CN111609858B

CN111609858B - Positioning error determination method, track generation method, device and vehicle

Info

Publication number: CN111609858B
Application number: CN202010472101.4A
Authority: CN
Inventors: 张守俊
Original assignee: Neolix Technologies Co Ltd
Current assignee: Neolithic Zhongyan Shanghai Technology Co ltd
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2021-10-22
Anticipated expiration: 2040-05-28
Also published as: CN111609858A

Abstract

The application provides a positioning error determination method, a track generation method, a device and a vehicle, wherein the positioning error determination method is applied to the vehicle, the vehicle can be an unmanned vehicle, a dripping device and a positioning device are arranged on the vehicle, and the method comprises the following steps: acquiring a first track formed by first colored liquid dripped by the dripping device at a constant speed; the first track is a track formed by first colored liquid dropping at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using a positioning device; acquiring a second track formed by second colored liquid dripped by the dripping device at a constant speed; the second track is a track formed by second colored liquid dropping at a constant speed on a road in the process that the vehicle runs along the preset running track according to a preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color and same in density; and determining the positioning error of the positioning device according to the contact ratio of the first track and the second track.

Description

Positioning error determination method, track generation method, device and vehicle

Technical Field

The application relates to the technical field of information processing, in particular to a positioning error determining method, a track generating method, a device and a vehicle.

Background

For an unmanned vehicle provided with a positioning navigation device, it is always difficult to measure the positioning accuracy of the positioning navigation device in the driving process of the unmanned vehicle. Generally, the unmanned vehicle determines the position of the positioning according to data (such as GPS position, and the position matched with high-precision map radar point cloud) provided by the software side. In fact, the data obtained by the software side has errors, and errors also occur in the process of data fusion, so the positioning data obtained by the method cannot accurately represent the actual position of the unmanned vehicle.

It is worth mentioning that in case of a stationary positioning of the device, it is easier to measure and statistically analyze the positioning error, whereas in case of a moving positioning of the navigation device, it is not easy to measure and statistically analyze the dynamic positioning error.

Disclosure of Invention

In view of this, an object of the embodiments of the present application is to provide a positioning error determining method, a trajectory generating device, and a vehicle, so as to determine a dynamic positioning error of a positioning device.

In a first aspect, an embodiment of the present application provides a positioning error determination method, which is applied to a vehicle, where a dripping device and a positioning device are disposed on the vehicle, and the method includes: acquiring a first track formed by first colored liquid dripped by the dripping device at a constant speed; the first track is a track formed by the first colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device; acquiring a second track formed by second colored liquid dripped by the dripping device at a constant speed; the second track is a track formed by the second colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color and same in density; and determining the positioning error of the positioning device according to the contact ratio of the first track and the second track.

In the implementation process, a first track formed by the first colored liquid dripped at a constant speed by the dripping device on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device is obtained by arranging a dripping device and the positioning device on the vehicle in advance, and a second track formed by the second colored liquid dripped at a constant speed by the dripping device on the road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; because the first colored liquid and the second colored liquid are different in color so as to distinguish two tracks, and meanwhile, the density of the first colored liquid and the second colored liquid is the same so as to ensure that the dropping speeds of the first liquid and the second liquid are the same, under the condition that the preset rule, the positioning device and the driving track which correspond to the two tracks respectively are the same, the main factor influencing the contact ratio of the first track and the second track is the positioning precision of the positioning device.

Based on the first aspect, in a possible design, the determining a positioning error of the positioning device according to a coincidence ratio of the first trajectory and the second trajectory includes: for each first point in the first track, determining a second point corresponding to the first point from the second track; determining a midpoint of a connecting line between the first point and the corresponding second point; determining a first positional deviation between the first point and the midpoint; determining a second positional deviation between the second point and the midpoint; determining the positioning error based on a plurality of first position deviations and a plurality of second position deviations.

In the implementation process, the positioning error of the positioning device is determined according to the position deviation between the corresponding point and the midpoint between the corresponding points in the first track and the second track, the condition that a small number of position deviations are not accurate is fully considered, and then the positioning error of the positioning device can be determined more accurately.

In a possible design based on the first aspect, before the determining the positioning error of the positioning apparatus, the method further includes: acquiring a third track formed by third colored liquid dripped by the dripping device at a constant speed; the third track is a track formed by the third colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the third colored liquid is different in color and same in density as the first colored liquid and the second colored liquid; and determining the positioning error of the positioning device according to the contact ratio of the first track, the second track and the third track.

In the implementation, the more tracks are used for determining the positioning error of the positioning device, the higher the accuracy of the determined positioning error is, and therefore, the accuracy of the determination of the positioning error can be improved in the above manner.

In a possible design based on the first aspect, the first colored liquid and the second colored liquid are liquids having the same viscosity and a viscosity greater than a preset viscosity.

In the implementation process, the first colored liquid and the second colored liquid are liquids with the viscosity larger than the preset viscosity, so that the first track and the second track can be displayed on a road for a long time and cannot disappear immediately.

In a second aspect, an embodiment of the present application provides a trajectory generation method, which is applied to an electronic device in a vehicle, where a dripping device and a positioning device are disposed on the vehicle, and the method includes: controlling the vehicle to run on the road along a preset running track by using the positioning device according to a preset rule to obtain a first track formed by first colored liquid dripped at a constant speed by the dripping device on the road; controlling the vehicle to run on the road along the preset running track by using the positioning device according to the preset rule to obtain a second track formed by second colored liquid dripped by the dripping device at a constant speed on the road; wherein the second colored liquid and the first colored liquid are different in color and same in density; the first track and the second track are used for determining a positioning error of the positioning device.

In the implementation process, a first track formed by first colored liquid dripped at a constant speed by the dripping device on a road is obtained by arranging the dripping device and the positioning device on a vehicle in advance, then the vehicle is controlled to run along a preset running track according to a preset rule by using the positioning device, and the vehicle is controlled to run along the preset running track according to the preset rule by using the positioning device on the road to obtain a second track formed by second colored liquid dripped at the constant speed by the dripping device on the road; because the first colored liquid and the second colored liquid are different in color so as to distinguish two tracks, and meanwhile, the density of the first colored liquid and the second colored liquid is the same so as to ensure that the dropping speeds of the first liquid and the second liquid are the same, under the condition that the preset rule, the positioning device and the driving track corresponding to the two tracks respectively are the same, the main factor influencing the contact ratio of the first track and the second track is the positioning accuracy of the positioning device.

Based on the second aspect, in a possible design, the controlling the vehicle to travel on the road along a preset travel track according to a preset rule by using the positioning device includes: and controlling the vehicle to run at a constant speed on the road along a preset running track by using the positioning device according to a preset speed.

In the implementation process, by controlling the vehicle to run on the road at a constant speed, the running speeds corresponding to the first track and the second track can be further ensured to be the same, and then the positioning error of the positioning device can be more accurately determined.

In a third aspect, an embodiment of the present application provides a positioning error determining apparatus, which is applied to a vehicle, where a dripping apparatus and a positioning apparatus are disposed on the vehicle, and the apparatus includes: the first acquisition unit is used for acquiring a first track formed by first colored liquid dripped by the dripping device at a constant speed; the first track is a track formed by the first colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device; the second acquisition unit is used for acquiring a second track formed by second colored liquid dripped by the dripping device at a constant speed; the second track is a track formed by the second colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color; and the first colored liquid and the second colored liquid are the same in density; and the error determining unit is used for determining the positioning error of the positioning device according to the contact ratio of the first track and the second track.

Based on the third aspect, in a possible design, the error determination unit is specifically configured to, for each first point in the first track, determine a second point corresponding to the point from the second track; determining a midpoint of a connecting line between the first point and the corresponding second point; determining a first positional deviation between the first point and the midpoint; determining a second positional deviation between the second point and the midpoint; determining the positioning error based on a plurality of first position deviations and a plurality of second position deviations.

In a possible design based on the third aspect, the apparatus further includes: the third acquisition unit is used for acquiring a third track formed by third colored liquid dripped by the dripping device at a constant speed; the third track is a track formed by the third colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the third colored liquid is different in color and same in density as the first colored liquid and the second colored liquid; and the positioning error determining unit is used for determining the positioning error of the positioning device according to the coincidence ratio of the first track, the second track and the third track.

In a possible design based on the third aspect, the first colored liquid and the second colored liquid are liquids having the same viscosity and greater than a preset viscosity.

In a fourth aspect, an embodiment of the present application provides a trajectory generation device, which is applied to an electronic device in a vehicle, where a dripping device and a positioning device are disposed on the vehicle, and the device includes: the first control unit is used for controlling the vehicle to run on the road along a preset running track by using the positioning device according to a preset rule to obtain a first track formed by first colored liquid dripped by the dripping device at a constant speed on the road; the second control unit is used for controlling the vehicle to run on the road along the preset running track according to the preset rule by using the positioning device to obtain a second track formed by second colored liquid dripped by the dripping device at a constant speed on the road; wherein the second colored liquid and the first colored liquid are different in color and same in density; the first track and the second track are used for determining a positioning error of the positioning device.

Based on the fourth aspect, in a possible design, the first control unit is specifically configured to control the vehicle to run at a constant speed on the road along a preset running track by using the positioning device according to a preset speed.

In a fifth aspect, an embodiment of the present application provides a dripping device disposed in a vehicle, the device including: a container for holding the colored liquid; and one end of the liquid discharge pipe is positioned in the container, the other end of the liquid discharge pipe is positioned outside the container, and a port of the other end of the liquid discharge pipe faces downwards, so that when the liquid discharge pipe is horizontally placed in the vehicle, the liquid discharge pipe can uniformly drip the colored liquid onto a road.

In the implementation process, one end of the liquid discharge pipe is located in the container, the other end of the liquid discharge pipe is located outside the container, a port of the other end of the liquid discharge pipe faces downwards, and the container is used for containing the colored liquid, so that when the liquid discharge pipe is horizontally placed in the vehicle, the liquid discharge pipe can uniformly drip the colored liquid onto a road.

In a possible design based on the fifth aspect, the apparatus further includes: an air pump component; the air pump component is connected with the liquid discharge pipe; wherein the container is a closed container; the air pump component is used for outputting air into the container according to a preset air pressure rate, so that the liquid discharge pipe can drop the colored liquid onto a road at a constant speed in the running process of the vehicle.

In the implementation process, the liquid dropping speed is influenced to a certain extent by the volume of the liquid in the liquid discharge pipe, so that the liquid dropping speed of the liquid discharge pipe is not influenced by the volume of the liquid in the liquid discharge pipe by connecting the air pump component with the container and outputting air into the container according to the preset air pressure rate, and the liquid discharge pipe can be ensured to drop the colored liquid to a road at a constant speed in the driving process of the vehicle.

In a sixth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory connected to the processor, where a computer program is stored in the memory, and when the computer program is executed by the processor, the electronic device is caused to perform the method of the first aspect or the second aspect.

In a seventh aspect, an embodiment of the present application provides a storage medium, where a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the method of the first aspect or the second aspect.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a first leakage dropping device according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a second leakage dropping device according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a third leakage dropping device according to an embodiment of the present application.

Fig. 4 is a schematic diagram of a preset travel track, a first track, and a second track provided in an embodiment of the present application.

Fig. 5 is a schematic flow chart of a positioning error determination method according to an embodiment of the present application.

Fig. 6 is a schematic flow chart of a trajectory generation method according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a positioning error determination apparatus according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a trajectory generation device according to an embodiment of the present application.

Fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Icon: 700-a positioning error determination means; 710-a first obtaining unit; 720-a second obtaining unit; 730-an error determination unit; 800-a trajectory generation device; 810-a first control unit; 820-second control unit.

Detailed Description

The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a drip device provided in an application embodiment, the drip device is disposed on a vehicle, and the drip device shown in fig. 1 is described in detail below, and includes: a container and a drain.

A container for holding the colored liquid; wherein, the shape of container can be for shapes such as cylinder, cuboid, square, in this application embodiment, the container is the cuboid, the container can be transparent container, also can be non-transparent container when the container is transparent container, can know the volume of the liquid in the container more directly perceivedly.

And one end of the liquid discharge pipe is positioned in the container, the other end of the liquid discharge pipe is positioned outside the container, and the pipe orifice of the other end of the liquid discharge pipe positioned outside the container faces downwards, so that when the container is horizontally placed in the vehicle, the liquid discharge pipe can uniformly drip the colored liquid onto a road.

In this application embodiment, a drainage port has been seted up to the lateral wall of container, wherein, in this application embodiment, the drainage port is close to the bottom of container, is convenient for the liquid in the container to discharge, in other embodiments, the drainage port also can be located the intermediate position department of the lateral wall of container, the one end of fluid-discharge tube is passed through the drainage port is placed in the container, the shape size of fluid-discharge tube with the drainage port matches, the other end of fluid-discharge tube is located outside the container, for the convenience the fluid-discharge tube drips liquid at the uniform velocity, when the container level sets up on vehicle, the other end of fluid-discharge tube is perpendicular and towards ground with the horizontal plane, so that the fluid-discharge tube can drip at the uniform velocity coloured liquid is on the road.

It will be appreciated that a sealing ring may be provided between the outer wall of the discharge pipe and the discharge port to prevent liquid in the container from leaking out of the gap between the discharge port and the outer wall of the discharge pipe.

In other embodiments, the other end of the drain pipe may not be completely perpendicular to the horizontal plane, but the other end of the drain pipe needs to face the ground, so that the drain pipe can drop the colored liquid onto the road at a constant speed.

As an implementation mode, the other end of the liquid discharge pipe is connected with a valve, the valve is used for controlling whether the dripping device drips or not, and when the valve is in an open state and the container is horizontally arranged on a vehicle, the colored liquid can be dripped onto a road at a constant speed from a water outlet of the valve; when the valve is in a closed state, the liquid drops cannot be dripped from the water outlet of the valve, so that whether the liquid drops drip from the dripping device can be flexibly controlled.

It will be appreciated that the valve may also be used to control the drip rate of the drip device. As an implementation manner, referring to fig. 2, the dripping device further includes: an air pump component; the air pump component is connected with the container; wherein the container is a closed container;

the air pump component is used for inputting air into the container according to a preset air pressure rate, so that the liquid discharge pipe can drop the colored liquid onto a road at a constant speed in the running process of the vehicle.

Wherein the air pump component is connected with the container through an air inlet pipe; the side wall or the top wall of the container is provided with an air inlet, the shape and the size of the air inlet are matched with those of the air inlet pipe, one end of the air inlet pipe is connected with the air pump component, and the other end of the air inlet pipe is connected with the container through the air inlet; the other end of the air inlet pipe is provided with a valve, when the valve is in an open state, the air output by the air pump component enters the container, and when the valve is in a closed state, the air output by the air pump component cannot enter the container.

It can be understood that a sealing ring can be arranged between the outer pipe wall of the air inlet pipe and the air inlet so as to prevent the gas injected into the container through the air pump component from leaking from a gap between the outer pipe wall of the air inlet pipe and the air inlet.

Referring to fig. 3, the drip device includes at least two containers, an air pump component, a liquid discharge pipe and an air inlet pipe, for convenience of illustration, in the embodiment of the present application, the number of the containers is two, and the containers are respectively a first container and a second container, and the number of the air pump component is one;

the first end of intake pipe with the air pump part is connected, the second end of intake pipe is connected with first container, the third end of intake pipe is connected with the second container, the second end of intake pipe is provided with first valve, the third end of intake pipe is provided with the second valve, the first end of fluid-discharge tube is located in the first container, the second end of fluid-discharge tube is located the second container, the third end of fluid-discharge tube is located outside two containers, the first end of fluid-discharge tube is provided with first flowing back valve, the second end of fluid-discharge tube is provided with the second flowing back valve.

By opening the first valve and the first liquid discharge valve and closing the second valve and the second liquid discharge valve, the air pump part only inputs air to the first container, and only the liquid in the first container drops onto a road at a constant speed through the liquid discharge pipe;

by opening the second valve and the second liquid discharge valve and closing the first valve and the first liquid discharge valve, the air pump part only inputs air to the second container, and only the liquid in the second container drops onto a road at a constant speed through the liquid discharge pipe.

Referring to fig. 4, fig. 4 is a schematic flow chart of a positioning error determination method according to an embodiment of the present application, the method is applied to a vehicle, and a leakage device and a positioning device are disposed on the vehicle, where the leakage device is the leakage device shown in fig. 1 to 3, and the flow chart shown in fig. 4 will be described in detail below, and the method includes the steps of: s51, S52, and S53.

S51: acquiring a first track formed by first colored liquid dripped by the dripping device at a constant speed; the first track is formed by the first colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device.

S52: acquiring a second track formed by second colored liquid dripped by the dripping device at a constant speed; the second track is a track formed by the second colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color and same in density.

S53: and determining the positioning error of the positioning device according to the contact ratio of the first track and the second track.

The above method is described in detail below.

Wherein the preset driving track indicates a driving direction; for example, the preset travel locus is a- > B- > C- > D.

Wherein the first trajectory is characterized by coordinates of a plurality of colored points formed on the road by the first colored liquid. For example, the first trajectory is A1- > B1- > C1- > D1- > E1, as shown in FIG. 5.

The method includes the steps that the vehicle obtains the current position of the vehicle in real time by using a positioning device, and then the vehicle adjusts the running direction of the vehicle according to the preset running track, so that the vehicle runs according to the preset track.

The preset rule can be a fixed speed value, that is, the speeds of the vehicles at different position points of the preset driving track are the same; the preset rule may also be the speed of the vehicle at different position points of the preset driving track, wherein the speeds of the vehicles at the different position points are not identical.

The size of the speed in the preset rule is set according to the user requirement, and is not particularly limited, wherein the smaller the speed is, the greater the number of droplets included in the first trajectory is, and conversely, the smaller the number of droplets included in the first trajectory is.

Wherein the larger the number of droplets, the more accurately the positioning error of the positioning device can be determined.

Wherein the second trajectory is characterized by coordinates of a plurality of colored points formed on the road by the second colored liquid. For example, the second track is A2- > B2- > C2- > D2- > E2, as shown in FIG. 5.

If the preset rule is a speed fixed value, the vehicle runs at a constant speed according to the speed fixed value.

If the preset rule is not a fixed speed value, the vehicle adjusts the current running speed of the vehicle according to the preset speed corresponding to the position point in the preset running track in the process of utilizing the positioning device to run along the preset running track, so that the vehicle runs along the preset running track according to the speeds corresponding to different position points in the preset track by utilizing the positioning device.

As an embodiment, the first colored liquid and the second colored liquid are liquids having the same viscosity and greater than a preset viscosity.

The higher the viscosity of the first colored liquid is, the longer the first track is displayed on the road is, the more difficult the first track is to disappear, and conversely, the lower the viscosity of the first colored liquid is, the shorter the first track is displayed on the road is, the more easily the first track is to disappear.

As an indication of the value, too high a viscosity of the first coloured liquid also tends to cause the drip device to clog easily.

As an embodiment, S53 includes the steps of: s531, S532, S533, S534, and S535.

S531: for each first point in the first track, a second point corresponding to the point is determined from the second track.

It will be appreciated that the number of points included in the first and second trajectories is the same.

In an actual implementation process, the directions of the first track and the second track are consistent, and the speed of liquid dropped by the dripping device is the same, so that the positioning error of the positioning device can be determined by sequentially selecting a first point from the first track and a second point corresponding to the first point from the second track along a preset direction.

For example, as shown in fig. 5, the first trajectory is: a1- > B1- > C1- > D1- > E1; the second trajectory is: a2- > B2- > C2- > D2- > E2; then, a1 and a2 correspond; b1 and B2 correspond; c1 and C2 correspond; by analogy, E1 and E2 correspond.

S532: determining a midpoint of a line between the first point and the corresponding second point.

And determining the middle point of a connecting line between the first point and the corresponding second point according to the coordinates of the first point and the coordinates of the corresponding second point.

S533: a first positional deviation between the first point and the midpoint is determined.

And determining a first distance between the first point and the middle point according to the coordinates of the first point and the coordinates of the middle point, wherein the first distance is a first position deviation between the first point and the corresponding second point.

S534: a second positional deviation between the second point and the midpoint is determined.

The specific implementation of S534 is the same as S533, and is not described herein again.

S535: determining the positioning error based on a plurality of first position deviations and a plurality of second position deviations.

The total average of the plurality of first position deviations and the plurality of second position deviations is obtained by averaging the plurality of first position deviations and the plurality of second position deviations, and the total average can be determined as the positioning error.

And determining a variance representing the positioning error according to the overall mean, the first position deviations and the second position deviations. The specific solution of the variance is well known in the art, and is not described herein.

As an embodiment, S53 may be implemented as follows, directly using the total mean determined in step S535 as the positioning error.

As an embodiment, S53 includes the steps of: s536, S537, and S538.

S536: for each first point in the first track, a second point corresponding to the point is determined from the second track.

The specific implementation of S536 is the same as S531, and therefore, the detailed description thereof is omitted here.

S537: a positional deviation between the first point and the corresponding second point is determined.

And determining the distance between the first point and the corresponding second point according to the coordinate of the first point and the coordinate of the corresponding second point, wherein the distance is the position deviation between the first point and the corresponding second point.

S538: the positioning error is determined based on a plurality of position deviations.

By averaging the plurality of position deviations to obtain a mean value of the plurality of position deviations, the mean value can be determined as the positioning error.

A variance characterizing the positioning error may also be determined based on the mean and the plurality of position deviations. To further improve the accuracy of the positioning error determination, as an embodiment, before step S53, the method further includes: acquiring a third track formed by third colored liquid dripped by the dripping device at a constant speed; the third track is a track formed by the third colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track at the preset speed by using the positioning device; the third colored liquid and the first colored liquid are different in color from the second colored liquid, and the third colored liquid is the same in density as the first colored liquid and the second colored liquid; and determining the positioning error of the positioning device according to the contact ratio of the first track, the second track and the third track.

Wherein, as an embodiment, the third colored liquid and the first and second colored liquids are liquids having the same viscosity and greater than the preset viscosity.

Wherein the greater the number of trajectories used to determine the positioning error, the greater the accuracy. The specific implementation of determining the positioning error refers to steps S531-S535 and S536-S538, which are not described herein again.

Referring to fig. 6, fig. 6 is a schematic flow chart of a trajectory generation method according to an embodiment of the present application, where the method is applied to an electronic device in a vehicle, the vehicle is provided with a dripping device and a positioning device, and the electronic device is connected to the positioning device, where the dripping device is the dripping device shown in fig. 1 to 3, and the flow shown in fig. 6 will be described in detail below, and the method includes the steps of: s61 and S62.

S61: and controlling the vehicle to run on the road along a preset running track by using the positioning device according to a preset rule to obtain a first track formed by the first colored liquid dripped at a constant speed by the dripping device on the road.

In an actual implementation process, S61 may be implemented in such a manner that the electronic device obtains a current location of the vehicle by using the positioning device, and then controls the vehicle to travel on the road along a preset travel track according to a preset rule, where it is understood that, during the travel of the vehicle along the preset travel track, the dripping device may drip the first colored liquid at a constant speed onto the road, and then the road may have a first track formed by the first colored liquid.

The speed in the preset rule may be constantly changed, that is, the speed of the vehicle at different position points of the preset driving track is not exactly the same.

In one embodiment, the vehicle is controlled to run at a constant speed on the road along a preset running track at a preset speed by using the positioning device.

S62: and controlling the vehicle to run on the road along the preset running track by using the positioning device according to the preset rule to obtain a second track formed by the second colored liquid dripped at the uniform speed by the dripping device on the road.

Wherein the second colored liquid and the first colored liquid are different in color and same in density; the first track and the second track are used for determining a positioning error of the positioning device.

For the specific implementation of determining the positioning error by using the first track and the second track, please refer to the specific implementation process of the positioning error method, which is not described herein again.

The specific implementation of S62 is the same as S61, and therefore, the detailed description thereof is omitted here.

Referring to fig. 7, fig. 7 is a block diagram of a positioning error determination apparatus 700 according to an embodiment of the present disclosure. The device is applied to a vehicle, a dripping device and a positioning device are arranged on the vehicle, and a structural block diagram shown in fig. 7 is explained below, wherein the device comprises:

a first obtaining unit 710, configured to obtain a first track formed by first colored liquid that is dropped by the dripping device at a constant speed; the first track is formed by the first colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device.

A second obtaining unit 720, configured to obtain a second track formed by a second colored liquid that is dropped by the dripping device at a constant speed; the second track is a track formed by the second colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color; and the first colored liquid and the second colored liquid are the same density.

An error determining unit 730, configured to determine a positioning error of the positioning device according to a coincidence ratio of the first track and the second track.

As a conventional embodiment, the error determination unit 730 is specifically configured to, for each first point in the first track, determine a second point corresponding to the first point from the second track; determining a midpoint of a connecting line between the first point and the corresponding second point; determining a first positional deviation between the first point and the midpoint; determining a second positional deviation between the second point and the midpoint; determining the positioning error based on a plurality of first position deviations and a plurality of second position deviations.

As an embodiment, the apparatus further comprises: the third acquisition unit is used for acquiring a third track formed by third colored liquid dripped by the dripping device at a constant speed; the third track is a track formed by the third colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the third colored liquid is different in color and same in density as the first colored liquid and the second colored liquid; and the positioning error determining unit is used for determining the positioning error of the positioning device according to the coincidence ratio of the first track, the second track and the third track.

Referring to fig. 8, fig. 8 is a block diagram of a track generation apparatus 800 according to an embodiment of the present disclosure. The device is applied to electronic equipment in a vehicle, a dripping device and a positioning device are arranged on the vehicle, a structural block diagram shown in fig. 8 is explained below, and the device comprises:

the first control unit 810 is configured to control the vehicle to travel on the road along a preset travel track according to a preset rule by using the positioning device, so as to obtain a first track formed by the first colored liquid dripped by the dripping device at a constant speed on the road.

A second control unit 820, configured to control the vehicle to travel on the road along the preset travel track according to the preset rule by using the positioning device, so as to obtain a second track formed by the second colored liquid dropped at a constant speed by the dripping device on the road; wherein the second colored liquid and the first colored liquid are different in color and same in density; the first track and the second track are used for determining a positioning error of the positioning device.

As an embodiment, the first control unit 810 is specifically configured to control the vehicle to travel at a constant speed on the road along a preset travel track at a preset speed by using the positioning device.

For the process of implementing each function by each functional unit in this embodiment, please refer to the content described in the embodiments shown in fig. 1 to fig. 6, which is not described herein again.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure, where the vehicle includes: the leakage device is arranged on the traffic body, so that the leakage device drips colored liquid onto a road at a constant speed in the running process of the traffic tool.

The vehicle body can be unmanned car, electric motor car, bicycle etc. in this application embodiment, the vehicle body is the car, the hourglass device set up in the trunk of vehicle body, the fluid-discharge tube of hourglass device extends to the vehicle body outside, so that the hourglass device is in vehicle driving in-process at the uniform velocity colored liquid of drippage arrives on the road.

In addition, a storage medium is provided in an embodiment of the present application, and a computer program is stored in the storage medium, and when the computer program runs on a computer, the computer is caused to execute the method provided in any embodiment of the present application.

To sum up, in the positioning error determining method, the trajectory generating method, the apparatus, and the vehicle provided in the embodiments of the present application, a first trajectory of the first colored liquid dripped at a constant speed by the dripping apparatus on the road in the process that the vehicle travels along a preset travel trajectory at a preset speed by using the positioning apparatus is obtained by setting a dripping apparatus and a positioning apparatus in advance, and a second trajectory of the second colored liquid dripped at a constant speed by the dripping apparatus on the road in the process that the vehicle travels along the preset travel trajectory at the preset speed by using the positioning apparatus is obtained; because the first colored liquid is different from the second colored liquid in color so as to distinguish two tracks, and meanwhile, the density of the first colored liquid is the same as that of the second colored liquid so as to ensure that the dropping speeds of the first liquid and the second liquid are the same, under the condition that the two tracks respectively correspond to a preset rule, a positioning device and a driving track are the same, the main factor influencing the contact ratio of the first track and the second track is the positioning precision of the positioning device, and it can be understood that the higher the positioning precision of the positioning device is, the higher the contact ratio of the first track and the second track is, and vice versa, the lower the contact ratio is, so that the error of the positioning device can be simply and quickly determined according to the contact ratio of the first track and the second track.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based devices that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

Claims

1. A positioning error determination method is applied to a vehicle, wherein a dripping device and a positioning device are arranged on the vehicle, and the method comprises the following steps:

acquiring a first track formed by first colored liquid dripped by the dripping device at a constant speed; the first track is a track formed by the first colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device;

acquiring a second track formed by second colored liquid dripped by the dripping device at a constant speed; the second track is a track formed by the second colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color and same in density;

and determining the positioning error of the positioning device according to the contact ratio of the first track and the second track.

2. The method of claim 1, wherein determining the positioning error of the positioning device according to the coincidence ratio of the first track and the second track comprises: for each first point in the first track, determining a second point corresponding to the first point from the second track;

determining a midpoint of a connecting line between the first point and the corresponding second point;

determining a first positional deviation between the first point and the midpoint;

determining a second positional deviation between the second point and the midpoint;

determining the positioning error based on a plurality of first position deviations and a plurality of second position deviations.

3. The method of claim 1, wherein prior to said determining a positioning error of said positioning device, said method further comprises:

acquiring a third track formed by third colored liquid dripped by the dripping device at a constant speed; the third track is a track formed by the third colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the third colored liquid is different in color and same in density as the first colored liquid and the second colored liquid;

and determining the positioning error of the positioning device according to the contact ratio of the first track, the second track and the third track.

4. The method according to claim 1 or 2, wherein the first colored liquid and the second colored liquid are liquids having the same viscosity and greater than a preset viscosity.

5. A track generation method is applied to electronic equipment in a vehicle, a dripping device and a positioning device are arranged on the vehicle, and the method comprises the following steps:

controlling the vehicle to run on the road along a preset running track by using the positioning device according to a preset rule to obtain a first track formed by first colored liquid dripped at a constant speed by the dripping device on the road;

controlling the vehicle to run on the road along the preset running track by using the positioning device according to the preset rule to obtain a second track formed by second colored liquid dripped by the dripping device at a constant speed on the road;

6. The method of claim 5, wherein the controlling the vehicle to travel on the road along a preset trajectory using the positioning device according to a preset rule comprises:

and controlling the vehicle to run at a constant speed on the road along a preset running track by using the positioning device according to a preset speed.

7. A positioning error determination apparatus, applied to a vehicle on which a dripping apparatus and a positioning apparatus are provided, the apparatus comprising:

the first acquisition unit is used for acquiring a first track formed by first colored liquid dripped by the dripping device at a constant speed; the first track is a track formed by the first colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along a preset running track according to a preset rule by using the positioning device;

the second acquisition unit is used for acquiring a second track formed by second colored liquid dripped by the dripping device at a constant speed; the second track is a track formed by the second colored liquid dripped by the dripping device at a constant speed on a road in the process that the vehicle runs along the preset running track according to the preset rule by using the positioning device; the first colored liquid and the second colored liquid are different in color; and the first colored liquid and the second colored liquid are the same in density;

and the error determining unit is used for determining the positioning error of the positioning device according to the contact ratio of the first track and the second track.

8. A trajectory generation device, applied to an electronic device in a vehicle, on which a dripping device and a positioning device are provided, the device comprising:

the first control unit is used for controlling the vehicle to run on the road along a preset running track by using the positioning device according to a preset rule to obtain a first track formed by first colored liquid dripped by the dripping device at a constant speed on the road;

the second control unit is used for controlling the vehicle to run on the road along the preset running track according to the preset rule by using the positioning device to obtain a second track formed by second colored liquid dripped by the dripping device at a constant speed on the road;