CN111323038B - Method and system for positioning unmanned vehicle in tunnel and electronic equipment - Google Patents
Method and system for positioning unmanned vehicle in tunnel and electronic equipment Download PDFInfo
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- CN111323038B CN111323038B CN202010229751.6A CN202010229751A CN111323038B CN 111323038 B CN111323038 B CN 111323038B CN 202010229751 A CN202010229751 A CN 202010229751A CN 111323038 B CN111323038 B CN 111323038B
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The embodiment of the invention relates to a method and a system for positioning an unmanned vehicle in a tunnel and electronic equipment. The method is applicable to unmanned vehicles (or called autonomous or unmanned). A radar system is arranged in the tunnel, and the method comprises the following steps: the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server; a vehicle to be positioned sends a positioning request to the cloud server; in response to the positioning request, the cloud server sending the vehicle distribution position information to the vehicle to be positioned; and the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information. The embodiment of the invention realizes the purpose of positioning the unmanned vehicle running in the tunnel.
Description
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to a positioning method and system for an unmanned driving vehicle in a tunnel and electronic equipment.
Background
Unmanned vehicle relies on-vehicle sensing system perception road environment, carries out route planning, cruises automatically, carries out simultaneously such as commodity sell, dispatches intelligent automobile of operation tasks such as express delivery. The intelligent control system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, is an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
Currently, an unmanned vehicle mainly depends on a Global Positioning System (GPS) to locate the vehicle, and performs route planning based on a location result, thereby implementing an unmanned function. In practice, the GPS signal is very weak in the tunnel, which may cause the unmanned vehicle to fail to implement the positioning function, and even affect the implementation of the automatic driving function. Therefore, how to perform positioning in the tunnel is still an urgent problem to be solved at present.
Disclosure of Invention
At least one embodiment of the invention provides a method, a system and electronic equipment for positioning an unmanned vehicle in a tunnel, which achieve the purpose of positioning the unmanned vehicle running in the tunnel.
In a first aspect, an embodiment of the present invention provides a method for positioning an unmanned vehicle in a tunnel, where a radar system is disposed in the tunnel, and the method for positioning an unmanned vehicle in a tunnel includes the following steps:
the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server;
a vehicle to be positioned sends a positioning request to the cloud server;
in response to the positioning request, the cloud server sending the vehicle distribution position information to the vehicle to be positioned;
and the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information.
In a second aspect, an embodiment of the present invention further provides a positioning system for an unmanned vehicle in a tunnel, including a vehicle to be positioned, a cloud server, and a radar system disposed in the tunnel; the vehicle to be positioned and the radar system are both connected with the cloud server;
the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server;
a vehicle to be positioned sends a positioning request to the cloud server;
the cloud server responds to the positioning request and sends the vehicle distribution position information to the vehicle to be positioned;
and the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory;
the processor is configured to perform the steps of any of the methods described above by calling a program or instructions stored in the memory.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a program or instructions, where the program or instructions cause a computer to execute the steps of any one of the above methods.
According to the positioning method of the unmanned vehicle in the tunnel, provided by the embodiment of the invention, the radar system is used for collecting the vehicle distribution position information in real time, the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information, and the radar system is used for replacing a GPS (global positioning system) to perform positioning substantially, so that the problem that the unmanned vehicle cannot realize the positioning function due to very weak GPS signals in the tunnel is solved, and the aim of positioning the unmanned vehicle running in the tunnel is fulfilled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described 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 that other drawings can be obtained according to the drawings.
FIG. 1 is a flow chart of a method for locating an unmanned vehicle in a tunnel according to an embodiment of the present invention;
FIG. 2 is a top view of an interior and surrounding area of a tunnel according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for locating an unmanned vehicle in a tunnel according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for locating an unmanned vehicle in a tunnel according to an embodiment of the present invention;
FIG. 5 is a block diagram of a positioning system for an unmanned vehicle in a tunnel according to an embodiment of the present invention;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
As background art, in the prior art, an unmanned vehicle mainly relies on a GPS to locate a vehicle, but when the unmanned vehicle travels in a tunnel, a GPS signal is very weak, which may cause the unmanned vehicle to fail to implement a locating function, and even affect the implementation of an automatic driving function. In view of the above, the embodiments of the present disclosure provide a positioning scheme for an unmanned vehicle in a tunnel, which can position the vehicle traveling in the tunnel without using GPS.
The positioning scheme of the unmanned vehicle in the tunnel provided by the embodiment of the disclosure can be applied to the unmanned vehicle and can also be applied to the manual driving vehicle. In addition, the positioning scheme of the unmanned vehicle in the tunnel provided by the embodiment of the disclosure is also suitable for positioning the vehicle running in the bridge opening.
Fig. 1 is a flowchart of a method for locating an unmanned vehicle in a tunnel according to an embodiment of the present invention. The method may be performed by a vehicle, a server, and a radar system disposed within a tunnel.
In the application, the radar systems can be installed at any position in the tunnel, and any positive integer number of radar systems can be installed in the same tunnel. This is not limited by the present application. Optionally, the radar system is installed in a tunnel in an unobstructed position so that the range that the radar system can scan is large enough. Fig. 2 is a top view of an inner area and a surrounding area of a tunnel according to an embodiment of the present invention. Referring to fig. 2, the radar system a is installed at the center of the top of the tunnel B, and the distance between the radar system a and the entrance and exit at the left and right sides of the tunnel B is the same, and the boundary line D of the two-way lane passes through the vertical projection of the radar system a on the ground. The essence that sets up like this is that the system installs radar system in the inside system high point of tunnel B, reduces the probability that the detection ripples that radar system sent are sheltered from, is favorable to making radar system A have enough big scannable range, and then reduces radar system A's installation number to reduce installation cost.
It should be noted that, in order to enable the unmanned vehicle driving at any position in the tunnel to be located, the scannable range of the radar system should cover the whole tunnel in the actual setting. When the length of the tunnel is larger than the maximum size of the scannable range of a single radar system, a plurality of radar systems may be arranged along the direction of extension of the tunnel.
The positioning method of the unmanned vehicle in the tunnel comprises the following steps:
and S110, the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server.
In this application, the radar system needs to have not only a ranging function but also a function capable of identifying the orientation of the target. The radar system may be, for example, a lidar.
Optionally, the vehicle distribution location information includes actual location information of all vehicles within the tunnel. The actual position information of the vehicle refers to position coordinates of the vehicle in the geography, and for example, the actual position information of the vehicle is represented by longitude and latitude.
It should be noted that, in practice, it may happen that the scannable range of the radar system covers not only the entire tunnel but also the road outside the tunnel, and in this case, the vehicle distribution position information includes the actual position information of all the vehicles in the tunnel and the actual position information of the vehicles on the road outside the tunnel in a certain range.
The principle of the radar system for collecting the vehicle distribution position information is that the laser radar comprises a detection signal sending component and a detection signal receiving component. The detection signal sending part of the laser radar is used for sending detection signals (such as laser beams) to vehicles in the tunnel, then the detection signal receiving part compares the received signals (also called target echoes) reflected from the vehicles with the sent detection signals, and after proper processing, information related to the vehicles can be obtained, such as the distance between the vehicles and the laser radar, the direction of the vehicles relative to the laser radar, the speed of the vehicles even the shape of the vehicles and other parameters. Based on the distance of the vehicle from the lidar and the orientation of the vehicle relative to the lidar, relative position information of the vehicle and the radar system may be derived.
Therefore, optionally, the implementation method of this step includes: the radar system collects the relative position information of each vehicle and the radar system in real time; determining actual position information of each vehicle based on the relative position information of each vehicle and the radar system and the actual position information of the radar; and obtaining vehicle distribution position information based on the actual position information of each vehicle. Here, the actual location information of the radar refers to the location coordinates of the radar in the geography, for example, the actual location information of the radar is characterized by latitude and longitude.
And S120, the vehicle to be positioned sends a positioning request to the cloud server.
And S130, responding to the positioning request, and sending vehicle distribution position information to the vehicle to be positioned by the cloud server.
S140, determining the actual position information of the vehicle to be positioned based on the vehicle distribution position information.
The implementation method of this step has a variety of methods, and exemplarily, if the vehicle distribution position information only includes the actual position information of one vehicle, it may be considered that the vehicle included in the vehicle distribution position information is the vehicle to be positioned, and therefore, the actual position information of the vehicle included in the vehicle distribution position information may be used as the actual position information of the vehicle to be positioned.
If the vehicle distribution position information comprises the actual position information of at least two vehicles; when the step is executed, the corresponding relationship between the vehicle to be positioned and the vehicles in the vehicle distribution position information needs to be determined, that is, the vehicle to be positioned is uniquely identified as the vehicle in the tunnel among all vehicles in the tunnel, and then the actual position information of the vehicle to be positioned is determined based on the corresponding relationship.
Illustratively, the vehicle distribution location information includes actual location information of at least two vehicles; the method for determining the actual position information of the vehicle to be positioned based on the vehicle distribution position information comprises the following steps: a vehicle to be positioned acquires driving information; the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information; and determining the actual position information of the vehicle to be positioned based on the corresponding relation. The driving information comprises relative position information of the vehicle to be positioned and surrounding vehicles, the vehicle speed, the driving time, the lane where the vehicle is located, the last positioning result and the like. The driving information is acquired based on sensors integrated on the unmanned vehicle, such as a laser radar, a millimeter wave radar, a camera, a speed sensor and the like. In practice, the contents included in the driving information are different, and the method for identifying which vehicle to be located is in the tunnel is different, which is not limited in the present application.
Exemplarily, two methods of identifying which vehicle to be located is in the tunnel are given below:
the method comprises the steps that firstly, if the driving information comprises relative position information of a vehicle to be positioned and surrounding vehicles; the identification of which vehicle to be located is in the tunnel may be: the vehicle to be positioned determines the relative position information of each vehicle and other vehicles included in the vehicle distribution position information based on the vehicle distribution position information; and the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the relative position information of the vehicle to be positioned and the surrounding vehicles in the driving information and the relative position information of each vehicle and other vehicles included in the vehicle distribution position information.
If the vehicle distribution position information comprises time information of the acquisition moment; the driving information comprises actual position information of the vehicle to be positioned at the last positioning, time information of the last positioning, the speed of the current vehicle and a lane where the current vehicle is located; the identification of which vehicle to be located is in the tunnel may be: determining estimated position information of the unmanned driving vehicle at the vehicle distribution position information acquisition moment based on the driving information by the vehicle to be positioned; the correspondence relationship between the vehicle and the vehicle in the vehicle distribution position information is determined based on the estimated position information and the actual position information of each vehicle included in the vehicle distribution position information.
Optionally, the first method and the second method may be performed simultaneously to identify which vehicle in the tunnel the vehicle to be located is.
In the second method, the positioning method of the last positioning is not limited in this application. For example, the positioning may be performed by using the method provided in the present application, and may also be performed by using GPS.
According to the technical scheme, the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information acquired by the radar system, and the GPS is not needed in the positioning process, so that the problems that the positioning function of the existing vehicle running in the tunnel cannot be realized by unmanned driving due to the fact that the GPS signal is very weak, and even the realization of the automatic driving function is influenced are solved, and the effect of positioning the vehicle running in the tunnel is achieved.
For the situation of GPS-less positioning, some prior arts indicate that the lane line can be detected by a visual detection device integrated in the vehicle, and the unmanned vehicle is controlled to travel along the center of the lane line, so as to realize unmanned driving. However, this method is not suitable for roads with fuzzy lane lines, and the light in the tunnel is dark, the accuracy of the identified lane line is poor, and traffic accidents are easily caused. Still other prior art points out that it is possible to add markers, such as signboards/tunnel bumps, in tunnels, and to use the lidar or vision detection devices integrated on the unmanned vehicles for positioning based on the markers, which is a major improvement of tunnels, a complex procedure and high cost. The positioning method provided by the embodiment of the invention can ensure that the vehicle can be accurately positioned in the tunnel and the safe driving of the vehicle is ensured. On the other hand, the tunnel is changed slightly, the process is simple, the cost is low, and the method is suitable for popularization. In addition, the positioning mode that this application provided still is fit for locating the vehicle of traveling in the bridge opening.
On the basis of the technical scheme, optionally, the cloud server and the radar system arranged in the tunnel are connected in a wired connection mode. Therefore, the data transmission between the cloud server and the radar system is not easily interfered, and the data has higher transmission rate and accuracy.
Fig. 3 is a flowchart of another method for locating an unmanned vehicle in a tunnel according to an embodiment of the present invention. Fig. 3 is a specific example of fig. 1. Referring to fig. 3, the positioning method includes:
s210, the radar system collects vehicle distribution position information at a set time interval delta t, and the vehicle distribution position information comprises time information of collection time.
The specific value of the time interval Δ t is not limited in this application. Which can be set according to the needs of the user. In addition, the specific value of the set time interval Δ t may be the same or different under different conditions. For example, the value of Δ t when there is a vehicle in the tunnel is smaller than the value of Δ t when there is no vehicle in the tunnel.
For example, Δ t is 0.2s, that is, the radar system collects vehicle distribution position information every 0.2 s.
Optionally, the vehicle distribution location information includes actual location information of all vehicles within the tunnel.
S220, the vehicle to be positioned sends a positioning request to a cloud server, and meanwhile the vehicle to be positioned acquires driving information; the positioning request includes time information of the request time t 1; the travel information includes relative position information of the vehicle to be positioned and surrounding vehicles.
Since the vehicle to be positioned sends the positioning request to the cloud server and the vehicle to be positioned acquires the driving information at the same time, the time for acquiring the driving information is the same as time t 1.
S230, responding to the positioning request, the cloud server sends vehicle distribution position information of which the acquisition time t2 meets t 1-delta t/2 < t2 and is not more than t1+ delta t/2 to the vehicle to be positioned.
For example, if Δ t is 0.2s, the radar system collects the vehicle distribution position information once at 0s, 0.2s, 0.4s, and 0.6s … …, respectively.
And if the vehicle to be positioned is located at 0.31s, sending a positioning request to the cloud server, namely t1 is 0.31 s. Based on t 1-delta t/2 < t2 not less than t1+ delta t/2, 0.21s < t2 not more than 0.41s can be obtained, and t2 represents the time when the radar system collects the vehicle distribution position information, and the value range of t2 is one of 0s, 0.2s, 0.4s and 0.6s … …. Therefore t2 is 0.4 s. And the cloud server sends the vehicle distribution position information with the collection time of 0.4s to the vehicle to be positioned.
S240, the vehicles to be positioned determine the relative position information of each vehicle and other vehicles included in the vehicle distribution position information based on the vehicle distribution position information.
For example, if the vehicle distribution position information only includes the actual position information of all vehicles in the tunnel at time t 2. Assuming that a represents latitude coordinates and bn represents longitude coordinates, the actual location information of a vehicle may be represented as (an, bn). In fig. 2, there are three vehicles in the tunnel, and the vehicle distribution position information includes: the actual position information of the vehicle No. 1 is (a1, b1), the actual position information of the vehicle No. 2 is (a2, b2), and the actual position information of the vehicle No. 3 is (a3, b 3). Since the actual position information of each vehicle is clear, the relative position information of any two vehicles can be obtained based on the actual position information of each vehicle.
And S250, determining the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the relative position information of the vehicle to be positioned and the surrounding vehicles in the running information and the relative position information of each vehicle and other vehicles included in the vehicle distribution position information.
For example, with continued reference to fig. 2, assuming that each vehicle in the figure is traveling in the arrow direction, the relative position information of each vehicle and other vehicles included in the vehicle distribution position information obtained based on S240 is:
firstly, taking the No. 1 vehicle as a reference, the No. 2 vehicle is positioned at the position 2m on the left side of the No. 1 vehicle, and the No. 3 vehicle is positioned at the position 10m behind the No. 1 vehicle;
secondly, taking the No. 2 vehicle as a reference, the No. 1 vehicle is positioned at the position 2m on the right side of the No. 2 vehicle, and the No. 3 vehicle is positioned at the position 10.8m behind the No. 1 vehicle;
thirdly, taking the No. 3 vehicle as a reference, the No. 1 vehicle is positioned 10m in front of the No. 3 vehicle, and the No. 2 vehicle is positioned 10.8m in front of the No. 1 vehicle;
assuming that the relative position information of the vehicle to be positioned and the surrounding vehicles in the traveling information includes: the distance between the vehicle to be positioned and the vehicle behind the vehicle to be positioned is 9.5m, and the distance between the vehicle to be positioned and the vehicle on the left side of the vehicle to be positioned is 1.9 m. By comparing the relative position information of the vehicle to be positioned and the surrounding vehicles with the relative position information of each vehicle and other vehicles obtained based on the actual position information of each vehicle in the vehicle distribution position information, it can be determined that the relative position information of the vehicle No. 1 and other vehicles and the relative position information of the vehicle to be positioned and the surrounding vehicles are consistent within the allowable range of error. Namely, the vehicle to be positioned has a corresponding relation with the vehicle No. 1 in the vehicle distribution position information.
And S260, determining the actual position information of the vehicle to be positioned based on the corresponding relation.
The actual position information (a1, b1) of the vehicle No. 1 can be used as the actual position information of the vehicle to be positioned because the vehicle to be positioned and the vehicle No. 1 in the vehicle distribution position information have the corresponding relation.
Optionally, when the automatic driving is subsequently executed, the actual position information (a1, b1) of the vehicle is to be positioned at time t2, and is used as a basis for guiding route planning and avoiding obstacles during driving.
In the technical scheme, t 1-delta t/2 is more than t2 and less than or equal to t1 plus delta t/2, so that the running information acquisition time t1 and the vehicle distribution position information acquisition time t2 are as close as possible in time, the corresponding relation between the determined vehicle to be positioned and the vehicle in the vehicle distribution position information is accurate, the positioning accuracy is high, and safe driving of the unmanned vehicle is facilitated based on the positioning result.
Fig. 4 is a flowchart of another method for locating an unmanned vehicle in a tunnel according to an embodiment of the present invention. Fig. 4 is a specific example of fig. 1. Referring to fig. 4, the positioning method includes:
s310, the radar system collects vehicle distribution position information at a set time interval delta t, and the vehicle distribution position information comprises time information of collection time.
S320, the vehicle to be positioned sends a positioning request to the cloud server, and meanwhile the vehicle to be positioned acquires the driving information. The positioning request includes time information of the request time t 1; the driving information includes actual position information of the vehicle to be positioned at the last positioning, time information of the last positioning time t3, the current vehicle speed v, and the lane where the current vehicle is located.
Since the vehicle to be positioned sends the positioning request to the cloud server and the vehicle to be positioned acquires the driving information at the same time, the time for acquiring the driving information is the same as time t 1.
S330, responding to the positioning request, the cloud server sends vehicle distribution position information of which the acquisition time t2 meets t 1-delta t/2 < t2 and is not more than t1+ delta t/2 to the vehicle to be positioned.
And S340, determining the estimated position information of the unmanned vehicle at the time t2 based on the running information of the vehicle to be positioned.
For example, the moving distance S of the unmanned vehicle in the period between the time t3 and the time t2 may be found from S ═ t2-t3| · v. Based on the actual position information of the vehicle to be positioned at the last time of positioning (i.e., the actual position information of the vehicle to be positioned at time t 3), the moving distance S of the unmanned vehicle in the time period between time t3 and time t2, and the lane where the current vehicle is located, the estimated position information of the unmanned vehicle at time t2 can be determined.
And S350, determining the corresponding relation between the vehicle and the vehicle in the vehicle distribution position information based on the estimated position information and the vehicle distribution position information.
For example, if the estimated position information of an unmanned vehicle at time t2 is (north latitude N39 ° 22 '36.38 ", east longitude E114 ° 50' 19.13"). The vehicle distribution position information includes: the actual position information of the No. 1 vehicle is (north latitude N39 degrees 22 '35.93' east longitude E114 degrees 50 '18.20') and the actual position information of the No. 2 vehicle is (north latitude N39 degrees 22 '36.37', east longitude E114 degrees 50 '19.11'). Obviously, within the allowable error range, the estimated location information of the unmanned vehicle is consistent with the actual location information of the vehicle number 2 in the distributed location information of the vehicles. That is, the estimated positional information of the unmanned vehicle and the vehicle No. 2 in the vehicle distribution positional information have a correspondence relationship.
And S360, determining the actual position information of the vehicle to be positioned based on the corresponding relation.
For example, if the estimated position information of the unmanned vehicle corresponds to the vehicle number 2 in the vehicle distribution position information, the actual position information of the vehicle number 2 is used as the actual position information of the vehicle to be positioned.
Optionally, when automatic driving is subsequently performed, the actual position information of the vehicle to be positioned at time t2 is used as a basis for guiding route planning and avoiding obstacles during driving.
It should be noted that, since the vehicle to be positioned sends the positioning request to the cloud server and the vehicle to be positioned acquires the driving information at the same time, the time for acquiring the driving information is also time t 1. That is, the current vehicle speed v and the collection time of the lane where the current vehicle is located in the travel information are t 1.
The vehicle to be positioned is usually subjected to a shifting movement during the actual travel. In practice, however, the time interval between two adjacent fixes is extremely short. In the error allowable range, for the sake of simple calculation, the above technical solution calculates the moving distance S of the unmanned vehicle based on S ═ t2-t3| · v by using the vehicle speed at time t1, which is advantageous for improving the calculation efficiency and thus the positioning efficiency.
In the technical scheme, t 1-delta t/2 is more than t2 and less than or equal to t1 plus delta t/2, so that the running information acquisition time t1 and the vehicle distribution position information acquisition time t2 are as close as possible in time, an error caused by calculating the moving distance S of the unmanned vehicle by using the vehicle speed at the time t1 is reduced, the corresponding relation between the determined vehicle to be positioned and the vehicle in the vehicle distribution position information is accurate, the positioning is ensured to have higher precision, and the safe driving of the unmanned vehicle is facilitated based on the positioning result.
The embodiment of the invention also provides a positioning system of the unmanned vehicle in the tunnel. Fig. 5 is a block diagram of a positioning system for an unmanned vehicle in a tunnel according to an embodiment of the present invention. Referring to fig. 5, the positioning system of the unmanned vehicle in the tunnel includes a vehicle 510 to be positioned, a cloud server 520, and a radar system 530 disposed in the tunnel; the vehicle to be positioned 510 and the radar system 530 are both connected with the cloud server 520;
the radar system 530 collects vehicle distribution position information in real time and sends the vehicle distribution position information to the cloud server 520;
the vehicle 510 to be positioned sends a positioning request to the cloud server 520;
the cloud server 520 sends the vehicle distribution position information to the vehicle to be positioned 510 in response to the positioning request;
the vehicle 510 to be positioned determines its actual position information based on the vehicle distribution position information.
Further, the vehicle distribution position information includes actual position information of all vehicles in the tunnel.
Furthermore, the radar system is used for acquiring the relative position information of each vehicle and the radar system in real time;
determining actual position information of each vehicle based on the relative position information of each vehicle and the radar system and the actual position information of the radar;
and obtaining vehicle distribution position information based on the actual position information of each vehicle.
Further, the vehicle distribution position information includes actual position information of at least two vehicles;
the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information, and the method comprises the following steps:
the vehicle to be positioned acquires driving information;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information;
and the vehicle to be positioned determines the actual position information of the vehicle based on the corresponding relation.
Further, the running information includes relative position information of the vehicle to be positioned and surrounding vehicles;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information, and the method comprises the following steps:
the vehicle to be positioned determines the relative position information of each vehicle and other vehicles included in the vehicle distribution position information based on the vehicle distribution position information;
and the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the relative position information of the vehicle to be positioned and the surrounding vehicles in the driving information and the relative position information of each vehicle and other vehicles included in the vehicle distribution position information.
Further, the vehicle distribution position information includes time information of the collection time;
the driving information comprises actual position information of a vehicle to be positioned at the last time, time information of the last positioning, the speed of the current vehicle and a lane where the current vehicle is located;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information, and the method comprises the following steps:
the vehicle to be positioned determines estimated position information of the vehicle to be positioned at the vehicle distribution position information acquisition moment based on the driving information;
and the vehicle to be positioned determines the corresponding relation between the vehicle and the vehicle in the vehicle distribution position information based on the actual position information of each vehicle included in the estimated position information and the vehicle distribution position information.
Further, the radar system collects vehicle distribution position information at a set time interval delta t;
the vehicle to be positioned sends a positioning request to the cloud server and obtains driving information, wherein the sending time of the positioning request is t 1;
the acquisition time of the vehicle distribution position information sent to the vehicle to be positioned by the cloud server is t2, and t2 meets the conditions that t 1-delta t/2 is more than t2 and is not more than t1 plus delta t/2.
The positioning device for the unmanned vehicle in the tunnel provided by the embodiment of the application can execute the positioning method for the unmanned vehicle in the tunnel provided by any embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and is not repeated herein.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application. Referring to fig. 6, the electronic device includes: at least one processor 601, at least one memory 602, and at least one communication interface 603. The various components in the electronic device are coupled together by a bus system 604. A communication interface 603 for information transmission with an external device. It can be appreciated that the bus system 604 is used to enable communications among the components. The bus system 604 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for the sake of clarity the various busses are labeled in fig. 6 as the bus system 604.
It will be appreciated that the memory 602 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 602 stores elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs, including various application programs such as a Media Player (Media Player), a Browser (Browser), etc., are used to implement various application services. The program for implementing the method for positioning the unmanned vehicle in the tunnel provided by the embodiment of the application may be included in the application program.
In the embodiment of the present application, the processor 601 is configured to execute the steps of the embodiments of the method for locating an unmanned vehicle in a tunnel according to the embodiments of the present application by calling a program or an instruction stored in the memory 602, which may be specifically a program or an instruction stored in an application program.
The positioning method for the unmanned vehicle in the tunnel provided by the embodiment of the application can be applied to the processor 601, or can be realized by the processor 601. The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The Processor 601 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the positioning method for the unmanned vehicle in the tunnel provided by the embodiment of the application can be directly embodied as the execution of a hardware decoding processor, or the execution of the hardware decoding processor and a software unit in the decoding processor is combined. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 602, and the processor 601 reads the information in the memory 602 and performs the steps of the method in combination with its hardware.
The electronic device may further include a physical component or a plurality of physical components to implement control of the unmanned vehicle according to instructions generated by the processor 601 when executing the method for positioning the unmanned vehicle in the tunnel according to the embodiment of the present application. Different physical components may be provided in or out of the unmanned vehicle, such as a cloud server or the like. The various physical components cooperate with the processor 601 and the memory 602 to implement the functions of the electronic device in this embodiment.
Embodiments of the present application also provide a computer-readable storage medium storing a program or instructions that when executed by a computer perform a method for locating an unmanned vehicle in a tunnel, the method comprising:
the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server;
a vehicle to be positioned sends a positioning request to the cloud server;
in response to the positioning request, the cloud server sending the vehicle distribution position information to the vehicle to be positioned;
and the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information.
Optionally, the computer executable instructions, when executed by the computer processor, may be further used to implement the solution of the method for locating an unmanned vehicle in a tunnel according to any embodiment of the present application.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. With this understanding, the technical solutions of the present application may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those of skill in the art will understand that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments.
Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. A method for positioning an unmanned vehicle in a tunnel is characterized in that a radar system is arranged in the tunnel, and the method for positioning the unmanned vehicle in the tunnel comprises the following steps:
the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server;
a vehicle to be positioned sends a positioning request to the cloud server;
in response to the positioning request, the cloud server sending the vehicle distribution position information to the vehicle to be positioned;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the vehicle distribution position information, namely uniquely identifies which vehicle in the tunnel the vehicle to be positioned is, and then determines the actual position information of the vehicle to be positioned based on the corresponding relation;
the vehicle distribution position information includes actual position information of all vehicles in the tunnel.
2. The method of claim 1, wherein the radar system collects vehicle distribution position information in real time, and comprises:
the radar system collects the relative position information of each vehicle and the radar system in real time;
determining actual position information of each vehicle based on the relative position information of each vehicle and the radar system and the actual position information of the radar;
and obtaining vehicle distribution position information based on the actual position information of each vehicle.
3. The method for locating an unmanned vehicle inside a tunnel according to any one of claims 1-2, wherein the vehicle distribution position information includes actual position information of at least two vehicles;
the vehicle to be positioned determines the actual position information of the vehicle based on the vehicle distribution position information, and the method comprises the following steps:
the vehicle to be positioned acquires driving information;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information;
and the vehicle to be positioned determines the actual position information of the vehicle based on the corresponding relation.
4. The method of locating an unmanned vehicle in a tunnel according to claim 3,
the driving information comprises relative position information of the vehicle to be positioned and surrounding vehicles;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information, and the method comprises the following steps:
the vehicle to be positioned determines the relative position information of each vehicle and other vehicles included in the vehicle distribution position information based on the vehicle distribution position information;
and the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the relative position information of the vehicle to be positioned and the surrounding vehicles in the driving information and the relative position information of each vehicle and other vehicles included in the vehicle distribution position information.
5. The method of locating an unmanned vehicle in a tunnel according to claim 3,
the vehicle distribution position information comprises time information of the acquisition moment;
the driving information comprises actual position information of a vehicle to be positioned at the last time, time information of the last positioning, the speed of the current vehicle and a lane where the current vehicle is located;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the running information and the vehicle distribution position information, and the method comprises the following steps:
the vehicle to be positioned determines estimated position information of the vehicle to be positioned at the vehicle distribution position information acquisition moment based on the running information;
and the vehicle to be positioned determines the corresponding relation between the vehicle and the vehicle in the vehicle distribution position information based on the actual position information of each vehicle included in the estimated position information and the vehicle distribution position information.
6. The method of positioning an unmanned vehicle in a tunnel according to claim 4 or 5,
the radar system collects vehicle distribution position information at a set time interval delta t;
the vehicle to be positioned acquires driving information while sending a positioning request to the cloud server, wherein the sending time of the positioning request is t 1;
the acquisition time of the vehicle distribution position information sent to the vehicle to be positioned by the cloud server is t2, and t2 meets the conditions that t 1-delta t/2 is more than t2 and is not more than t1 plus delta t/2.
7. A positioning system of an unmanned vehicle in a tunnel is characterized by comprising a vehicle to be positioned, a cloud server and a radar system arranged in the tunnel; the vehicle to be positioned and the radar system are both connected with the cloud server;
the radar system collects vehicle distribution position information in real time and sends the vehicle distribution position information to a cloud server;
a vehicle to be positioned sends a positioning request to the cloud server;
the cloud server responds to the positioning request and sends the vehicle distribution position information to the vehicle to be positioned;
the vehicle to be positioned determines the corresponding relation between the vehicle to be positioned and the vehicle in the vehicle distribution position information based on the vehicle distribution position information, namely uniquely identifies which vehicle in the tunnel the vehicle to be positioned is, and then determines the actual position information of the vehicle to be positioned based on the corresponding relation;
the vehicle distribution position information includes actual position information of all vehicles in the tunnel.
8. An electronic device, comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 6 by calling a program or instructions stored in the memory.
9. A computer-readable storage medium, characterized in that it stores a program or instructions for causing a computer to carry out the steps of the method according to any one of claims 1 to 6.
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| CN113075676B (en) * | 2021-03-25 | 2022-04-29 | 东南大学 | Tunnel vehicle positioning method based on lane line mileage matching |
| CN114363812A (en) * | 2022-01-20 | 2022-04-15 | 广东隧辰地下空间科技有限公司 | Intelligent rescue and emergency transportation system for tunnel operation |
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