CN113175938B - Vehicle positioning enhancement system and method based on high-precision map - Google Patents
Vehicle positioning enhancement system and method based on high-precision map Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention provides a vehicle positioning enhancement system and a vehicle positioning enhancement method based on a high-precision map, which are used for realizing higher positioning precision in a vehicle domain controller by matching and fusing sensor information and high-precision map elements. The method specifically comprises the following steps: acquiring data of a data acquisition layer through a service layer, if GNSS signal quality is good, enabling an IMU, an intelligent camera and a vehicle body message to successfully receive the message, aligning time stamps, and simultaneously calling a sensor fusion algorithm in high-precision positioning service to preprocess, optimize and fuse the data of each sensor; if the GNSS data is not received, the intelligent camera which preferentially passes through the GNSS data, historical GNSS information and high-precision map service information compensate the GNSS sensor; if the IMU and the vehicle body information data are not received, the sensor assembly is compensated by utilizing the historical data and the received GNSS information; if the system receives neither GNSS data nor camera data, a message is returned awaiting receipt of the sensor.
Description
Technical Field
The invention relates to the technical field of safety auxiliary driving of vehicle positioning, in particular to a vehicle positioning enhancement system and method based on a high-precision map.
Background
The existing vehicle-mounted positioning scheme mainly comprises the following three forms: gnss signals; or RTK augmentation depending on GNSS signals; fusing the IMU signals and GNSS signals, and performing Dead Reckoning (DR) positioning enhancement; 3. the intelligent camera carries out depth estimation on the current distance through a visual odometer; and can be fused with the above 1 and 2 again to make positioning enhancement. When the number of the GNSS visible satellites is small, the signal quality is poor, and the cost of the RTK enhancement method is high, the IMU and the visual odometer have a common problem: the initial offset error can lead to accumulated errors according to continuous calculation, and when the system runs in an underground garage and a tunnel or even a viaduct for a long time, the system is invalid because a sufficient number of GNSS satellites cannot be searched due to shielding of a building and weather changes, and the GNSS signals cannot be used for correction, so that the accumulated errors are increased.
Disclosure of Invention
In view of the above problems, the present technology innovatively proposes a vehicle positioning enhancement system based on a high-precision map, which at least includes:
The data acquisition layer is used for receiving various sensor data which can be used for positioning; the sensor at least comprises a GNSS system, an IMU sensor, an intelligent camera and a vehicle-mounted radar sensor, and is used for collecting current state parameters of the vehicle;
The service layer is used for providing basic services of the system positioning enhancement system;
The transmission layer is used for transmitting and transmitting the information in the system in real time and at least comprises DDS communication middleware;
The hardware adaptation layer is used for adapting various hardware and sensors in the system;
And the driving layer is used for providing basic driving required by the operation of various hardware in the system.
Wherein, the service layer at least includes:
High-precision map service module: the system is responsible for extracting, analyzing, preprocessing high-precision map information and data, and sending the processed data to other modules in the system through the DDS;
the perception algorithm module: inputting intelligent camera data, performing image processing on the intelligent camera data, extracting lane lines and lane line equations, and sending perceived results to other modules in the system through the DDS;
And a high-precision positioning algorithm module: and inputting sensor data and map data preprocessed by the high-precision map service, outputting high-precision positioning information fused by an algorithm, and sending the high-precision positioning information to a DDS bus for other components in the system.
Further, the system further comprises the following implementation steps:
s1: collecting data of the data collecting layer is received, time stamping alignment is carried out according to the received information, and meanwhile, a sensor fusion algorithm in high-precision positioning service is called to preprocess, optimize and fuse the data of each sensor;
s2: and releasing the fused result on the DDS bus, transmitting the result to a high-precision map service module, updating the fused result by matching the acquired elements in the high-precision map, performing secondary optimization on the sensor fused result to form high-precision positioning information enhanced by high-precision map positioning, and finally releasing the high-precision positioning information on the DDS bus.
The elements at least comprise coordinates of a road ID, a lane line, lane center line coordinates, a ground mark and a road sign mark.
Further, the system also includes an exception handling process: and starting the system, before the step S001, if GNSS data is not received, compensating the GNSS sensor by the intelligent camera, the historical GNSS information and the high-precision map service information preferentially, calculating the current estimated position of the automobile, and fusing the current estimated position of the automobile in the next step.
The exception handling process further includes: when the GNSS data is received and the IMU data and the vehicle body information data are not received, the sensor assembly is compensated by utilizing the historical data and the received GNSS information; if the system receives neither GNSS data nor camera data, a message is returned awaiting receipt of the sensor.
Preferably, the present invention also provides a method applied to the high-precision map-based vehicle positioning enhancement system, comprising the steps of:
SS1: starting the system, waiting for receiving sensor information, judging whether GNSS data are received, if so, judging whether IMU data and vehicle body information data are received respectively, if so, aligning time stamps according to the received information, and simultaneously calling a sensor fusion algorithm in high-precision positioning service to preprocess, optimize and fuse the data of each sensor; otherwise, the IMU historical data, the vehicle body historical information data and the received GNSS information are utilized to compensate the sensor assembly; if not, compensating the GNSS sensor by the intelligent camera, the historical GNSS message and the high-precision map service message preferentially, calculating the current estimated position of the automobile, and fusing the current estimated position of the automobile in the next step;
SS2: and releasing the fused result on the DDS bus, transmitting the result to a high-precision map service module, calling the high-precision map service module, carrying out positioning correction, outputting high-precision positioning information, and transmitting the high-precision positioning information to the DDS bus for other components in the system to use.
And updating the fusion result by matching the acquired elements in the high-precision map, performing secondary optimization on the sensor fusion result to form high-precision positioning information enhanced by high-precision map positioning, and finally publishing the high-precision positioning information on the DDS bus.
The elements at least comprise coordinates of a road ID, a lane line, lane center line coordinates, a ground mark and a road sign mark.
The sensor at least comprises a GNSS system, an IMU sensor, a smart camera and a vehicle-mounted radar sensor.
In summary, the invention provides a vehicle positioning enhancement system and method based on a high-precision map, which realize higher positioning precision in a vehicle domain controller by matching and fusing sensor information and high-precision map elements. The method specifically comprises the following steps: acquiring data of a data acquisition layer through a service layer, if GNSS signal quality is good, enabling an IMU, an intelligent camera and a vehicle body message to successfully receive the message, aligning time stamps, and simultaneously calling a sensor fusion algorithm in high-precision positioning service to preprocess, optimize and fuse the data of each sensor; if the GNSS data is not received, the intelligent camera which preferentially passes through the GNSS data, historical GNSS information and high-precision map service information compensate the GNSS sensor; if the IMU and the vehicle body information data are not received, the sensor assembly is compensated by utilizing the historical data and the received GNSS information; if the system receives neither GNSS data nor camera data, a message is returned awaiting receipt of the sensor.
Drawings
Fig. 1 is a schematic diagram of a vehicle positioning enhancement system based on a high-precision map according to the present invention.
Fig. 2 is a flow chart of a method for use in the system of fig. 1.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic diagram of a vehicle positioning and enhancing system based on a high-precision map according to the present invention, where the positioning and enhancing system based on a high-precision map according to the present invention at least includes the following:
The data acquisition layer is used for receiving various sensor data which can be used for positioning; the sensor at least comprises a GNSS system, an IMU sensor, an intelligent camera and a vehicle-mounted radar sensor, and is used for collecting current state parameters of the vehicle;
The service layer is used for providing basic services of the system positioning enhancement system and mainly comprises three services:
High precision map service: the system is responsible for extracting, analyzing, preprocessing high-precision map information and data, and sending the processed data to other modules in the system through the DDS;
the perception algorithm module: inputting intelligent camera data, performing image processing on the intelligent camera data, extracting lane lines and lane line equations, and sending perceived results to other modules in the system through the DDS;
And a high-precision positioning algorithm module: the input is sensor data and map data preprocessed by the high-precision map service, the output is high-precision positioning information fused by an algorithm, and the high-precision positioning information is sent to the DDS bus for other components in the system.
The transmission layer is used for transmitting and transmitting the information in the system in real time and at least comprises DDS communication middleware;
The hardware adaptation layer is used for adapting various hardware and sensors in the system;
And the driving layer is used for providing basic driving required by the operation of various hardware in the system.
Preferably, the system further comprises the following steps:
s1: collecting data of the data collecting layer is received, time stamping alignment is carried out according to the received information, and meanwhile, a sensor fusion algorithm in high-precision positioning service is called to preprocess, optimize and fuse the data of each sensor;
s2: and releasing the fused result on the DDS bus, transmitting the result to a high-precision map service module, updating the fused result by matching the acquired elements in the high-precision map, performing secondary optimization on the sensor fused result to form high-precision positioning information enhanced by high-precision map positioning, and finally releasing the high-precision positioning information on the DDS bus.
The elements at least comprise coordinates of a road ID, a lane line, lane center line coordinates, a ground mark and a road sign mark.
Further, the system also includes an exception handling process: and starting the system, before the step S001, if GNSS data is not received, compensating the GNSS sensor by the intelligent camera, the historical GNSS information and the high-precision map service information preferentially, calculating the current estimated position of the automobile, and fusing the current estimated position of the automobile in the next step. When the GNSS data is received and the IMU data and the vehicle body information data are not received, the sensor assembly is compensated by utilizing the historical data and the received GNSS information; if the system receives neither GNSS data nor camera data, a message is returned awaiting receipt of the sensor.
As shown in fig. 2, the invention further provides a vehicle positioning enhancement method based on the high-precision map, which comprises the following steps:
Step 1: starting the system and waiting for receiving the sensor information;
Step 2: judging whether GNSS data are received or not, if yes, turning to step 3, otherwise, judging whether picture data acquired by an intelligent camera are received or not, preferentially compensating a GNSS sensor through the intelligent camera, the historical GNSS message and the high-precision map service message, and calculating the current estimated position of the automobile; if the system receives neither GNSS data nor camera data, returning a message waiting for receiving the sensor;
Step 3: respectively judging whether IMU data and vehicle body information data are received, if so, aligning time stamps according to the received information, and simultaneously calling a sensor fusion algorithm in high-precision positioning service to preprocess, optimize and fuse the data of each sensor; otherwise, if any place does not receive the information, the IMU historical data or the vehicle body historical information data and the received GNSS information are utilized to compensate the sensor assembly;
Step 4: after the fusion is completed, the fused result is issued on the DDS bus, a high-precision map service module is called for positioning correction, a high-precision positioning message is output, the positioning of the current time stamp vehicle is completed, and the high-precision positioning message is sent to the DDS bus for other components in the system to use.
Wherein, the high-precision map service module further comprises: and updating the fusion result by matching the acquired elements in the high-precision map, performing secondary optimization on the sensor fusion result to form high-precision positioning information enhanced by high-precision map positioning, and finally publishing the high-precision positioning information on the DDS bus.
And tested, the method of the invention is used for positioning the automobile, and compared with the method without using a high-precision map, the method has the following differences:
| Influencing factors | Using high-precision maps | Without using high-precision map |
| Accuracy of vehicle transverse positioning | 0.15m | 0.15m |
| Longitudinal positioning accuracy of vehicle | 1m | 2.5m |
Therefore, when the number of visible satellites of the GNSS is insufficient and the GNSS signals are relatively poor in the environments such as tunnels, viaducts and underground garages by using the high-precision map, the precision of positioning can be remarkably improved without being influenced by surrounding environments by matching the elements of the high-precision map through the perception of the sensor such as a camera.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. A vehicle positioning enhancement system based on a high-precision map, comprising at least:
The data acquisition layer is used for receiving various sensor data which can be used for positioning; the sensor at least comprises a GNSS system, an IMU sensor, an intelligent camera and a vehicle-mounted radar sensor, and is used for collecting current state parameters of the vehicle;
The service layer is used for providing basic services of the system positioning enhancement system;
The transmission layer is used for transmitting and transmitting the information in the system in real time and at least comprises DDS communication middleware;
The hardware adaptation layer is used for adapting various hardware and sensors in the system;
the driving layer is used for providing basic driving required by the operation of various hardware in the system;
the service layer at least comprises:
High-precision map service module: the system is responsible for extracting, analyzing, preprocessing high-precision map information and data, and sending the processed data to other modules in the system through the DDS;
the perception algorithm module: inputting intelligent camera data, performing image processing on the intelligent camera data, extracting lane lines and lane line equations, and sending perceived results to other modules in the system through the DDS;
And a high-precision positioning algorithm module: inputting sensor data and map data preprocessed by a high-precision map service, outputting high-precision positioning information fused by an algorithm, and sending the high-precision positioning information to a DDS bus for other components in the system;
The system further comprises the following execution steps:
s1: collecting data of the data collecting layer is received, time stamping alignment is carried out according to the received information, and meanwhile, a sensor fusion algorithm in high-precision positioning service is called to preprocess, optimize and fuse the data of each sensor;
S2: the fusion result is issued on the DDS bus and is transmitted to a high-precision map service module, the fusion result is updated by matching the acquired elements in the high-precision map, secondary optimization is carried out on the sensor fusion result, high-precision positioning information enhanced by high-precision map positioning is formed, and finally the high-precision positioning information is issued on the DDS bus;
the system further includes an exception handling process: starting a system, wherein before the step S1, GNSS data are not received, the GNSS sensor is compensated by the intelligent camera, the historical GNSS information and the high-precision map service information preferentially, the current estimated position of the automobile is calculated, and the next fusion is carried out;
The exception handling process further includes: when the GNSS data is received and the IMU data and the vehicle body information data are not received, the sensor assembly is compensated by utilizing the historical data and the received GNSS information; if the system receives neither GNSS data nor camera data, a message is returned awaiting receipt of the sensor.
2. The high-precision map-based vehicle positioning enhancement system of claim 1, wherein said elements include at least coordinates of a road ID, a lane line, lane centerline coordinates, a ground identification, and a road sign identification.
3. A method for application to the high-precision map-based vehicle positioning enhancement system of any of claims 1-2, comprising the steps of:
SS1: starting the system, waiting for receiving sensor information, judging whether GNSS data are received, if so, judging whether IMU data and vehicle body information data are received respectively, if so, aligning time stamps according to the received information, and simultaneously calling a sensor fusion algorithm in high-precision positioning service to preprocess, optimize and fuse the data of each sensor; otherwise, the IMU historical data, the vehicle body historical information data and the received GNSS information are utilized to compensate the sensor assembly; if not, compensating the GNSS sensor by the intelligent camera, the historical GNSS message and the high-precision map service message preferentially, calculating the current estimated position of the automobile, and fusing the current estimated position of the automobile in the next step;
SS2: and releasing the fused result on the DDS bus, transmitting the result to a high-precision map service module, calling the high-precision map service module, carrying out positioning correction, outputting high-precision positioning information, and transmitting the high-precision positioning information to the DDS bus for other components in the system to use.
4. The method of claim 3, wherein the high precision map service module further comprises: and updating the fusion result by matching the acquired elements in the high-precision map, performing secondary optimization on the sensor fusion result to form high-precision positioning information enhanced by high-precision map positioning, and finally publishing the high-precision positioning information on the DDS bus.
5. The method of claim 4, wherein the elements include at least coordinates of a road ID, a lane line, lane centerline coordinates, a ground identification, and a road sign identification.
6. The method of claim 5, wherein the sensor comprises at least a GNSS system, an IMU sensor, a smart camera, and an onboard radar sensor.
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| CN113790723B (en) * | 2021-08-23 | 2023-11-28 | 武汉中海庭数据技术有限公司 | Map auxiliary positioning method, system, electronic equipment and storage medium |
| CN113884089B (en) * | 2021-09-09 | 2023-08-01 | 武汉中海庭数据技术有限公司 | Camera lever arm compensation method and system based on curve matching |
| CN114018274B (en) | 2021-11-18 | 2024-03-26 | 阿波罗智能技术(北京)有限公司 | Vehicle positioning method and device and electronic equipment |
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