CN111949753A - Large-scene layer switching, positioning and transitioning method and device - Google Patents
Large-scene layer switching, positioning and transitioning method and device Download PDFInfo
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Abstract
The invention provides a large scene layer switching, positioning and transition method and device, and relates to the technical field of large scene map processing. The method comprises the following steps: the large scene is layered to form a plurality of layers and the layers are numbered; utilizing a main positioning module to perform reverse positioning to obtain a first pose of the vehicle; utilizing the slave positioning module to perform reverse positioning to acquire a second pose of the vehicle; determining a final pose output based on the first pose and the second pose; judging whether to switch layers according to the final pose output, the overlapping area and anchor points of the first layer and the second layer; and if so, interchanging the reflection column map of the master positioning module and the reflection column map of the slave positioning module. According to the method and the device for switching, positioning and transitioning the layers of the large scene, disclosed by the embodiment of the invention, by constructing the map of the large scene layer by layer and designing the transition positioning of the vehicle in the overlapping area of the two layers, the technical effects of reducing the difficulty of constructing the map, reducing the difficulty of arranging the light reflecting columns and enabling the layer switching and transitioning to be flexible are achieved.
Description
Technical Field
The invention relates to the technical field of large-scene map processing, in particular to a large-scene map layer switching, positioning and transition method and device.
Background
At present, in the process of reverse positioning, requirements for arrangement of the reflective columns and construction accuracy, consistency and the like of a global map are gradually improved along with increase of the scene area, so that the process of reverse positioning of the reflective columns of a large scene is a complex process, time consumption is long, and flexibility is poor.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for transition between switching and positioning of layers in a large scene, so as to improve the above technical problems.
In a first aspect, an embodiment of the present invention provides a large scene layer switching, positioning and transitioning method, where the method includes the following steps:
the method comprises the steps of building a large scene into a plurality of layers in a layered mode, and numbering the layers, wherein when an overlapping area exists between two layers, the two layers are determined to be a first layer and a second layer, the number of the overlapping areas is one and only one, and the shape of the overlapping areas is circular;
taking the reflective column map of the first layer as a reflective column map used by a primary positioning module according to the number of the layer where the vehicle is located, and performing reverse positioning by using the primary positioning module to obtain a first pose of the vehicle, wherein the first pose comprises a first position and a first course angle of the vehicle;
when the vehicle enters the overlapping area, the reflective column map of the second map layer is used as a reflective column map used by a slave positioning module, and the slave positioning module is used for carrying out reverse positioning to obtain a second pose of the vehicle, wherein the second pose comprises a second position and a second course angle of the vehicle;
determining a final pose output based on the first pose and the second pose;
judging whether layer switching is carried out or not according to the final pose output, the overlapping area and anchor points of the first layer and the second layer, wherein the anchor points are the gravity centers of all reflective columns in the first layer or the second layer and are used for representing the positions of the first layer or the second layer in the large scene;
if so, transitioning from the first layer to the second layer, updating the number to the number of the second layer, and interchanging the reflective column map of the main positioning module and the reflective column map of the slave positioning module.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the step of obtaining the first pose of the vehicle by performing inverse positioning with the primary positioning module includes:
extracting currently detected reflective column information from radar original scanning data by using a vehicle through a main positioning module, and searching reflective column information in a first layer which is uniquely matched with the reflective column information;
and calculating the pose of the vehicle by combining the information of the reflective columns in the first image layer to acquire a first pose of the vehicle.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the step of obtaining the second pose of the vehicle by performing inverse localization by using the slave localization module includes:
extracting currently detected reflective column information from radar original scanning data by using a vehicle through a main positioning module, and searching reflective column information in a second layer which is uniquely matched with the reflective column information;
and calculating the pose of the vehicle by combining the information of the reflective columns in the second image layer to acquire a second pose of the vehicle.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the step of determining a final pose output based on the first pose and the second pose includes:
judging whether the difference value of the first pose and the second pose is smaller than a predetermined threshold value or not;
if so, determining the average value of the first pose and the second pose as the final pose output;
if not, determining the first pose as the final pose output.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the step of determining whether to perform layer switching according to the final pose output, the overlap area, and anchor points of the first layer and the second layer includes:
calculating a first threshold and a second threshold according to the area information of the overlapping area and the anchor points of the first image layer and the second image layer, wherein the area information is the circle center and the radius of the overlapping area;
and judging whether layer switching is carried out according to the vehicle position in the final pose output, the first threshold value and the second threshold value, and anchor points of the first layer and the second layer.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the first threshold is a square root of a sum of squares of a distance from a center of the overlapping area to an anchor point of the first layer and a radius of the overlapping area;
the second threshold is a square root of a sum of squares of a distance from a circle center of the overlapping area to an anchor point of the second layer and a radius of the overlapping area.
With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the step of determining whether to perform layer switching according to the vehicle position in the final pose output, the first threshold and the second threshold, and anchor points of the first layer and the second layer includes:
and determining to perform layer switching if and only if the distance between the vehicle position in the final pose output and the anchor point of the first layer is greater than the first threshold value and the distance between the vehicle position in the final pose output and the anchor point of the second layer is less than the second threshold value.
In a second aspect, an embodiment of the present invention further provides a large scene layer switching, positioning and transition device, where the device includes:
the map layer building module is used for building a large scene into a plurality of map layers in a layered mode and numbering the map layers, wherein when an overlapping area exists between the two map layers, the two map layers are determined to be a first map layer and a second map layer, the number of the overlapping area is one and only one, and the shape of the overlapping area is circular;
the first pose acquisition module is used for taking the reflective column map of the first layer as a reflective column map used by a main positioning module according to the number of the layer where the vehicle is located, performing reverse positioning by using the main positioning module and acquiring a first pose of the vehicle, wherein the first pose comprises a first position and a first course angle of the vehicle;
the second pose acquisition module is used for taking the reflective column map of the second map layer as a reflective column map used by a slave positioning module when the vehicle enters the overlapping area, performing reverse positioning by using the slave positioning module and acquiring a second pose of the vehicle, wherein the second pose comprises a second position and a second course angle of the vehicle;
a final pose output acquisition module to determine a final pose output based on the first pose and the second pose;
a determining module, configured to determine whether to perform layer switching according to the final pose output, the overlap area, and anchor points of the first layer and the second layer, where the anchor points are centers of gravity of all reflective columns in the first layer or the second layer, and are used to represent positions of the first layer or the second layer in the large scene;
and the transition module is used for transitioning from the first layer to the second layer and updating the number to the number of the second layer if the first layer is the second layer, and interchanging the reflective column map of the main positioning module and the reflective column map of the slave positioning module.
In a third aspect, an embodiment of the present invention further provides a server, where the server includes: a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method described above.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method described above.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention provides a large scene layer switching, positioning and transition method and device, which are used for obtaining a large scene layer built map into a plurality of layers and numbering the layers; respectively utilizing the master positioning module and the slave positioning module to perform reverse positioning, acquiring a first pose and a second pose of the vehicle, and determining final pose output according to the first pose and the second pose; judging whether to switch layers according to the final pose output, the overlapping area and anchor points of the first layer and the second layer; and if so, interchanging the reflection column map of the master positioning module and the reflection column map of the slave positioning module. According to the method and the device for switching, positioning and transitioning the layers of the large scene, disclosed by the embodiment of the invention, by constructing the map of the large scene layer by layer and designing the transition positioning of the vehicle in the overlapping area of the two layers, the technical effects of reducing the difficulty of constructing the map, reducing the difficulty of arranging the light reflecting columns and enabling the layer switching and transitioning to be flexible are achieved.
Additional features and advantages of the invention 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 invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used 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 some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a large scene layer switching positioning transition method according to an embodiment of the present invention;
fig. 2 is a flowchart of another large scene layer switching positioning transition method according to an embodiment of the present invention;
fig. 3 is a block diagram of a structure of a large scene layer switching, positioning and transition device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a server according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, in the process of reverse positioning, requirements for arrangement of the reflective columns and construction accuracy, consistency and the like of a global map are gradually improved along with increase of the scene area, so that the process of reverse positioning of the reflective columns of a large scene is a complex process, time consumption is long, and flexibility is poor. Based on this, the embodiment of the invention provides a large scene layer switching, positioning and transition method and device, so as to alleviate the above problems.
In order to facilitate understanding of the embodiment, a detailed description is first given to a large scene layer switching and positioning transition method disclosed in the embodiment of the present invention.
In a possible implementation manner, the invention provides a large scene layer switching, positioning and transition method. Fig. 1 is a flowchart of a large scene layer switching, positioning and transition method according to an embodiment of the present invention, where the method includes the following steps:
step S102: and establishing a large scene layer into a plurality of layers and numbering the layers.
When an overlapping area exists between two image layers, the two image layers are determined to be a first image layer and a second image layer, the number of the overlapping areas is one and only one, and the shape of the overlapping area is circular.
Step S104: and taking the reflective column map of the first map layer as a reflective column map used by a primary positioning module according to the number of the map layer where the vehicle is located, and performing reverse positioning by using the primary positioning module to obtain a first pose of the vehicle.
Wherein the first position includes a first position and a first heading angle of the vehicle.
Step S106: and when the vehicle enters the overlapping area, taking the reflection column map of the second map layer as a reflection column map used by a slave positioning module, and performing reverse positioning by using the slave positioning module to acquire a second pose of the vehicle.
Wherein the second position comprises a second position and a second heading angle of the vehicle.
Step S108: determining a final pose output based on the first pose and the second pose.
Step S110: and judging whether to switch layers according to the final pose output, the overlapping area and anchor points of the first layer and the second layer.
The anchor point is the gravity center of all reflective columns in the first layer or the second layer, and is used for representing the position of the first layer or the second layer in the large scene.
Step S112: if so, transitioning from the first layer to the second layer, updating the number to the number of the second layer, and interchanging the reflective column map of the main positioning module and the reflective column map of the slave positioning module.
When the vehicle moves between layers, the layer switching positioning transition can be performed only when the vehicle has to pass through the overlapping area of the two layers, that is, when the vehicle moves from one layer to the other layer, the vehicle has to pass through the overlapping area of the two layers.
It should be further noted that, while the reflection column map of the master positioning module and the reflection column map of the slave positioning module are interchanged, the two positioning modules still perform reverse positioning until the vehicle leaves the overlapping area of the two image layers, and at this time, the slave positioning module stops positioning.
Namely, in the overlapping area of the image layers, two positioning modules are always used for positioning and attempt to fuse positioning results.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention obtains the large scene layer by layer construction into a plurality of layers and numbering through a large scene layer switching, positioning and transition method; respectively utilizing the master positioning module and the slave positioning module to perform reverse positioning, acquiring a first pose and a second pose of the vehicle, and determining final pose output according to the first pose and the second pose; judging whether to switch layers according to the final pose output, the overlapping area and anchor points of the first layer and the second layer; and if so, interchanging the reflection column map of the master positioning module and the reflection column map of the slave positioning module. According to the method and the device for switching, positioning and transitioning the layers of the large scene, disclosed by the embodiment of the invention, by constructing the map of the large scene layer by layer and designing the transition positioning of the vehicle in the overlapping area of the two layers, the technical effects of reducing the difficulty of constructing the map, reducing the difficulty of arranging the light reflecting columns and enabling the layer switching and transitioning to be flexible are achieved.
In practical use, to describe the process of the method in fig. 1 in more detail, in fig. 2, an embodiment of the present invention shows a flowchart of another large scene layer switching, positioning and transitioning method provided by the embodiment of the present invention, where the method includes the following steps:
step S202: and establishing a large scene layer into a plurality of layers and numbering the layers.
When an overlapping area exists between two image layers, the two image layers are determined to be a first image layer and a second image layer, the number of the overlapping areas is one and only one, and the shape of the overlapping area is circular.
Step S204: and taking the reflection column map of the first map layer as a reflection column map used by a main positioning module according to the number of the map layer where the vehicle is located, extracting currently detected reflection column information from radar original scanning data by using the vehicle through the main positioning module, and searching the reflection column information in the first map layer which is uniquely matched with the reflection column information.
It should be further noted that the matching between the currently detected reflective column information and the reflective column information in the first layer is found by using a distance matching method according to the principle that the euclidean distance between two reflective columns is not changed in the local coordinate system and the global coordinate system.
Step S206: and calculating the pose of the vehicle by combining the information of the reflective columns in the first image layer to acquire a first pose of the vehicle.
Step S208: and when the vehicle enters the overlapping area, taking the reflection column map of the second layer as the reflection column map used by the slave positioning module, extracting the currently detected reflection column information from the radar original scanning data by using the vehicle through the master positioning module, and searching the reflection column information in the second layer which is uniquely matched with the reflection column information.
Step S210: and calculating the pose of the vehicle by combining the information of the reflective columns in the second image layer to acquire a second pose of the vehicle.
Step S212: and judging whether the difference value of the first pose and the second pose is smaller than a predetermined threshold value.
Step S214: if so, determining the average value of the first pose and the second pose as the final pose output; if not, determining the first pose as the final pose output.
Step S216: and calculating a first threshold value and a second threshold value according to the area information of the overlapping area and the anchor points of the first image layer and the second image layer.
And the area information is the circle center and the radius of the overlapping area.
It should be further noted that the first threshold is a square root of a sum of a distance from a center of the overlapping area to an anchor point of the first layer and a square of a radius of the overlapping area;
the second threshold is a square root of a sum of squares of a distance from a circle center of the overlapping area to an anchor point of the second layer and a radius of the overlapping area.
Step S218: and judging whether layer switching is carried out according to the vehicle position in the final pose output, the first threshold value and the second threshold value, and anchor points of the first layer and the second layer.
The anchor point is the gravity center of all reflective columns in the first layer or the second layer, and is used for representing the position of the first layer or the second layer in the large scene.
It should be further explained that the step of determining whether to perform layer switching according to the vehicle position in the final pose output, the first threshold and the second threshold, and the anchor points of the first layer and the second layer includes:
and determining to perform layer switching if and only if the distance between the vehicle position in the final pose output and the anchor point of the first layer is greater than the first threshold value and the distance between the vehicle position in the final pose output and the anchor point of the second layer is less than the second threshold value.
Step S220: if so, transitioning from the first layer to the second layer, updating the number to the number of the second layer, and interchanging the reflective column map of the main positioning module and the reflective column map of the slave positioning module.
In summary, the method and the device for switching, positioning and transitioning the layers of the large scene acquire the large scene, construct the large scene into a plurality of layers in layers and code the layers; respectively utilizing the master positioning module and the slave positioning module to perform reverse positioning, acquiring a first pose and a second pose of the vehicle, and determining final pose output according to the first pose and the second pose; judging whether to switch layers according to the final pose output, the overlapping area and anchor points of the first layer and the second layer; and if so, the reflection column map of the master positioning module is transited to the reflection column map of the slave positioning module. According to the method and the device for switching, positioning and transitioning the layers of the large scene, disclosed by the embodiment of the invention, by constructing the map of the large scene layer by layer and designing the transition positioning of the vehicle in the overlapping area of the two layers, the technical effects of reducing the difficulty of constructing the map, reducing the difficulty of arranging the light reflecting columns and enabling the layer switching and transitioning to be flexible are achieved.
In another possible implementation manner, corresponding to the large scene layer switching, positioning and transitioning method provided in the foregoing implementation manner, an embodiment of the present invention further provides a large scene layer switching, positioning and transitioning apparatus, and fig. 3 is a block diagram of a structure of the large scene layer switching, positioning and transitioning apparatus provided in the embodiment of the present invention. As shown in fig. 3, the apparatus includes:
the layer mapping module 301 is configured to map a large scene into a plurality of layers in layers and number the plurality of layers.
When an overlapping area exists between two image layers, the two image layers are determined to be a first image layer and a second image layer, the number of the overlapping areas is one and only one, and the shape of the overlapping area is circular.
The first pose acquisition module 302 is configured to use the reflective column map on the first layer as a reflective column map used by a primary positioning module according to the number of the layer where the vehicle is located, and perform reverse positioning by using the primary positioning module to acquire the first pose of the vehicle.
Wherein the first position includes a first position and a first heading angle of the vehicle.
The second pose acquiring module 303 is configured to, when the vehicle enters the overlapping area, use the reflective pillar map in the second map layer as a reflective pillar map used by a slave positioning module, and perform reverse positioning by using the slave positioning module to acquire a second pose of the vehicle.
Wherein the second position comprises a second position and a second heading angle of the vehicle.
A final pose output acquisition module 304 to determine a final pose output based on the first pose and the second pose.
A determining module 305, configured to determine whether to perform layer switching according to the final pose output, the overlap area, and the anchor points of the first layer and the second layer.
The anchor point is the gravity center of all reflective columns in the first layer or the second layer, and is used for representing the position of the first layer or the second layer in the large scene.
A transition module 306, configured to transition from the first layer to the second layer and update the number to the number of the second layer if yes, and interchange the reflective column map of the primary positioning module and the reflective column map of the secondary positioning module.
In yet another possible implementation manner, an embodiment of the present invention further provides a server, and fig. 4 shows a schematic structural diagram of the server provided in the embodiment of the present invention, and referring to fig. 4, the server includes: a processor 400, a memory 401, a bus 402 and a communication interface 403, the processor 400, the memory 401, the communication interface 403 and the communication interface being connected by the bus 402; the processor 400 is used to execute executable modules, such as computer programs, stored in the memory 401.
Wherein the memory 401 stores computer-executable instructions that can be executed by the processor 400, the processor 400 executes the computer-executable instructions to implement the methods described above.
Further, the Memory 401 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
Bus 402 can be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
The memory 401 is configured to store a program, and the processor 400 executes the program after receiving a program execution instruction, where the large scene layer switching and positioning transition method disclosed in any embodiment of the present invention may be applied to the processor 400, or implemented by the processor 400.
Further, processor 400 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 400. The Processor 400 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 401, and the processor 400 reads the information in the memory 401 and completes the steps of the method in combination with the hardware.
In yet another possible implementation, the embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method described above.
The large scene layer switching, positioning and transition device provided by the embodiment of the invention has the same technical characteristics as the large scene layer switching, positioning and transition method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product of the method and the device for switching, positioning and transitioning the layers of the large scene provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a ReaD-Only Memory (ROM), a RanDom Access Memory (RAM), a magnetic disk, or an optical disk.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A large scene layer switching positioning transition method is characterized by comprising the following steps:
the method comprises the steps of building a large scene into a plurality of layers in a layered mode, and numbering the layers, wherein when an overlapping area exists between two layers, the two layers are determined to be a first layer and a second layer, the number of the overlapping areas is one and only one, and the shape of the overlapping areas is circular;
taking the reflective column map of the first layer as a reflective column map used by a primary positioning module according to the number of the layer where the vehicle is located, and performing reverse positioning by using the primary positioning module to obtain a first pose of the vehicle, wherein the first pose comprises a first position and a first course angle of the vehicle;
when the vehicle enters the overlapping area, the reflective column map of the second map layer is used as a reflective column map used by a slave positioning module, and the slave positioning module is used for carrying out reverse positioning to obtain a second pose of the vehicle, wherein the second pose comprises a second position and a second course angle of the vehicle;
determining a final pose output based on the first pose and the second pose;
judging whether layer switching is carried out or not according to the final pose output, the overlapping area and anchor points of the first layer and the second layer, wherein the anchor points are the gravity centers of all reflective columns in the first layer or the second layer and are used for representing the positions of the first layer or the second layer in the large scene;
if so, transitioning from the first layer to the second layer, updating the number to the number of the second layer, and interchanging the reflective column map of the main positioning module and the reflective column map of the slave positioning module.
2. The method of claim 1, wherein the step of acquiring the first pose of the vehicle using the primary localization module for the reciprocal localization comprises:
extracting currently detected reflective column information from radar original scanning data by using a vehicle through a main positioning module, and searching reflective column information in a first layer which is uniquely matched with the reflective column information;
and calculating the pose of the vehicle by combining the information of the reflective columns in the first image layer to acquire a first pose of the vehicle.
3. The method of claim 1, wherein the step of acquiring the second pose of the vehicle using the slave positioning module for the reversed positioning comprises:
extracting currently detected reflective column information from radar original scanning data by using a vehicle through a main positioning module, and searching reflective column information in a second layer which is uniquely matched with the reflective column information;
and calculating the pose of the vehicle by combining the information of the reflective columns in the second image layer to acquire a second pose of the vehicle.
4. The method of claim 1, wherein the step of determining a final pose output based on the first pose and the second pose comprises:
judging whether the difference value of the first pose and the second pose is smaller than a predetermined threshold value or not;
if so, determining the average value of the first pose and the second pose as the final pose output;
if not, determining the first pose as the final pose output.
5. The method according to claim 1, wherein the step of determining whether to perform layer switching according to the final pose output, the overlap area, and anchor points of the first layer and the second layer includes:
calculating a first threshold and a second threshold according to the area information of the overlapping area and the anchor points of the first image layer and the second image layer, wherein the area information is the circle center and the radius of the overlapping area;
and judging whether layer switching is carried out according to the vehicle position in the final pose output, the first threshold value and the second threshold value, and anchor points of the first layer and the second layer.
6. The method according to claim 5, wherein the first threshold is a square root of a sum of a distance from a center of the overlapping area to an anchor point of the first layer and a square of a radius of the overlapping area;
the second threshold is a square root of a sum of squares of a distance from a circle center of the overlapping area to an anchor point of the second layer and a radius of the overlapping area.
7. The method according to claim 6, wherein the step of determining whether to perform layer switching according to the vehicle position in the final pose output, the first threshold value and the second threshold value, and anchor points of the first layer and the second layer includes:
and determining to perform layer switching if and only if the distance between the vehicle position in the final pose output and the anchor point of the first layer is greater than the first threshold value and the distance between the vehicle position in the final pose output and the anchor point of the second layer is less than the second threshold value.
8. A large scene layer switching, positioning and transition device is characterized in that the device comprises:
the map layer building module is used for building a large scene into a plurality of map layers in a layered mode and numbering the map layers, wherein when an overlapping area exists between the two map layers, the two map layers are determined to be a first map layer and a second map layer, the number of the overlapping area is one and only one, and the shape of the overlapping area is circular;
the first pose acquisition module is used for taking the reflective column map of the first layer as a reflective column map used by a main positioning module according to the number of the layer where the vehicle is located, performing reverse positioning by using the main positioning module and acquiring a first pose of the vehicle, wherein the first pose comprises a first position and a first course angle of the vehicle;
the second pose acquisition module is used for taking the reflective column map of the second map layer as a reflective column map used by a slave positioning module when the vehicle enters the overlapping area, performing reverse positioning by using the slave positioning module and acquiring a second pose of the vehicle, wherein the second pose comprises a second position and a second course angle of the vehicle;
a final pose output acquisition module to determine a final pose output based on the first pose and the second pose;
a determining module, configured to determine whether to perform layer switching according to the final pose output, the overlap area, and anchor points of the first layer and the second layer, where the anchor points are centers of gravity of all reflective columns in the first layer or the second layer, and are used to represent positions of the first layer or the second layer in the large scene;
and the transition module is used for transitioning from the first layer to the second layer and updating the number to the number of the second layer if the first layer is the second layer, and interchanging the reflective column map of the main positioning module and the reflective column map of the slave positioning module.
9. A server comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of any of claims 1 to 7.
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