CN113296512B - Unmanned tracking driving method and terminal based on laser radar and GPS - Google Patents
Unmanned tracking driving method and terminal based on laser radar and GPS Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses an unmanned tracking driving method and a terminal based on a laser radar and a GPS (global positioning system); starting a laser radar SLAM algorithm when the unmanned vehicle starts to drive again, recording initial GPS information of an initial position, and controlling the vehicle to run along a pre-collected path track according to the GPS information; calculating a coordinate system offset angle of the GPS information and the laser radar information; when the GPS signal is detected to be lower than a preset threshold value, current real-time laser radar information is obtained according to a laser radar SLAM algorithm, and current quasi-GPS information is calculated according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle and serves as the current GPS information until the GPS signal is recovered; the invention can calculate the quasi-GPS information according to the laser radar information and temporarily use the quasi-GPS information as the GPS information, thereby needing no braking to wait for signal recovery under the condition of weaker GPS signal, continuously controlling the vehicle to carry out unmanned tracking driving and reducing the influence on unmanned tracking driving when the GPS signal is poorer.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned tracking driving method and terminal based on a laser radar and a GPS.
Background
The unmanned automobile is a main trend of future development in the automobile field, and in the unmanned automobile, it is an important link to provide accurate positioning and navigation for the unmanned automobile. At present, the positioning navigation technology adopted by unmanned driving is mainly a satellite system such as a GPS (global positioning system) or a Beidou satellite system, but in a partial area or a partial scene, such as a tunnel and the like, the satellite system such as the GPS or the Beidou satellite system is easy to generate the condition of weak signals or signal loss, the vehicle needs to be controlled to brake and stop to wait for signal recovery, and great obstruction is caused to the unmanned tracking driving task.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided are a method and a terminal for unmanned tracking driving based on a laser radar and a GPS, which can continue unmanned tracking driving under the condition that partial GPS signals are weak or the GPS signals are lost.
In order to solve the technical problems, the invention adopts the technical scheme that:
an unmanned tracking driving method based on a laser radar and a GPS comprises the following steps:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to the current GPS information;
s2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
s3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
and S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
an unmanned tracking driving terminal based on laser radar and GPS, comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the processor implementing the following steps when executing the computer program:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to the current GPS information;
s2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
s3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
and S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
The invention has the beneficial effects that: under the condition that the GPS signal is weak or the signal is lost, the invention can calculate the simulated GPS information according to the laser radar information to be temporarily used as the GPS information, so that the vehicle can be continuously controlled to carry out unmanned tracking driving without braking to wait for signal recovery under the condition that the GPS signal is weak, and the influence on the unmanned tracking driving when the GPS signal is poor is reduced.
Drawings
FIG. 1 is a flowchart of an unmanned tracking driving method based on laser radar and GPS according to an embodiment of the present invention;
FIG. 2 is a block diagram of an unmanned tracking driving terminal based on a laser radar and a GPS according to an embodiment of the present invention;
FIG. 3 is a detailed flowchart of an unmanned tracking driving method based on laser radar and GPS according to an embodiment of the present invention;
description of the reference symbols:
1. an unmanned tracking driving terminal based on a laser radar and a GPS; 2. a processor; 3. a memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 and 3, a method for unmanned tracking driving based on laser radar and GPS includes:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to the current GPS information;
s2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
s3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
and S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
From the above description, the beneficial effects of the present invention are: under the condition that the GPS signal is weak or the signal is lost, the invention can calculate the simulated GPS information according to the laser radar information to be temporarily used as the GPS information, so that the vehicle can be continuously controlled to carry out unmanned tracking driving without braking to wait for signal recovery under the condition that the GPS signal is weak, and the influence on the unmanned tracking driving when the GPS signal is poor is reduced.
Further, step S2 specifically includes:
and calculating a GPS course angle theta and a laser radar course angle phi according to the coordinates of two points in a section of the track which has already traveled, and obtaining the coordinate system offset angle phi-theta.
As can be seen from the above description, the present invention determines the coordinate system offset angles of the GPS coordinate system and the lidar coordinate system through the heading angles of the vehicles in the lidar coordinate system and the GPS coordinate system on a section of straight road.
Further, the calculating the current quasi-GPS information according to the real-time lidar information, the initial GPS information, and the coordinate system offset angle specifically includes:
substituting the real-time lidar information (x, y) into the following equation:
x'＝xcos(φ-θ)-ysin(φ-θ)
y'＝xsin(φ-θ)+ycos(φ-θ)
a first coordinate (x ', y ') can be obtained, where x, y, x ' and y ' are all in meters, and from 1m =0.00054054054' and the initial GPS information (lon, lat):
lon'＝lon+x'×0.00054054054′；
lat'＝lat+y'×0.00054054054′；
thus, current pseudo-GPS information (lon ', lat') is obtained.
From the above description, the pseudo-GPS information of the current vehicle can be calculated based on the laser radar information (x, y) of the current vehicle relative to the initial position (0,0) of the laser radar SLAM algorithm, the GPS information of the initial position, and the coordinate system offset angle obtained by the laser radar SLAM algorithm.
Further, the pre-collected path track comprises a plurality of ordered target track points;
the method for controlling the vehicle to run along the pre-collected path track according to the current GPS information specifically comprises the following steps:
s11, selecting the next target track point as a real-time target track point according to the path track, and calculating a target course angle according to the GPS information of the current position and the GPS information of the real-time target track point;
s12, controlling the vehicle to steer according to the current real-time course angle and the target course angle so as to drive to the real-time target track point;
and S13, when the vehicle is detected to reach the real-time target track point and the next target track point exists, returning to the step S11, otherwise, ending the unmanned tracking driving.
According to the description, the vehicle sequentially acquires the target track points as the real-time target track points, and calculates the target course angle according to the real-time target track points so as to control steering, so that the advancing direction of the vehicle can be more accurately adjusted.
Further, step S12 is specifically:
and calculating a rotation angle alpha-beta according to the current real-time course angle alpha and the target course angle beta, and judging the rotation direction of the vehicle according to the sizes of the real-time course angle and the target course angle, so as to control the vehicle to turn and drive to the real-time target track point.
As can be seen from the above description, the vehicle determines the direction and even the angle of the vehicle to be rotated according to the current real-time course angle and the target course angle, thereby realizing the accurate control of the vehicle steering.
Referring to fig. 2, an unmanned tracking driving terminal based on lidar and GPS comprises a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to current GPS information;
s2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
s3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
and S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
From the above description, the beneficial effects of the present invention are: under the condition that the GPS signal is weak or the signal is lost, the invention can calculate the simulated GPS information according to the laser radar information to be temporarily used as the GPS information, so that the vehicle can be continuously controlled to carry out unmanned tracking driving without braking to wait for signal recovery under the condition that the GPS signal is weak, and the influence on the unmanned tracking driving when the GPS signal is poor is reduced.
Further, step S2 specifically includes:
and calculating a GPS course angle theta and a laser radar course angle phi according to the coordinates of two points in a section of the track which has already traveled, and obtaining the coordinate system offset angle phi-theta.
As can be seen from the above description, the present invention determines the coordinate system offset angles of the GPS coordinate system and the lidar coordinate system through the heading angles of the vehicles in the lidar coordinate system and the GPS coordinate system on a section of straight road.
Further, the calculating current pseudo-GPS information according to the real-time laser radar information, the initial GPS information, and the coordinate system offset angle specifically includes:
substituting the real-time lidar information (x, y) into the following equation:
x'＝xcos(φ-θ)-ysin(φ-θ)
y'＝xsin(φ-θ)+ycos(φ-θ)
a first coordinate (x ', y ') can be obtained, where x, y, x ' and y ' are all in meters, and from 1m =0.00054054054' and the initial GPS information (lon, lat):
lon'＝lon+x'×0.00054054054′；
lat'＝lat+y'×0.00054054054′；
thus, current pseudo-GPS information (lon ', lat') is obtained.
From the above description, the pseudo-GPS information of the current vehicle can be calculated based on the laser radar information (x, y) of the current vehicle relative to the initial position (0,0) of the laser radar SLAM algorithm, the GPS information of the initial position, and the coordinate system offset angle obtained by the laser radar SLAM algorithm.
Further, the pre-collected path track comprises a plurality of ordered target track points;
the control of the vehicle to travel along the pre-collected path track according to the current GPS information specifically comprises the following steps:
s11, selecting the next target track point as a real-time target track point according to the path track, and calculating a target course angle according to the GPS information of the current position and the GPS information of the real-time target track point;
s12, controlling the vehicle to steer according to the current real-time course angle and the target course angle so as to drive to the real-time target track point;
and S13, when the vehicle is detected to reach the real-time target track point and the next target track point exists, returning to the step S11, otherwise, ending the unmanned tracking driving.
According to the description, the vehicle sequentially acquires the target track points as the real-time target track points, and calculates the target course angle according to the real-time target track points so as to control steering, so that the advancing direction of the vehicle can be more accurately adjusted.
Further, step S12 is specifically:
and calculating a rotation angle alpha-beta according to the current real-time course angle alpha and the target course angle beta, and judging the rotation direction of the vehicle according to the sizes of the real-time course angle and the target course angle, so as to control the vehicle to turn and drive to the real-time target track point.
As can be seen from the above description, the vehicle determines the direction and even the angle of the vehicle to be rotated according to the current real-time course angle and the target course angle, thereby realizing the accurate control of the vehicle steering.
Referring to fig. 1 and 3, a first embodiment of the present invention is:
an unmanned tracking driving method based on a laser radar and a GPS comprises the following steps:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to the current GPS information;
in this embodiment, the pre-collected path trajectory includes a plurality of ordered target trajectory points;
in this embodiment, the controlling the vehicle to travel along the pre-collected path track according to the current GPS information specifically includes:
s11, selecting the next target track point as a real-time target track point according to the path track, and calculating a target course angle according to the GPS information of the current position and the GPS information of the real-time target track point;
s12, controlling the vehicle to steer according to the current real-time course angle and the target course angle so as to drive to the real-time target track point;
s13, when the vehicle is detected to reach the real-time target track point and the next target track point exists, returning to the step S11, otherwise, ending unmanned tracking driving;
wherein, step S12 specifically is:
and calculating a rotation angle alpha-beta according to the current real-time course angle alpha and the target course angle beta, and judging the rotation direction of the vehicle according to the real-time course angle and the target course angle, so as to control the vehicle to turn and drive to the real-time target track point.
In this embodiment, when unmanned tracking driving is started, the lidar SLAM algorithm needs to be started first, the vehicle is located at an initial position at this time, the GPS information of the vehicle is (lon, lat), the lidar information is (0,0), then according to the GPS information of the current position, one point is taken from the acquired target track points in sequence as a real-time target track point, the direction of a two-point straight line in the GPS coordinate system, that is, a target course angle, is calculated by using a trigonometric function, and the target course angle and the current course angle of the vehicle are subjected to subtraction operation to obtain an angle that the vehicle head needs to rotate, so that steering of the vehicle is controlled.
S2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
wherein, the step S2 specifically comprises the following steps:
and calculating a GPS course angle theta and a laser radar course angle phi according to the coordinates of two points in a section of the track which has already traveled, and obtaining the coordinate system offset angle phi-theta.
In the embodiment, two coordinates are taken in a section of a driven path, a GPS course angle theta and a laser radar course angle phi are calculated according to the coordinates of two laser radar information relative to an initial position (0,0) and the GPS coordinates of the two points, and the calculated GPS course angle and the laser radar course angle are the same under the condition that a coordinate system is not deviated when the coordinates correspond to each other, so that the deviation angle of the coordinate system can be calculated through the difference value of the laser radar course angle and the GPS course angle.
S3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
wherein, the calculating the current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle specifically comprises:
substituting the real-time lidar information (x, y) into the following equation:
x'＝xcos(φ-θ)-ysin(φ-θ)
y'＝xsin(φ-θ)+ycos(φ-θ)
a first coordinate (x ', y ') may be obtained, where x, y, x ' and y ' are all in meters, and from 1m =0.00054054054' and the initial GPS information (lon, lat), one may obtain:
lon'＝lon+x'×0.00054054054′；
lat'＝lat+y'×0.00054054054′；
thus, current pseudo-GPS information (lon ', lat') is obtained.
And S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
In this embodiment, when the GPS signal is low or the GPS signal is lost, the current pseudo-GPS information of the vehicle is continuously calculated by the real-time laser radar information, the initial GPS information, and the coordinate system offset angle, and the pseudo-GPS information is used as the current GPS information, so that the vehicle is controlled to travel according to the current target track point.
Referring to fig. 2, the second embodiment of the present invention is:
an unmanned tracking driving terminal 1 based on laser radar and GPS comprises a processor 2, a memory 3 and a computer program stored on the memory 3 and capable of running on the processor 2, wherein the processor 2 realizes the steps in the first embodiment when executing the computer program.
In summary, according to the unmanned tracking driving method and the terminal based on the laser radar and the GPS, provided by the invention, under the condition that the GPS signal is weak or the signal is lost, the pseudo-GPS information can be calculated according to the laser radar information and temporarily used as the GPS information, so that the vehicle can be continuously controlled to carry out unmanned tracking driving without braking to wait for signal recovery under the condition that the GPS signal is weak, and the influence on unmanned tracking driving when the GPS signal is poor is reduced; in addition, the quasi-GPS information calculated according to the laser radar information, the initial GPS information and the coordinate system offset angle is accurate and used as the GPS information, and the positioning precision can be guaranteed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (6)
1. An unmanned tracking driving method based on a laser radar and a GPS is characterized by comprising the following steps:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to current GPS information;
s2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
the step S2 specifically comprises the following steps:
calculating a GPS course angle theta and a laser radar course angle phi according to coordinates of two points in a section of a path track which is driven by the vehicle, and obtaining a deviation angle phi-theta of the coordinate system;
s3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
the calculating the current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle specifically comprises the following steps:
substituting the real-time lidar information (x, y) into the following equation:
x'＝xcos(φ-θ)-ysin(φ-θ)
y'＝xsin(φ-θ)+ycos(φ-θ)
a first coordinate (x ', y ') can be obtained, where x, y, x ' and y ' are all in meters, and from 1m =0.00054054054' and the initial GPS information (lon, lat):
lon'＝lon+x'×0.00054054054′；
lat'＝lat+y'×0.00054054054′；
thus obtaining the current quasi-GPS information (lon ', lat');
and S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
2. The unmanned tracking driving method based on the laser radar and the GPS according to claim 1, wherein the pre-collected path track comprises a plurality of target track points in sequence;
the control of the vehicle to travel along the pre-collected path track according to the current GPS information specifically comprises the following steps:
s11, selecting the next target track point as a real-time target track point according to the path track, and calculating a target course angle according to the GPS information of the current position and the GPS information of the real-time target track point;
s12, controlling the vehicle to steer according to the current real-time course angle and the target course angle so as to drive to the real-time target track point;
and S13, when the vehicle is detected to reach the real-time target track point and the next target track point exists, returning to the step S11, otherwise, ending the unmanned tracking driving.
3. The unmanned tracking driving method based on lidar and GPS as claimed in claim 2, wherein step S12 is specifically:
and calculating a rotation angle alpha-beta according to the current real-time course angle alpha and the target course angle beta, and judging the rotation direction of the vehicle according to the real-time course angle and the target course angle, so as to control the vehicle to turn and drive to the real-time target track point.
4. An unmanned tracking driving terminal based on laser radar and GPS, which is characterized by comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following steps:
s1, starting a laser radar SLAM algorithm, recording initial GPS information of an initial position, and controlling a vehicle to run along a pre-collected path track according to the current GPS information;
s2, calculating a coordinate system offset angle of the GPS information and the laser radar information according to the GPS information and the laser radar information in the section of the traveled path track;
the step S2 specifically comprises the following steps:
calculating a GPS course angle theta and a laser radar course angle phi according to coordinates of two points in a section of a traveled path track, and obtaining a coordinate system offset angle (phi-theta);
s3, when detecting that the GPS signal is lower than a preset threshold value, acquiring current real-time laser radar information according to a laser radar SLAM algorithm, and calculating current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle;
the calculating the current quasi-GPS information according to the real-time laser radar information, the initial GPS information and the coordinate system offset angle specifically comprises the following steps:
substituting the real-time lidar information (x, y) into the following equation:
x'＝xcos(φ-θ)-ysin(φ-θ)
y'＝xsin(φ-θ)+ycos(φ-θ)
a first coordinate (x ', y ') can be obtained, where x, y, x ' and y ' are all in meters, and from 1m =0.00054054054' and the initial GPS information (lon, lat):
lon'＝lon+x'×0.00054054054′；
lat'＝lat+y'×0.00054054054′；
thus obtaining current quasi-GPS information (lon ', lat');
and S4, taking the current quasi-GPS information as the current GPS information until the GPS signal is recovered.
5. The unmanned tracking driving terminal based on the laser radar and the GPS according to claim 4, wherein the pre-collected path track comprises a plurality of target track points in sequence;
the control of the vehicle to travel along the pre-collected path track according to the current GPS information specifically comprises the following steps:
s11, selecting the next target track point as a real-time target track point according to the path track, and calculating a target course angle according to the GPS information of the current position and the GPS information of the real-time target track point;
s12, controlling the vehicle to steer according to the current real-time course angle and the target course angle so as to drive to the real-time target track point;
and S13, when the vehicle is detected to reach the real-time target track point and the next target track point exists, returning to the step S11, otherwise, ending the unmanned tracking driving.
6. The unmanned tracking driving terminal based on lidar and GPS of claim 5, wherein step S12 is specifically:
and calculating a rotation angle alpha-beta according to the current real-time course angle alpha and the target course angle beta, and judging the rotation direction of the vehicle according to the sizes of the real-time course angle and the target course angle, so as to control the vehicle to turn and drive to the real-time target track point.
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