, in some embodiments of the present invention, the determining module includes:

the acquisition submodule is used for acquiring the altitude information of the current position of the target vehicle according to the environment information;

the construction submodule is used for constructing an adjusted motion track corresponding to an adjustment result based on the altitude information and the adjustment result;

and the second determining submodule is used for determining the position of the target vehicle through the adjusted motion track.

Optionally, in some embodiments of the present invention, the determining sub-module is specifically configured to:

determining a terminal position point of the target vehicle in the driving process according to the adjusted motion track;

and analyzing the end point position point to obtain the position of the target vehicle.

According to the embodiment of the invention, the target motion data corresponding to the target vehicle in the driving process is firstly acquired through the sensing equipment, then, a plurality of reference motion data corresponding to the target vehicle in the driving process returned by the positioning device are received, then, the environmental information of the current position of the target vehicle is acquired, the positioning module calling strategy corresponding to the environmental information is determined, then, the reference motion data corresponding to the positioning module calling strategy is called from the plurality of reference motion data, the target motion data is subjected to data adjustment according to the called reference motion data, and finally, the position of the target vehicle is determined based on the adjustment result, so that the accuracy of vehicle positioning can be realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1a is a schematic view of a first scenario of a method for acquiring a vehicle position according to an embodiment of the present invention;

FIG. 1b is a schematic flow chart of a method for obtaining a vehicle position according to an embodiment of the present invention;

fig. 1c is a schematic diagram of a second scenario of a method for acquiring a vehicle position according to an embodiment of the present invention;

FIG. 2a is another schematic flow chart of a method for obtaining a vehicle position according to an embodiment of the present invention;

FIG. 2b is a third view of a vehicle position acquiring method according to an embodiment of the present invention;

fig. 2c is a fourth scene view of the method for acquiring a vehicle position according to the embodiment of the present invention;

fig. 2d is a fifth scene view of the method for acquiring a vehicle position according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle position acquisition device provided by an embodiment of the invention;

fig. 4 is a schematic structural diagram of a terminal according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a method and a device for acquiring a vehicle position.

The system comprises a vehicle position acquisition device, a terminal, a mobile phone, a personal computer and an intelligent vehicle, wherein the vehicle position acquisition device (hereinafter referred to as the acquisition device) can be integrated in the terminal, the terminal can comprise the mobile phone, the personal computer and the intelligent vehicle, the intelligent vehicle is a comprehensive system integrating functions of environment perception, planning decision, multi-level auxiliary driving and the like, the intelligent vehicle integrates technologies such as computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, and the intelligent vehicle is a typical high and new technology comprehensive body. Currently, research on intelligent vehicles, such as unmanned vehicles, which are a kind of intelligent vehicles and are also called wheeled mobile robots, mainly aims to improve safety and comfort of the vehicles and provide excellent human-vehicle interaction interfaces, and the intelligent vehicles mainly rely on intelligent drivers in the vehicles, mainly comprising computer systems, to achieve the purpose of unmanned driving, so-called unmanned driving, which can safely and reliably drive vehicles on roads by sensing the surrounding environment of the vehicles by using vehicle-mounted sensors and controlling the steering of the vehicles and the speed of the vehicles according to the road, vehicle position and obstacle information obtained by sensing.

Referring to fig. 1a, taking an example that an obtaining device is integrated in an unmanned vehicle, the unmanned vehicle includes a sensing device and a positioning device, the unmanned vehicle can collect data corresponding to the unmanned vehicle in a driving process, that is, target motion data, where the target motion data may include a speed of the unmanned vehicle, a driving direction of the unmanned vehicle, and the like, and the unmanned vehicle can also receive a plurality of reference motion data corresponding to the unmanned vehicle in the driving process returned by the positioning device, where it is to be noted that the positioning device on the unmanned vehicle may include a plurality of positioning modules, each positioning module corresponds to one reference motion data, then the unmanned vehicle obtains environment information of a current position, determines a positioning module calling policy corresponding to the environment information, then, the unmanned vehicle can call a strategy according to the positioning module, call corresponding reference motion data from the multiple reference motion data, perform data adjustment on the target motion data according to the called reference motion data, and finally determine the position of the unmanned vehicle based on the adjustment result, for example, the unmanned vehicle determines the position of the unmanned vehicle on its own map based on the adjustment result.

The following are detailed below. It should be noted that the description sequence of the following embodiments is not intended to limit the priority sequence of the embodiments.

A method of obtaining a vehicle position, comprising: the method comprises the steps of acquiring target motion data corresponding to a target vehicle in the driving process through sensing equipment, receiving a plurality of reference motion data corresponding to the target vehicle in the driving process returned by a positioning device, wherein the positioning device comprises a plurality of positioning modules, each positioning module corresponds to one reference motion data, acquiring environment information of the current position of the target vehicle, determining a positioning module calling strategy corresponding to the environment information, calling the reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data, performing data adjustment on the target motion data according to the called reference motion data, and determining the position of the target vehicle based on an adjustment result.

Referring to fig. 1b, fig. 1b is a schematic flow chart illustrating a method for obtaining a vehicle position according to an embodiment of the invention. The specific flow of the document processing method can be as follows:

101. and acquiring corresponding target motion data of the target vehicle in the driving process through the sensing equipment.

The target movement data may include, among other things, a first speed of the target vehicle and a first direction of travel of the target vehicle.

For example, one or more laser radar receiving devices may be installed on a vehicle body of a target vehicle, the collected target motion data may be stored locally, and may also be stored in a server, the sensing device may be a radar receiving device, and the radar receiving device may collect data of relative positions of the target vehicle and the laser radar during driving, where when the laser radar irradiates the surface of the target vehicle with a beam of laser light, the laser light reflected by the surface of the target vehicle carries information such as azimuth and distance, and if the laser beam is scanned according to a certain track, the laser beam records information of the reflected laser point while scanning, so that a large number of laser points can be obtained, thereby forming laser point cloud data, and then the position of the target vehicle on a preset map may be determined by the laser point cloud data, and the preset map may be a map on a navigation of the target vehicle, or a map downloaded from the network.

102. And receiving a plurality of reference motion data corresponding to the target vehicle in the driving process returned by the positioning device.

Specifically, the reference motion data of the target vehicle during the driving process returned by the positioning device mounted on the body of the target vehicle may be received, for example, the reference motion data of the target vehicle during the driving process may be obtained by a Real Time Kinematic (RTK) or a precision Point positioning technology (PPP), where the positioning device may include a plurality of positioning modules, for example, the target vehicle is mounted with a positioning device, the positioning device includes a positioning module a, a positioning module B, a positioning module C, a positioning module D, and a positioning module E, then the positioning module a, the positioning module B, the positioning module C, the positioning module D, and the positioning module E respectively correspond to one reference motion data, that is, each positioning module corresponds to one reference motion data, the reference motion data may include a second speed of the target vehicle and a second driving direction of the target vehicle, and so on, the first speed of the target vehicle may be equal to or different from the second speed of the target vehicle, which is determined according to actual conditions.

It should be noted that, one reference motion data may include at least one satellite positioning data, where the satellite positioning data is used to characterize data of the positioning module relative to one positioning satellite, and when there are multiple positioning satellites monitoring the same positioning module, the reference motion data corresponding to the positioning module is multiple positioning data sets.

103. And acquiring the environmental information of the current position of the target vehicle, and determining a positioning module calling strategy corresponding to the environmental information.

The environment information of the current position of the target vehicle may include information of a road area and building density of the current position of the target vehicle, the information of the road area may include length and width of a road and traffic equipment information on the road, and the building density of the current position of the target vehicle refers to the number of buildings per unit area.

It should be noted that the positioning result is prone to error due to the influence of multipath effect, the data positioned by the RTK technique or the PPP technique, the multipath effect means that the signal is in the process of propagation, reflected by some objects, such as buildings, to change the propagation direction, amplitude, polarization, phase, etc. of the signal, these altered signals arrive at the receiver superimposed on the signal arriving at the receiver via the straight path, and, therefore, the corresponding positioning module invoking strategy can be determined according to the environment information, for example, the building density of the current position of the target vehicle can be determined through the environment information, the corresponding positioning module invoking strategy is determined based on the building density, that is, in some embodiments, the step "obtaining environmental information of the current position of the target vehicle, and determining a positioning module invoking policy corresponding to the environmental information" may specifically include:

(11) acquiring the building density of the current position of the target vehicle according to the environmental information;

(12) when the building density is a first density, determining all the positioning modules as modules to be called;

(13) and when the building density is a second density, selecting a positioning module corresponding to the second density from the plurality of positioning modules, and determining the selected positioning module as a module to be called.

The first density may indicate that the building density is "open", the second density may indicate that the building density is "dense", and the first density and the second density may be preset, for example, when the number of buildings per unit area is 5 buildings, the building density at this time may be considered as the first density; when the number of buildings per unit area is 10 buildings, the density of the buildings at this time can be considered as the second density.

Furthermore, after the current building density of the target vehicle is determined, a corresponding positioning module calling strategy is determined according to the building density, for example, when the building density is the first density, because the first density indicates that the current building density of the target vehicle is clear at the moment, the influence of the building on the signal in the transmission process is small, all positioning modules on the target vehicle can be called, and the accuracy of vehicle positioning is improved; when the building density is the second density, since the second density indicates that the current building density of the target vehicle is "dense", and the signal is greatly influenced by the building in the propagation process, a positioning module in the upper portion of the target vehicle may be called, a positioning module facing a smaller number of buildings in the target vehicle may be called, for example, a positioning module a1, a positioning module a2, and a positioning module a3 are installed on the target vehicle, a positioning module a1 is located at the head of the target vehicle, a positioning module a2 is located at the roof of the target vehicle, a positioning module a3 is located at the tail of the target vehicle as shown in fig. 1c, and a positioning module a1 faces 5 buildings, a positioning module a2 faces 0 buildings, a positioning module a3 faces 1 buildings, and at this time, a positioning module a2 and a positioning module a3 may be called, or, only calling the positioning module a2, specifically selecting according to the actual situation, in some embodiments, the signal strength of the positioning module a2 and the signal strength of the positioning module a3 may be obtained, and then it may be determined whether to call the positioning module a2 and the positioning module a3, that is, the step "when the building density is the second density, selecting a positioning module corresponding to the second density from the plurality of positioning modules, and determining the selected positioning module as the module to be called" may specifically include:

(21) extracting the position information of each positioning module;

(22) determining the signal intensity corresponding to each positioning module based on the position information and the environment information;

(23) and when the signal intensity is greater than the preset signal intensity, determining the positioning module with the signal intensity greater than the preset signal intensity as a module to be called.

The location information is used to indicate a location of the positioning module on the target vehicle, an environmental density of a current location may be determined according to the environmental information, then, a signal strength corresponding to each positioning module is calculated based on the environmental density and the location information, when the signal strength is greater than a preset signal strength, the positioning module with the signal strength greater than the preset signal strength is determined as a module to be called, for example, the preset signal strength may be-166 decibel watt (dbw), and the positioning module with the signal strength greater than-166 dbw may be determined as the module to be called.

104. And calling reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data, and performing data adjustment on the target motion data according to the called reference motion data.

Specifically, after determining a module to be called in a plurality of positioning modules, reference motion data corresponding to the module to be called may be called from the plurality of reference motion data, and data adjustment may be performed on target motion data according to the called reference motion data, that is, in some embodiments, the step of "calling reference motion data corresponding to a positioning module calling policy from the plurality of reference motion data, and performing data adjustment on the target motion data according to the called reference motion data" includes: and calling the reference motion data corresponding to the module to be called from the plurality of reference motion data, and performing data adjustment on the target motion data according to the called reference motion data.

The data adjustment of the target motion data according to the called reference motion data may be performed in many ways, for example, a first motion trajectory of the target vehicle may be drawn according to the target motion data; and drawing a second motion trail of the target vehicle according to the called reference motion data, and then adjusting the first trail through the second motion trail, namely, the steps of calling reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data and adjusting the target motion data according to the called reference motion data include:

(31) drawing a first motion track of the target vehicle according to the target motion data;

(32) calling at least two positioning modules from a plurality of positioning modules according to a positioning module calling strategy to obtain a calling module set;

(33) extracting reference motion data corresponding to each positioning module in the calling module set, and drawing a second motion track of the target vehicle based on the called reference motion data to obtain at least two second motion tracks;

(34) and carrying out track adjustment on the first motion track through at least two second motion tracks to obtain an adjusted motion track.

It should be noted that, at least two positioning modules are called from the plurality of positioning modules, so that a situation that only one second motion trajectory performs trajectory adjustment on the first motion trajectory when the first motion trajectory is adjusted can be avoided, and the adjusted motion trajectory may be inaccurate.

Further, coordinate adjustment may be performed on the coordinate point of the first motion trajectory through the coordinate point of the second motion trajectory, that is, in some embodiments, the step "performing trajectory adjustment on the first motion trajectory through at least two second motion trajectories to obtain an adjusted motion trajectory" may include:

(41) extracting a target coordinate point set corresponding to the first motion track, and;

(42) extracting coordinate points corresponding to at least two second motion tracks to obtain a reference coordinate point set corresponding to each second motion track;

(43) and carrying out track adjustment on the first motion track according to the target coordinate point set and the at least two reference coordinate point sets to obtain an adjusted motion track.

The target coordinate point set comprises a plurality of target coordinate points, the reference coordinate point set comprises a plurality of reference coordinate points, the target coordinate points can be obtained by scanning a target vehicle in real time by devices such as radars and the like, certainly, the target coordinate points can be obtained by scanning the target vehicle by the devices such as radars and the like according to a preset time interval, and similarly, the reference coordinate points can be obtained by scanning the target vehicle by the devices such as radars and the like in real time and can also be obtained by scanning the target vehicle by the devices such as radars and the like according to the preset time interval.

It should be noted that the time interval for acquiring the target coordinate points is equal to the time interval for acquiring the reference coordinate points, that is, one reference coordinate point corresponds to one target coordinate point, that is, the reference coordinate point and the target coordinate point have an association relationship, so that the number of the target coordinate points is ensured to be consistent with the number of the reference coordinate points, and thus, one reference coordinate point of one second motion trajectory is adjusted to one target coordinate point.

Further, an offset between the target coordinate point and the corresponding reference coordinate point may be calculated according to an association relationship between the target coordinate point and the reference coordinate point, and then, an adjusted coordinate is determined according to the offset, and an adjusted motion trajectory is generated based on the adjusted coordinate, that is, in some embodiments, the step "performing trajectory adjustment on the first motion trajectory according to the target coordinate point set and the at least two reference coordinate point sets to obtain an adjusted motion trajectory" may specifically include:

(51) calculating the offset between the target coordinate point and the corresponding reference coordinate point according to the incidence relation between the target coordinate point and the reference coordinate point;

(52) and when the offset meets a preset condition, determining the reference coordinate point meeting the preset condition as an adjusted coordinate point, and generating an adjusted motion track based on the adjusted coordinate point.

Specifically, the offset between the target coordinate point and the corresponding reference coordinate point may be calculated by a preset offset calculation formula, where the offset calculation formula may be:

wherein,

as an offset between the target coordinate point and the corresponding reference coordinate point,

is the abscissa of the target coordinate point,

is the ordinate of the target coordinate point,

is the abscissa of the reference coordinate point,

when the offset between the target coordinate point and the corresponding reference coordinate point satisfies a preset condition, the reference coordinate point satisfying the preset condition may be determined as an adjusted coordinate point, and an adjusted motion trajectory may be generated based on the adjusted coordinate point.

The preset condition may be preset, specifically, when the offset between the target coordinate point and the corresponding reference coordinate point is smaller than the first threshold, it may be determined whether the offset is greater than the second threshold, when the offset is greater than the second threshold, the weight reduction processing may be performed on the reference coordinate point corresponding to the offset, then, according to the weight reduced coordinate point and the weight corresponding to the weight reduced coordinate point, the adjusted coordinate point is calculated, and finally, according to the adjusted coordinate point, the adjusted motion trajectory is generated.

That is, in some embodiments, the step "when the offset amount satisfies a preset condition, determining a reference coordinate point satisfying the preset condition as an adjusted coordinate point, and generating an adjusted motion trajectory based on the adjusted coordinate point" may specifically include:

(61) judging whether the offset is smaller than a first threshold value;

(62) when the offset is smaller than a first threshold, judging whether the offset is smaller than a second threshold, and if the offset is larger than or equal to the second threshold, performing weight reduction processing on a reference coordinate point corresponding to the offset to obtain a weight-reduced coordinate point;

(63) calculating the adjusted coordinate points according to the coordinate points after the weight reduction and the weights corresponding to the coordinate points after the weight reduction;

(64) and generating an adjusted motion track based on the adjusted coordinate points.

The first threshold and the second threshold may be preset, for example, the first threshold is 2, the second threshold is 1, when the offset is greater than or equal to 1 and less than 2, the reference coordinate point corresponding to the offset is subjected to weight reduction processing to obtain a reduced-weight coordinate point, since at least two positioning modules are invoked, an adjusted coordinate point, for example, the coordinate of the target coordinate point is (5, 4), 3 positioning modules are invoked, the coordinates of the corresponding reference coordinate points are (4, 3), (5, -1) and (3.72, 2.72), the offsets of the target coordinate point and the three reference coordinate points are 1, 3 and 1.6, respectively, at this time, the coordinate of the reference coordinate point is determined to be (4, 3) and the coordinate of the reference coordinate point is determined to be (3.72, 2.72) as the reduced-weight coordinate, corresponding weights can be given according to the value of the offset, for example, the weight of the coordinate of the reference coordinate point is given as (4, 3) is 0.6, the weight of the coordinate of the reference coordinate point is given as (3.72, 2.72) is 0.4, then, the adjusted coordinate point is calculated according to the weight corresponding to the coordinate point after the weight reduction and the coordinate point after the weight reduction, and finally, the adjusted motion track is generated based on the adjusted coordinate point. There are, of course, many ways to calculate the adjusted coordinate points, and this is merely an illustration and not a limitation of the present invention.

In addition, when the offset amount is smaller than the first threshold and smaller than the second threshold, the reference coordinate point corresponding to the offset amount may be determined as the adjusted coordinate point, and the adjusted motion trajectory may be generated based on the adjusted coordinate point, that is, in some embodiments, the method may further include: and when the offset is smaller than the first threshold and smaller than the second threshold, determining the reference coordinate point corresponding to the offset as an adjusted coordinate point, and generating an adjusted motion track based on the adjusted coordinate point.

It should be further noted that, when the offset is greater than the first threshold, the reference coordinate point corresponding to the offset may be removed, and the coordinate of the target coordinate point is adjusted by using other reference coordinate points.

105. Based on the adjustment result, the position of the target vehicle is determined.

Specifically, the position of the target vehicle may be determined according to the obtained adjusted track, that is, in some embodiments, the step "determining the position of the target vehicle based on the adjustment result" may specifically include: and determining the position of the target vehicle based on the adjusted motion trail.

Furthermore, during the movement of the target vehicle, there may be cases where: the target vehicle exits from the parking lot on the third floor, and returns to the same parking lot after traveling for a period of time, but at this time, the target vehicle is parked in the parking lot on the second floor, and at this time, the starting point and the ending point of the traveling track of the target vehicle may be determined by the altitude information, that is, in some embodiments, the step "determining the position of the target vehicle based on the adjustment result" may specifically include:

(71) acquiring altitude information of the current position of the target vehicle according to the environmental information;

(72) constructing an adjusted motion track corresponding to the adjustment result based on the altitude information and the adjustment result;

(73) and determining the position of the target vehicle through the adjusted motion track.

Further, the position of the target vehicle may be determined by the end position point of the adjusted motion trajectory, that is, in some embodiments, the step "determining the position of the target vehicle by the adjusted motion trajectory" may specifically include:

(81) determining a terminal position point of the target vehicle in the driving process according to the adjusted motion track;

(82) and analyzing the end point position point to obtain the position of the target vehicle.

For example, the driving direction of the target vehicle may be determined by a sensor on the target vehicle, such as a gyroscope, an acceleration sensor, and the like, so as to determine an end point of the target vehicle during driving, and then the end point is analyzed to obtain the position of the target vehicle.

The method comprises the steps of firstly acquiring target motion data corresponding to a target vehicle in the driving process through sensing equipment, then receiving a plurality of reference motion data corresponding to the target vehicle in the driving process returned by a positioning device, then acquiring environment information of the current position of the target vehicle, determining a positioning module calling strategy corresponding to the environment information, then calling the reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data, carrying out data adjustment on the target motion data according to the called reference motion data, and finally determining the position of the target vehicle based on an adjustment result. Compared with the existing scheme for acquiring the vehicle position, the method for acquiring the vehicle position can call the strategy based on the positioning module, call the corresponding reference motion data from the multiple motion reference data to perform data adjustment on the target motion data, and can avoid the situation that the signal is interfered by a building to cause inaccurate positioning, so that the accuracy of vehicle positioning can be realized.

The method according to the examples is further described in detail below by way of example.

In the present embodiment, the vehicle position acquisition device is specifically integrated in the terminal as an example.

Referring to fig. 2a, a method for obtaining a vehicle position may include the following steps:

201. the terminal collects corresponding target motion data of a target vehicle in the driving process through the sensing equipment.

The terminal can acquire the relative position data of the target vehicle and the laser radar in the driving process through the sensing equipment, and the acquired target motion data can be stored locally or stored to the server.

202. And the terminal receives a plurality of reference motion data corresponding to the target vehicle in the driving process returned by the positioning device.

Specifically, the terminal may receive reference motion data of the target vehicle during the driving process, which is returned by a positioning device installed on a body of the target vehicle, for example, the target vehicle is provided with a positioning device, the positioning device includes a positioning module a, a positioning module B, a positioning module C, a positioning module D, and a positioning module E, then the positioning module a, the positioning module B, the positioning module C, the positioning module D, and the positioning module E respectively correspond to one reference motion data, that is, each positioning module corresponds to one reference motion data, the reference motion data may include a second speed of the target vehicle and a second driving direction of the target vehicle, and the like, it should be noted that the first speed of the target vehicle may be equal to or different from the second speed of the target vehicle, which is specifically determined according to actual situations.

203. The terminal obtains the environmental information of the current position of the target vehicle and determines a positioning module calling strategy corresponding to the environmental information.

The terminal can acquire the environmental information of the current position through equipment such as a camera of a target vehicle, then the terminal can determine the building density of the current position of the target vehicle through the environmental information, and determine a corresponding positioning module calling strategy based on the building density; when the building density is the second density, the terminal may select a positioning module corresponding to the second density from the plurality of positioning modules, and determine the selected positioning module as the module to be called.

Further, after the terminal determines the environmental density of the current position according to the environmental information, the terminal may calculate the signal strength corresponding to each positioning module according to the environmental density and the position information, and then, the terminal determines the module to be called based on the signal strength corresponding to each positioning module, for example, after the terminal calculates the signal strength corresponding to each positioning module, the positioning module with the strongest signal strength is selected as the module to be called; for another example, the terminal may select a positioning module with a signal strength greater than a preset signal strength as the module to be called, and the selection is specifically performed according to an actual situation, which is not described herein again.

204. And the terminal calls reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data and performs data adjustment on the target motion data according to the called reference motion data.

The terminal can call reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data, and then the terminal can adjust the track of the first motion track corresponding to the target motion data through the second motion track corresponding to the called reference motion data.

Further, the terminal may perform coordinate adjustment on the coordinate point of the first motion trail based on the coordinate point of the second motion trail, for example, the terminal may calculate a distance between the target coordinate point and the reference coordinate point, and then process the reference coordinate point according to the distance, where the processing is as follows:

(A) when the distance absolute value res is larger than res1, rejecting the distance absolute value;

(B) when the distance absolute value res is smaller than res1 and larger than or equal to res2, reducing the weight of the reference coordinate point corresponding to the distance absolute value;

(C) and when the distance absolute value res is smaller than res2, determining the reference coordinate point corresponding to the distance absolute value as the adjusted coordinate point.

The terminal may generate an adjusted trajectory based on the adjusted coordinate points.

In the processing method (B), the weight of the reference coordinate point corresponding to the absolute value of the distance may be reduced by the following formula:

where e is a natural constant, and cos (levator) represents a cosine value of an angle between the positioning device and the corresponding positioning satellite.

205. The terminal determines the position of the target vehicle based on the adjustment result.

For example, the terminal may obtain altitude information of the current position of the target vehicle according to the environment information, then, the terminal constructs an adjusted motion trajectory corresponding to the adjustment result based on the altitude information and the adjustment result, and finally, the terminal may determine the position of the target vehicle through the adjusted motion trajectory

As can be seen from the above, the terminal according to the embodiment of the present invention first acquires target motion data corresponding to a target vehicle in a driving process through the sensing device, then receives a plurality of reference motion data corresponding to the target vehicle in the driving process returned by the positioning device, then acquires environment information of a current position of the target vehicle, determines a positioning module calling policy corresponding to the environment information, then calls, from the plurality of reference motion data, reference motion data corresponding to the positioning module calling policy, performs data adjustment on the target motion data according to the called reference motion data, and finally determines a position of the target vehicle based on an adjustment result. Compared with the existing scheme for acquiring the vehicle position, the terminal can call the strategy based on the positioning module, call the corresponding reference motion data from the multiple motion reference data to perform data adjustment on the target motion data, and can avoid the situation that the signal is interfered by the building to cause inaccurate positioning, so that the vehicle positioning accuracy can be realized.

In order to better implement the vehicle position obtaining method according to the embodiment of the present invention, an obtaining device (referred to as an obtaining device for short) based on the vehicle position is further provided in the embodiment of the present invention. The terms are the same as those in the above-described method for acquiring the vehicle position, and details of implementation may refer to the description in the method embodiment.

To facilitate understanding of the method for acquiring a vehicle position provided by the embodiment of the present invention, the following further illustrates, for example, coordinate adjustment may be performed on a target coordinate point set according to a reference coordinate point set to obtain an adjusted coordinate point set, and then an offset between the target coordinate point and a corresponding reference coordinate point is calculated to determine a range of the whole-cycle ambiguity. Taking RTK positioning as an example, based on a double-difference observation value between a receiver and a satellite and a geometric distance between a receiving station and a positioning satellite, a double-difference ambiguity floating solution can be calculated, and since the adjusted coordinate point has high precision and the wavelength of the widelane ambiguity exceeds 80 cm, a widelane ambiguity integer value can be obtained by simple rounding, and the integer value is constrained in a state vector, so that the range of the widelane ambiguity can be effectively reduced.

The integer ambiguity is also called integer unknown, and is an integer unknown corresponding to a first observed value of a phase difference between a carrier phase and a reference phase when the carrier phase of the global positioning system technology is measured. Double-difference phase observations are the basis for single differences between global positioning system stations to further eliminate carrier phase and its clock difference terms, also called interplanetary differences, associated with the receiving station. In satellite positioning, the difference between single-difference phase observations made by two receiving stations for two positioning satellites is understood to mean the difference between single-pass phase observations for the same satellite at two stations in satellite positioning.

For another example, in some embodiments, please refer to fig. 2b, the target vehicle is an intelligent vehicle, and the target vehicle is used for transporting goods, when the target vehicle travels in an open area, the signal is less interfered by a building, that is, all the positioning modules on the target vehicle may be called, then, a processor on the target vehicle may process the reference motion data corresponding to each positioning module, so as to achieve the purpose of adjusting the target motion data, then, the position of the target vehicle is determined according to the adjustment result, and finally, the position of the target vehicle, the form direction of the target vehicle, and the distance from the target vehicle to the customer may also be sent to a mobile phone of the customer, so that the customer may know the real-time position of the target vehicle, as shown in fig. 2 c.

When the target vehicle runs on an area with dense buildings, please refer to fig. 2d, because the signal is greatly interfered by the buildings during transmission, and at this time, the error between the reference motion data of part of the positioning devices and the actual motion data may be larger, therefore, the corresponding positioning module may be called according to the positioning module calling strategy, as can be seen from fig. 2d, at this time, the building density degree of the left side of the vehicle body is greater than the building density degree of the right side of the vehicle body, so the reference motion data of the positioning module 3 and the reference motion data of the positioning module 5 may be called, then, the data adjustment is performed on the target motion data through the called reference motion data, and finally, the position of the target vehicle is determined according to the adjustment result.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an apparatus for acquiring a vehicle position according to an embodiment of the present invention, where the apparatus for acquiring a vehicle position may include an acquisition module 301, a receiving module 302, an acquisition module 303, a calling module 304, and a determination module 305, and specifically may be as follows:

the acquisition module 301 is configured to acquire target motion data corresponding to a target vehicle in a driving process through a sensing device.

The acquisition module 301 may acquire the relative position data of the target vehicle and the laser radar in the driving process through the sensing device, and the acquired target motion data may be stored locally or stored in the server

The receiving module 302 is configured to receive a plurality of reference motion data corresponding to the target vehicle returned by the positioning apparatus during the driving process.

The positioning device includes a plurality of positioning modules, each of which corresponds to one reference motion data, and the receiving module 302 may receive the reference motion data of the target vehicle during driving, which is returned by the positioning device mounted on the body of the target vehicle.

An obtaining module 303, configured to obtain environment information of a current position of the target vehicle, and determine a positioning module calling policy corresponding to the environment information;

optionally, in some embodiments of the present invention, the obtaining module 303 includes:

the first calling sub-module is used for determining all the positioning modules as modules to be called when the building density is the first density;

and the second calling sub-module is used for selecting the positioning module corresponding to the second density from the plurality of positioning modules and determining the selected positioning module as the module to be called when the building density is the second density.

The invoking module 304 is specifically configured to: and calling the reference motion data corresponding to the module to be called, and performing data adjustment on the target motion data according to the called reference motion data.

Optionally, in some embodiments of the present invention, the second calling submodule is specifically configured to: the method comprises the steps of extracting position information of each positioning module, wherein the position information is used for representing the position of the positioning module on a target vehicle, determining the signal intensity corresponding to each positioning module based on the position information and environment information, and determining the positioning module with the signal intensity larger than the preset signal intensity as a module to be called when the signal intensity is larger than the preset signal intensity.

And the calling module 304 is configured to call reference motion data corresponding to the positioning module calling policy from the multiple reference motion data, and perform data adjustment on the target motion data according to the called reference motion data.

Optionally, in some embodiments of the present invention, the invoking module 304 includes:

the adjusting submodule is used for carrying out track adjustment on the first motion track through at least two second motion tracks to obtain an adjusted motion track;

the determination module is specifically configured to: determining a position of the target vehicle based on the adjusted motion trajectory.

the first extraction unit is used for extracting a target coordinate point set corresponding to the first motion track, wherein the target coordinate point set comprises a plurality of target coordinate points;

the second extraction unit is used for extracting coordinate points corresponding to at least two second motion tracks to obtain a reference coordinate point set corresponding to each second motion track, the reference coordinate point set comprises a plurality of reference coordinate points, and one reference coordinate point corresponds to one target coordinate point;

Optionally, in some embodiments of the present invention, the determining subunit is specifically configured to: judging whether the offset is smaller than a first threshold value or not, judging whether the offset is smaller than a second threshold value or not when the offset is smaller than the first threshold value, if so, performing weight reduction processing on a reference coordinate point corresponding to the offset to obtain a weight-reduced coordinate point, calculating an adjusted coordinate point according to the weight-reduced coordinate point and the weight corresponding to the weight-reduced coordinate point, and generating an adjusted motion track based on the weight-reduced coordinate point.

Optionally, in some embodiments of the present invention, the determining subunit is further specifically configured to: and when the offset is smaller than the first threshold and smaller than the second threshold, determining the reference coordinate point corresponding to the offset as an adjusted coordinate point, and generating an adjusted motion track based on the adjusted coordinate point.

A determining module 305 for determining the position of the target vehicle based on the adjustment result.

Optionally, in some embodiments of the present invention, the determining module 305 includes:

the construction submodule is used for constructing an adjusted motion track corresponding to the adjustment result based on the altitude information and the adjustment result;

Optionally, in some embodiments of the present invention, the determining sub-module is specifically configured to: and determining an end point position point of the target vehicle in the driving process according to the adjusted motion track, and analyzing the end point position point to obtain the position of the target vehicle.

It can be seen that, in the acquisition apparatus according to the embodiment of the present invention, the acquisition module 301 firstly acquires target motion data corresponding to a target vehicle in a driving process through a sensing device, then the receiving module 302 receives a plurality of reference motion data corresponding to the target vehicle in the driving process returned by a positioning apparatus, then the acquisition module 303 acquires environment information of a current position of the target vehicle, determines a positioning module calling policy corresponding to the environment information, then the calling module 304 calls the reference motion data corresponding to the positioning module calling policy from the plurality of reference motion data, performs data adjustment on the target motion data according to the called reference motion data, and finally the determination module 305 determines the position of the target vehicle based on an adjustment result. Compared with the existing scheme for acquiring the vehicle position, the device for acquiring the vehicle position can call the strategy based on the positioning module, call the corresponding reference motion data from the multiple motion reference data to perform data adjustment on the target motion data, and can avoid the situation that the signal is interfered by a building to cause inaccurate positioning, so that the vehicle positioning accuracy can be realized.

Accordingly, an embodiment of the present invention further provides a terminal, as shown in fig. 4, the terminal may include Radio Frequency (RF) circuits 401, a memory 402 including one or more computer-readable storage media, an input unit 403, a display unit 404, a sensor 405, an audio circuit 406, a Wireless Fidelity (WiFi) module 407, a processor 408 including one or more processing cores, and a power supply 409. Those skilled in the art will appreciate that the terminal configuration shown in fig. 4 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:

the RF circuit 401 may be used for receiving and transmitting signals during a message transmission or communication process, and in particular, for receiving downlink information of a base station and then sending the received downlink information to the one or more processors 408 for processing; in addition, data relating to uplink is transmitted to the base station. In general, the RF circuitry 401 includes, but is not limited to, an antenna, at least one Amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, the RF circuitry 401 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Message Service (SMS), and the like.

The memory 402 may be used to store software programs and modules, and the processor 408 executes various functional applications and data processing by operating the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 408 and the input unit 403 access to the memory 402.

The input unit 403 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. In particular, in a particular embodiment, the input unit 403 may include a touch-sensitive surface as well as other input devices. The touch-sensitive surface, also referred to as a touch display screen or a touch pad, may collect touch operations by a user (e.g., operations by a user on or near the touch-sensitive surface using a finger, a stylus, or any other suitable object or attachment) thereon or nearby, and drive the corresponding connection device according to a predetermined program. Alternatively, the touch sensitive surface may comprise two parts, a touch detection means and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts it to touch point coordinates, and sends the touch point coordinates to the processor 408, and can receive and execute commands from the processor 408. In addition, touch sensitive surfaces may be implemented using various types of resistive, capacitive, infrared, and surface acoustic waves. The input unit 403 may include other input devices in addition to the touch-sensitive surface. In particular, other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

The display unit 404 may be used to display information input by or provided to the user and various graphical user interfaces of the terminal, which may be made up of graphics, text, icons, video, and any combination thereof. The Display unit 404 may include a Display panel, and optionally, the Display panel may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the touch-sensitive surface may overlay the display panel, and when a touch operation is detected on or near the touch-sensitive surface, the touch operation is transmitted to the processor 408 to determine the type of touch event, and then the processor 408 provides a corresponding visual output on the display panel according to the type of touch event. Although in FIG. 4 the touch-sensitive surface and the display panel are shown as two separate components to implement input and output functions, in some embodiments the touch-sensitive surface may be integrated with the display panel to implement input and output functions.

The terminal may also include at least one sensor 405, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel according to the brightness of ambient light, and a proximity sensor that may turn off the display panel and/or the backlight when the terminal is moved to the ear. As one type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), can detect the magnitude and direction of gravity when the mobile phone is stationary, can be used for applications for identifying the gesture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration identification related functions (such as pedometer and knocking) and the like, and can be further configured with a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor and other sensors, which are not described herein again.

Audio circuitry 406, a speaker, and a microphone may provide an audio interface between the user and the terminal. The audio circuit 406 may transmit the electrical signal converted from the received audio data to a speaker, and convert the electrical signal into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electric signal, which is received by the audio circuit 406 and converted into audio data, which is then processed by the audio data output processor 408, and then transmitted to, for example, another terminal via the RF circuit 401, or the audio data is output to the memory 402 for further processing. The audio circuitry 406 may also include an earbud jack to provide peripheral headset communication with the terminal.

WiFi belongs to short distance wireless transmission technology, and the terminal can help the user to send and receive e-mail, browse web page and access streaming media etc. through WiFi module 407, it provides wireless broadband internet access for the user. Although fig. 4 shows the WiFi module 407, it is understood that it does not belong to the essential constitution of the terminal, and may be omitted entirely as needed within the scope not changing the essence of the invention.

The processor 408 is a control center of the terminal, connects various parts of the entire handset using various interfaces and lines, and performs various functions of the terminal and processes data by operating or executing software programs and/or modules stored in the memory 402 and calling data stored in the memory 402, thereby integrally monitoring the handset. Optionally, processor 408 may include one or more processing cores; preferably, the processor 408 may integrate an application processor, which handles primarily the operating system, user interface, applications, etc., and a modem processor, which handles primarily the wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 408.

The terminal also includes a power source 409 (e.g., a battery) for powering the various components, which may preferably be logically coupled to the processor 408 via a power management system to manage charging, discharging, and power consumption via the power management system. The power supply 409 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.

Although not shown, the terminal may further include a camera, a bluetooth module, and the like, which will not be described herein. Specifically, in this embodiment, the processor 408 in the terminal loads the executable file corresponding to the process of one or more application programs into the memory 402 according to the following instructions, and the processor 408 runs the application programs stored in the memory 402, thereby implementing various functions:

the method comprises the steps of acquiring target motion data corresponding to a target vehicle in the driving process through sensing equipment, receiving a plurality of reference motion data corresponding to the target vehicle in the driving process returned by a positioning device, wherein the positioning device comprises a plurality of positioning modules, each positioning module corresponds to one reference motion data, acquiring environment information of the current position of the target vehicle, determining a positioning module calling strategy corresponding to the environment information, calling the reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data, performing data adjustment on the target motion data according to the called reference motion data, and determining the position of the target vehicle based on an adjustment result.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, embodiments of the present invention provide a storage medium having stored therein a plurality of instructions that can be loaded by a processor to perform any of the steps in obtaining a vehicle position provided by embodiments of the present invention. For example, the instructions may perform the steps of:

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the storage medium can execute the steps in any vehicle position obtaining method provided by the embodiment of the present invention, the beneficial effects that can be achieved by any vehicle position obtaining method provided by the embodiment of the present invention can be achieved, and detailed descriptions are omitted here for the detailed description of the foregoing embodiments.

An embodiment of the present invention further provides an intelligent vehicle, as shown in fig. 5, which shows a schematic structural diagram of the intelligent vehicle according to the embodiment of the present invention, specifically:

the smart vehicle may include a vehicle body 501, a sensing device 502, an execution device 503, and an on-board processing device 504, and those skilled in the art will appreciate that the electronic device configuration shown in fig. 5 does not constitute a limitation of the smart vehicle, and may include more or fewer components than those shown, or combine certain components, or a different arrangement of components. Wherein:

the vehicle body 501 is a vehicle body structure of the unmanned vehicle, and may include hardware structures such as a frame, a door, a vehicle body, and an internal seat.

Sensing device 502 is a sensing structure of a smart vehicle for sensing internal state information of the unmanned vehicle, as well as environmental information in the external driving environment. Specifically, the device can comprise a wheel speed meter, a positioning meter, a tire pressure meter, a sensor, a camera and the like.

The execution device 503 is a structure for executing a driving function of the smart vehicle, and the execution device may include a power device such as an engine, a power battery, a transmission structure, a display device such as a display screen and a sound device, a steering device such as a steering wheel, and a tire.

The on-vehicle processing device 504 is the "brain" of the intelligent vehicle, and integrates a control device for controlling vehicle operation parameters such as vehicle speed, direction, acceleration steering, etc., a vehicle running safety monitoring device for monitoring the running state of the unmanned vehicle, an information acquisition device for analyzing information sensed by the sensing device, a planning device for planning a vehicle running route, and the like.

The execution device, the sensing device and the vehicle-mounted processing device are all mounted on a vehicle body, and the vehicle-mounted processing device is connected with the execution device and the sensing device through a bus, so that the vehicle-mounted processing device can execute the steps in any vehicle position acquiring method provided by the embodiment of the application, and therefore, the beneficial effects which can be realized by any vehicle position acquiring method provided by the embodiment of the application can be realized, and the method is detailed in the previous embodiment and is not repeated herein.

The method, the device, the terminal, the storage medium and the intelligent vehicle for obtaining the vehicle position provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A method of obtaining a vehicle position, characterized by comprising:

2. The method according to claim 1, wherein the step of calling the reference motion data corresponding to the positioning module calling policy from the plurality of reference motion data and performing data adjustment on the target motion data according to the called reference motion data comprises:

drawing a first motion trail of the target vehicle according to the target motion data;

calling at least two positioning modules from a plurality of positioning modules according to the positioning module calling strategy to obtain a calling module set;

extracting reference motion data corresponding to each positioning module in the calling module set, and drawing a second motion track of the target vehicle based on the called reference motion data to obtain at least two second motion tracks;

carrying out track adjustment on the first motion track through the at least two second motion tracks to obtain an adjusted motion track;

the determining the position of the target vehicle based on the adjustment result includes: determining a position of the target vehicle based on the adjusted motion trajectory.

3. The obtaining method according to claim 2, wherein the performing the trajectory adjustment on the first motion trajectory through the at least two second motion trajectories to obtain an adjusted motion trajectory includes:

extracting a target coordinate point set corresponding to the first motion track, wherein the target coordinate point set comprises a plurality of target coordinate points, and;

extracting coordinate points corresponding to the at least two second motion tracks to obtain a reference coordinate point set corresponding to each second motion track, wherein the reference coordinate point set comprises a plurality of reference coordinate points, and one reference coordinate point corresponds to one target coordinate point;

and adjusting the track of the first motion track according to the target coordinate point set and the at least two reference coordinate point sets to obtain an adjusted motion track.

4. The method according to claim 3, wherein the performing a trajectory adjustment on the first motion trajectory according to the target coordinate point set and at least two reference coordinate point sets to obtain an adjusted motion trajectory includes:

calculating the offset between the target coordinate point and the corresponding reference coordinate point according to the incidence relation between the target coordinate point and the reference coordinate point;

and when the offset meets a preset condition, determining the reference coordinate point meeting the preset condition as an adjusted coordinate point, and generating an adjusted motion track based on the adjusted coordinate point.

5. The method according to claim 4, wherein when the offset amount satisfies a preset condition, determining a corrected coordinate point satisfying the preset condition as an adjusted coordinate point, and generating an adjusted motion trajectory based on the adjusted coordinate point, includes:

judging whether the offset is smaller than a first threshold value;

and generating an adjusted motion trail based on the adjusted coordinate points.

6. The acquisition method according to claim 5, further comprising:

7. The method according to any one of claims 1 to 6, wherein the acquiring environmental information of the current position of the target vehicle and determining a positioning module invoking strategy corresponding to the environmental information includes:

acquiring the building density of the current position of the target vehicle according to the environment information;

when the building density is a first density, determining all the positioning modules as modules to be called;

when the building density is a second density, selecting a positioning module corresponding to the second density from the plurality of positioning modules, and determining the selected positioning module as a module to be called;

the step of calling the reference motion data corresponding to the positioning module calling strategy from the plurality of reference motion data and carrying out data adjustment on the target motion data according to the called reference motion data comprises the following steps: and calling the reference motion data corresponding to the module to be called from the plurality of reference motion data, and performing data adjustment on the target motion data according to the called reference motion data.

8. The obtaining method according to claim 7, wherein when the building density is a second density, selecting a positioning module corresponding to the second density from a plurality of positioning modules, and determining the selected positioning module as a module to be called includes:

9. The method of any of claims 1-6, wherein determining the location of the target vehicle based on the adjustment comprises:

acquiring the altitude information of the current position of the target vehicle according to the environment information;

constructing an adjusted motion track corresponding to an adjustment result based on the altitude information and the adjustment result;

and determining the position of the target vehicle through the adjusted motion track.

10. The method of claim 9, wherein determining the location of the target vehicle from the adjusted motion profile comprises:

11. An apparatus for obtaining a vehicle position, comprising:

12. A smart vehicle comprising a sensing device, a positioning module, a processor and a memory, the processor being configured to implement the method of obtaining a vehicle position according to any one of claims 1 to 10 when executing a computer program stored in the memory.