CN113515126B - Vehicle positioning method and device - Google Patents

Vehicle positioning method and device Download PDF

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Publication number
CN113515126B
CN113515126B CN202110784613.9A CN202110784613A CN113515126B CN 113515126 B CN113515126 B CN 113515126B CN 202110784613 A CN202110784613 A CN 202110784613A CN 113515126 B CN113515126 B CN 113515126B
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vehicle
positioning
result
positioning result
site
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CN113515126A (en
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万国强
刘俊生
朱明�
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Beijing Jingwei Hirain Tech Co Ltd
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Beijing Jingwei Hirain Tech Co Ltd
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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
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
    • 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
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention discloses a vehicle positioning method and device, wherein the method comprises the following steps: obtaining a positioning initialization instruction of a control system of a vehicle; responding to the positioning initialization instruction, and sending a positioning request to a field terminal; receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request; verifying the positioning result by combining the dynamic motion data of the vehicle; wherein the positioning result comprises a plurality of position information and attitude information of the vehicle at different moments. The vehicle positioning method can provide the accurate initial position with high confidence for the vehicle under the condition of not depending on global satellite positioning and laser radar/vision matching positioning, and is beneficial to improving the accuracy and success rate of intelligent driving vehicle positioning initialization.

Description

Vehicle positioning method and device
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a vehicle positioning method and device.
Background
Currently, for the implementation of intelligent driving vehicle positioning initialization, high-precision satellite positioning or laser radar/vision matching positioning is generally relied on. The above-described positioning methods are not applicable to all scenes.
For example, satellite positioning needs to receive satellite signals, and when the satellite signals are blocked or interfered, the positioning cannot work normally; in addition, the satellite positioning has multipath effect, positioning accuracy cannot be guaranteed, and the confidence of the positioning initialization result is low. The laser radar/vision matching positioning utilizes point cloud or feature matching to determine the position of the current moment in the constructed map, and when the surrounding of the vehicle is clear or the point cloud acquired in real time has larger difference with the point cloud in the constructed map, the matching positioning error is larger, so that the positioning initialization is failed; in addition, due to the fact that the repeatability of the environmental features is high, the global position of the current intelligent driving vehicle cannot be determined through matching positioning, and positioning initialization fails.
In view of this, there is a need in the art for a vehicle positioning method for vehicle positioning initialization that can achieve high-precision positioning initialization without being affected by a usage scenario or environment.
Disclosure of Invention
In view of this, the present invention provides the following technical solutions:
a vehicle positioning method is applied to a positioning device of a vehicle, and comprises the following steps:
obtaining a positioning initialization instruction of a control system of a vehicle;
responding to the positioning initialization instruction, and sending a positioning request to a field terminal;
Receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request;
Verifying the positioning result by combining the dynamic motion data of the vehicle;
wherein the positioning result comprises a plurality of position information and attitude information of the vehicle at different moments.
Optionally, the responding to the receiving the positioning request, the site end generates the positioning result and sends the positioning result to a positioning device of the vehicle, including:
And in response to receiving the positioning request, the field terminal periodically acquires the position information and the posture information of the vehicle at a plurality of moments.
Optionally, the verifying the positioning result in combination with the dynamic motion data of the vehicle includes:
determining an initial pose of the vehicle based on position information and pose information of a first moment in positioning results of a plurality of moments received from the field terminal;
And carrying out dead reckoning on the vehicle based on a vehicle kinematic model by combining the dynamic motion data of the vehicle and the initial dead reckoning, and determining whether the positioning result passes the verification according to the dead reckoning result.
Optionally, the dynamic motion data of the vehicle includes acceleration and angular velocity of the vehicle,
Combining the dynamic motion data of the vehicle with the initial pose, calculating the pose of the vehicle based on a vehicle kinematic model, and determining whether the positioning result passes the verification according to the result of the pose calculation, wherein the method comprises the following steps:
obtaining estimated poses of the vehicle at a plurality of moments using a vehicle kinematic model based on acceleration, angular velocity and the initial poses of the vehicle;
setting a covariance matrix corresponding to the initial pose, performing time update on the initial pose by using a filtering method to obtain a predicted positioning result at the k time, and performing measurement update on the basis of the positioning result obtained from the field end period to obtain a measurement positioning result at the k time;
Respectively determining a prediction covariance matrix of the weighted prediction positioning result and a measurement covariance matrix of the weighted measurement positioning result;
And determining a first validity of the positioning result corresponding to each moment based on the weighted predicted positioning result, the weighted measured positioning result, the predicted covariance matrix and the measured covariance matrix, wherein the first validity is used for representing whether the measured positioning result is valid or invalid.
Optionally, in combination with the dynamic motion data of the vehicle and the initial pose, dead reckoning is performed on the vehicle based on a vehicle kinematic model, and whether the positioning result passes the verification is determined according to the dead reckoning result, which further includes:
Comparing the positioning result received from the site with the positioning result calculated by the pose corresponding to each updating moment, and determining the second validity of the positioning result, wherein the second validity is used for representing whether the positioning result updated by measurement is valid or invalid;
based on a preset rule, the first validity and the second validity corresponding to all updated positioning results in a set time period, determining a verification result,
The set time period comprises a plurality of moments when the site end obtains a positioning result.
Optionally, the determining a verification result based on the first validity and the second validity corresponding to all updated positioning results in the preset rule and the set time period includes:
In the set time period, if the effective quantity of the measured and updated positioning results reaches a first numerical value and the first validity and the second validity representation result corresponding to each measured and updated positioning result are the same, determining that the verification is successful;
and in the set time period, if the effective number of the positioning results of the measurement update does not reach the first numerical value or the first validity and the second validity representation result corresponding to any one positioning result of the measurement update are different, determining that the verification fails.
Optionally, the method further comprises: and under the condition that the positioning result passes the verification, sending an initialization completion status bit to the control system, wherein the status bit is determined based on the positioning result sent by the field terminal.
Optionally, the responding to the receiving the positioning request, the site periodically obtains the position information and the posture information of the vehicle at a plurality of moments, including:
a plurality of site end base stations at the site end respectively determine first distances between the site end base stations and the vehicle;
position information and attitude information of the vehicle are determined based on the known positions of the plurality of site base stations and the plurality of first distance calculations.
Optionally, the determining, by the plurality of site end base stations at the site end, the first distances between the plurality of site end base stations and the vehicle includes:
For each site base station: respectively determining the distances between the base station and a plurality of vehicle base stations of the vehicle, wherein the plurality of vehicle base stations comprise a first vehicle base station and a second vehicle base station, the distance between a site base station and the first vehicle base station is a first sub-distance, the distance between the site base station and the second vehicle base station is a second sub-distance, and the first distance comprises the first sub-distance and the second sub-distance;
the determining the position information and the attitude information of the vehicle based on the known positions of the plurality of site base stations and the plurality of first distance calculations includes:
determining the locations of the first and second vehicle base stations using geometric sense calculations based on the known locations of the plurality of site base stations, the plurality of first sub-distances, and the plurality of second sub-distances;
Position information and attitude information of the vehicle are determined based on a first position of the first vehicle base station and a second position of the second vehicle base station.
A vehicle positioning device, applied to a positioning device of a vehicle, comprising:
the instruction obtaining module is used for obtaining a positioning initialization instruction of a control system of the vehicle;
the request sending module is used for responding to the positioning initialization instruction and sending a positioning request to a site;
The result receiving module is used for receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request;
the result verification module is used for verifying the positioning result by combining the dynamic motion data of the vehicle;
wherein the positioning result comprises a plurality of position information and attitude information of the vehicle at different moments.
As can be seen from the above technical solution, compared with the prior art, the embodiment of the present invention discloses a vehicle positioning method and apparatus, the method includes: obtaining a positioning initialization instruction of a control system of a vehicle; responding to the positioning initialization instruction, and sending a positioning request to a field terminal; receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request; verifying the positioning result by combining the dynamic motion data of the vehicle; wherein the positioning result comprises a plurality of position information and attitude information of the vehicle at different moments. The vehicle positioning method can provide the accurate initial position with high confidence for the vehicle under the condition of not depending on global satellite positioning and laser radar/vision matching positioning, and is beneficial to improving the accuracy and success rate of intelligent driving vehicle positioning initialization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle positioning method disclosed in an embodiment of the present application;
FIG. 2 is a schematic diagram of an implementation architecture of a vehicle positioning method according to an embodiment of the present application;
FIG. 3 is a flow chart for verifying a positioning result according to an embodiment of the present application;
FIG. 4 is a flowchart of a specific implementation for verifying a positioning result according to an embodiment of the present application;
FIG. 5 is a flow chart of another vehicle positioning method disclosed in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle positioning device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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 flowchart of a vehicle positioning method according to an embodiment of the present application, where the method shown in fig. 1 may be applied to a vehicle positioning device. Referring to fig. 1, the vehicle positioning method may include:
step 101: a positioning initialization instruction of a control system of the vehicle is obtained.
In a practical scenario, the vehicle positioning method disclosed in the embodiment of the application can be applied to an intelligent driving vehicle, but is not limited to the application, and can be implemented in an intelligent driving system. In order to better understand the specific implementation of the vehicle positioning method according to the present application, in the following description, a relevant description will be given with an intelligent driving system as an implementation example of a control system of a vehicle.
When the intelligent driving system needs to be started, a positioning initialization instruction is sent, and a positioning device of the vehicle receives the positioning initialization instruction sent by the intelligent driving system and controls to perform corresponding work related to initialization positioning according to the positioning initialization instruction.
Step 102: and responding to the positioning initialization instruction, and sending a positioning request to a field terminal.
In the embodiment of the application, the initialization positioning of the vehicle is completed by cooperation of the vehicle and the site, and after the positioning initialization instruction is acquired, a positioning request is sent to the site to request the site equipment to return the positioning information of the vehicle, so that the site can position the vehicle and obtain a positioning result.
In one implementation, sending the location request to the venue may include: and sending a request for acquiring the position information and the posture information of the vehicle to the field terminal based on the positioning initialization instruction. The location result sent by the field end can also comprise position information and gesture information; of course, the content included in the positioning result is not limited in a fixed manner, and the positioning result can also include other information besides position information and posture information, and specifically, the positioning result can be determined according to the actual application scene requirement. Wherein the position information may be global coordinates of the vehicle and the attitude information may include, but is not limited to, yaw, pitch and roll angles of the vehicle.
Step 103: and receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request.
After the field terminal equipment obtains the positioning request sent by the vehicle, corresponding positioning operation is carried out, a positioning result of the vehicle is obtained, and the positioning result is returned to the positioning device of the vehicle. Based on the foregoing, the positioning result includes a plurality of position information and posture information of the vehicle at different times.
Step 104: and verifying the positioning result by combining the dynamic motion data of the vehicle.
After receiving the positioning result of the vehicle sent by the site, the positioning result determined by the site needs to be checked, specifically, initialization check can be performed to ensure the accuracy of positioning initialization. Specifically, the verification may be considered to pass when the plurality of positioning results received within the verification time satisfy the vehicle kinematics. And when the verification fails, the control unit is used for controlling the retransmission of the positioning request to the site.
Fig. 2 is a schematic diagram of an implementation architecture of a vehicle positioning method according to an embodiment of the present application, and the contents of the foregoing parts of the present embodiment can be understood with reference to fig. 2. Referring to fig. 2, when positioning initialization is required, the positioning module requests positioning information from the field terminal device through the vehicle terminal communication device. The site end positioning equipment is used for acquiring positioning information of the vehicle and sending the positioning information to the vehicle end through the site end communication equipment. The positioning equipment at the vehicle end can also acquire the positioning information of the vehicle, and the positioning module performs positioning initialization verification by using the positioning result acquired by the site end and the positioning result acquired by the vehicle positioning equipment.
The specific implementation of verification of the positioning result will be described in detail in the following embodiments, and will not be described here too much.
According to the vehicle positioning method, the site end base station is adopted for positioning determination of the vehicle, and because the site end base station is determined, the accurate initial position with high confidence can be provided for the vehicle under the condition of not depending on global satellite positioning and laser radar/vision matching positioning, and the accuracy and the success rate of intelligent driving vehicle positioning initialization can be improved in specific implementation.
In the foregoing embodiment, the responding to the receiving the positioning request, the site end generating the positioning result and sending the positioning result to the positioning device of the vehicle may include: and in response to receiving the positioning request, the field terminal periodically acquires the position information and the posture information of the vehicle at a plurality of moments.
Because the intelligent driving system starts to move after being started, the corresponding position information and posture information of the intelligent driving system are changed, and therefore the positioning result, namely the position information and the posture information of the vehicle at a plurality of moments, needs to be periodically acquired.
Based on the foregoing, the specific implementation of verifying the positioning result may refer to fig. 3, and fig. 3 is a flowchart of verifying the positioning result disclosed in the embodiment of the present application, and in combination with the description of fig. 3, the verifying the positioning result by combining the dynamic motion data of the vehicle may include:
Step 301: an initial pose of the vehicle is determined based on position information and pose information of a first moment in positioning results of a plurality of moments received from the venue.
Because the vehicle periodically acquires the positioning results of the vehicle, the positioning device of the vehicle can also periodically receive the positioning results at different moments from the site end in a time period, and the positioning results comprise position information and attitude information. The first time may be a time when the site end locates the vehicle for the first time after receiving the location request.
Step 302: and carrying out dead reckoning on the vehicle based on a vehicle kinematic model by combining the dynamic motion data of the vehicle and the initial dead reckoning, and determining whether the positioning result passes the verification according to the dead reckoning result.
After the initial pose is determined, based on a vehicle kinematic model, on the premise of knowing parameters such as vehicle motion acceleration, angular speed and the like, pose data of the vehicle in a future period of time can be predicted, namely position information and pose information of the vehicle in a later period of time are predicted; and then, based on the relation between the predicted pose data and the vehicle positioning result obtained by measuring the corresponding moment of the field end, whether the positioning result obtained by positioning the vehicle by the field end is accurate or not can be determined.
Fig. 4 is a flowchart of a specific implementation for verifying a positioning result according to an embodiment of the present application. Referring to fig. 4, in this implementation, if the dynamic motion data of the vehicle includes acceleration and angular velocity of the vehicle, and if the dynamic motion data of the vehicle and the initial pose are combined, pose calculation is performed on the vehicle based on a vehicle kinematic model, and whether the positioning result passes the verification according to the result of the pose calculation may include:
step 401: based on the acceleration, angular velocity, and the initial pose of the vehicle, an estimated pose of the vehicle at a plurality of moments is obtained using a vehicle kinematic model.
In a specific implementation, various sensors mounted on the body of the vehicle, such as gyroscopes, wheel speed sensors, etc., may be used to obtain motion state information of the vehicle, such as acceleration and angular velocity as described above. After the vehicle sends out a request initialization signal, the received first positioning result is taken as an initial pose X 0(x0,y0,θ0) (representing position information and pose information, corresponding to the position of the vehicle body and the heading of the vehicle) as a starting point, and pose estimation is carried out through the combination of a vehicle kinematic model and a speed and a gyroscope signal. Namely:
xk＝xk-1+vk*T*cosθk-1
yk＝yk-1+vk*T*sinθk-1
θk＝θk-1+ωk*T
Where v k is the vehicle speed at time k, ω k is the vehicle yaw rate at time k, and T is a calculation cycle.
Step 402: setting a covariance matrix corresponding to the initial pose, performing time update on the initial pose by using a filtering method to obtain a predicted positioning result (for example, X k in the following description) at the k time, and performing measurement update based on a positioning result obtained from a field end period to obtain a measurement positioning result (for example, Z k in the following description) at the k time.
In this step, also taking X 0 as the initial pose, giving an initial state covariance matrix P, performing time update by kalman filtering, and performing measurement update by using site location. Measuring Z k＝HXk, wherein For measurement positioning at time k, that is, measuring the updated positioning result, X k＝[xk,yk,θk]T is the time update state estimation at time k.
Step 403: respectively determining weighted predicted positioning results (e.g., in the following) And the weighted measurement positioning result (e.g./>, as described below)) For example, P k in the following.
In the present embodiment, letUpdating the weighted state for the k-time measurement,/>For the time-updated weighted state at time k, P k and P k,k-1 represent covariance matrices of the aforementioned states, respectively.
Step 404: a first validity (e.g., λ k in the lower content) of the positioning result corresponding to each moment is determined based on the weighted predicted positioning result, the weighted measured positioning result, the predicted covariance matrix, and the measured covariance matrix, the first validity being used to characterize whether the measured positioning result is valid or invalid.
When the measurement signal exists at the moment k, solving:
Tk＝Pk,k-1-Pk
And when lambda k＞λD judges that the measurement signal is invalid at the moment, the measurement update is not carried out, and lambda D is a fixed value and can be set according to a chi-square distribution table and requirements.
When it is determined that the positioning result corresponding to a certain time (the measurement positioning result at the certain time) is invalid, it is determined that the positioning result sent by the site is inaccurate, so that in this case, measurement update is not continued, and then the vehicle positioning initialization can be performed again.
In other implementations, based on the foregoing disclosure, the combining the dynamic motion data of the vehicle with the initial pose, performing pose estimation on the vehicle based on a vehicle kinematic model, and determining whether the positioning result passes the verification according to a result of the pose estimation may further include:
Comparing the positioning result received from the site with the positioning result calculated by the pose corresponding to each updating moment, and determining the second validity of the positioning result, wherein the second validity is used for representing whether the positioning result updated by measurement is valid or invalid; and determining a verification result based on a preset rule and the first validity and the second validity corresponding to all updated positioning results in a set time period, wherein the set time period comprises a plurality of moments when the field terminal acquires the positioning result.
Regarding the second validity, for the moment K, when a measurement signal (measurement positioning result) is received, comparing the pose represented by the measurement positioning result with a predicted positioning result obtained by reckoning the pose, determining a difference value, and when the distance or heading difference between the two represented by the difference value is greater than a fixed value d D,θD, determining that the measurement signal is invalid.
In one embodiment, the determining the verification result based on the first validity and the second validity corresponding to all updated positioning results in the preset rule and the set time period may include: in the set time period, if the effective quantity of the measured and updated positioning results reaches a first numerical value and the first validity and the second validity representation result corresponding to each measured and updated positioning result are the same, determining that the verification is successful; and in the set time period, if the effective number of the positioning results of the measurement update does not reach the first numerical value or the first validity and the second validity representation result corresponding to any one positioning result of the measurement update are different, determining that the verification fails.
For example, the verification process time is set to be K, and if the number of effective measurement updates (the number of times that the first validity determination result is valid) of the kalman filter in the period is greater than or equal to n, and each measurement signal failure determination (the first validity determination) is consistent with the second validity determination result at the corresponding time, the task initialization is valid. Wherein n can be set according to an empirical value, and can be dynamically configured according to field requirements. If the first validity judgment result and the second validity judgment result are inconsistent (one is valid and the other is invalid) at any time, or the validity measurement update of the first validity judgment in the K time period is smaller than n times, the initialization judgment is invalid, and the verification fails.
After the test is passed, the initialization step is completed, and the corresponding parameters and covariance matrix can be used as initialization values of the subsequent positioning algorithm.
Fig. 5 is a flowchart of another vehicle positioning method disclosed in the embodiment of the present application, where the method shown in fig. 5 is equally applied to a vehicle positioning device, and in conjunction with the method shown in fig. 5, the vehicle positioning method may include:
step 501: a positioning initialization instruction of a control system of the vehicle is obtained.
Step 502: and responding to the positioning initialization instruction, and sending a positioning request to a field terminal.
Step 503: and receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request.
Wherein the positioning result comprises a plurality of position information and attitude information of the vehicle at different moments.
Step 504: and verifying the positioning result by combining the dynamic motion data of the vehicle.
Step 505: and under the condition that the positioning result passes the verification, sending an initialization completion status bit to the control system, wherein the status bit is determined based on the positioning result sent by the field terminal.
Under the condition that the verification of the positioning result determined by the site end passes, the positioning result is determined to have certain accuracy, positioning initialization can be performed based on the positioning result of the site end, so that the positioning initialization process is determined to be completed, and an initialization completion status bit is sent to the intelligent driving system. In this implementation, the initialization positioning can be accomplished by means of the vehicle itself and the field end device alone.
In the foregoing embodiment, in response to receiving the positioning request, the location terminal periodically obtains position information and posture information of the vehicle at a plurality of moments, which may include: a plurality of site end base stations at the site end respectively determine first distances between the site end base stations and the vehicle; position information and attitude information of the vehicle are determined based on the known positions of the plurality of site base stations and the plurality of first distance calculations.
And after receiving the request of the vehicle-end equipment, the site-end equipment utilizes a site-end positioning facility to relatively position the request vehicle. The relative positioning is to take the position of a base station at the site end as a reference point, and the positioning result of the vehicle positioning is to determine the distance between the base station and the vehicle.
After a plurality of first distances (relative positioning) are obtained, the relative positioning result is converted into an absolute positioning result (corresponding to the positioning result) according to a pre-calibrated parameter. The pre-calibrated parameter may be an absolute position of the site-side installed base station. If the absolute position of the base station installed at the site is known, the distance measurement distance of the relative vehicle can be dissociated into global coordinates (corresponding to the positioning result) of the vehicle. At this time, the position of the site sensor is a calibrated parameter, and the distance measured is measurement information.
Based on the above, the site base station is used for determining the positioning of the vehicle, and because the site base station is determined, the accurate initial position with high confidence can be provided for the vehicle under the condition of not depending on global satellite positioning and laser radar/vision matching positioning.
In one implementation, the headend device may be an Ultra Wide Band (UWB) device. The specific implementation process can comprise the following steps: the method comprises the steps of receiving positioning signals requested by a vehicle end base station, obtaining the distance between the vehicle end base station and two base stations of the vehicle end by ranging the base stations at all sites, knowing the accurate position of the site end, calculating the position of the vehicle end base station according to the result obtained by ranging the base stations at all sites, obtaining the position and the gesture of the vehicle by calculating the positions of the two base stations at the vehicle end, and sending the calculated position and gesture information (namely the positioning result) to the vehicle.
The distance measurement result of the site end to the vehicle is the distance between the site end base station and the vehicle end base station. Two head end base stations are needed because not only the vehicle needs to be positioned but also the orientation.
The plurality of site base stations respectively determine first distances between the site base stations and the vehicle, and may include: for each site base station: and respectively determining the distances between the base station and two vehicle base stations of the vehicle, wherein the plurality of vehicle base stations comprise a first vehicle base station and a second vehicle base station, the distance between the base station at the site and the first vehicle base station is a first sub-distance, the distance between the base station at the site and the second vehicle base station is a second sub-distance, and the first distance comprises the first sub-distance and the second sub-distance.
The determining the position information and the posture information of the vehicle based on the known positions of the plurality of site base stations and the plurality of first distance calculations may include: determining the locations of the first and second vehicle base stations using geometric sense calculations based on the known locations of the plurality of site base stations, the plurality of first sub-distances, and the plurality of second sub-distances; position information and attitude information of the vehicle are determined based on a first position of the first vehicle base station and a second position of the second vehicle base station.
There are many methods for locating vehicles at the site, for example, a plurality of ranging sensors can be resolved by satellite positioning. The identification of a particular location may also be resolved in a visual-like manner. And will not be described in detail herein.
For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present invention is not limited by the order of acts, as some steps may, in accordance with the present invention, occur in other orders or concurrently. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
The method is described in detail in the embodiments disclosed in the present invention, and the method can be implemented by using various types of devices, so that the present invention also discloses a device, and specific embodiments are given below for details.
Fig. 6 is a schematic structural diagram of a vehicle positioning device according to an embodiment of the present application, and referring to fig. 6, a vehicle positioning device 60 may include:
The instruction obtaining module 601 is configured to obtain a positioning initialization instruction of a control system of a vehicle.
And the request sending module 602 is configured to send a positioning request to a site in response to the positioning initialization instruction.
And a result receiving module 603, configured to receive a positioning result sent by the field end, where in response to receiving the positioning request, the field end generates the positioning result, and sends the positioning result to a positioning device of the vehicle.
Wherein the positioning result comprises a plurality of position information and attitude information of the vehicle at different moments.
And the result verification module 604 is used for verifying the positioning result by combining the dynamic motion data of the vehicle.
According to the vehicle positioning device, the site end base station is used for positioning and determining the vehicle, and because the site end base station is determined, the accurate initial position with high confidence can be provided for the vehicle under the condition of not depending on global satellite positioning and laser radar/vision matching positioning, and the accuracy and the success rate of intelligent driving vehicle positioning initialization can be improved in specific implementation.
The specific implementation and other possible implementation manners of each module included in the vehicle positioning device may be referred to in the description of the corresponding portion of the method embodiment, and the detailed description is not repeated herein.
Any one of the vehicle positioning devices in the above embodiments includes a processor and a memory, where the instruction acquisition module, the request transmission module, the result reception module, the result verification module, and the like in the above embodiments are stored as program modules in the memory, and the processor executes the program modules stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel fetches the corresponding program module from the memory. The kernel can be provided with one or more kernels, and the processing of the return visit data is realized by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, which when executed by a processor, implements the vehicle positioning method described in the above embodiment.
The embodiment of the invention provides a processor for running a program, wherein the program runs to execute the vehicle positioning method in the embodiment.
Further, the embodiment provides an electronic device, which comprises a processor and a memory. Wherein the memory is configured to store executable instructions of the processor configured to perform the vehicle positioning method described in the above embodiments via execution of the executable instructions.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A vehicle positioning method, applied to a positioning device of a vehicle, characterized by comprising:
obtaining a positioning initialization instruction of a control system of a vehicle;
responding to the positioning initialization instruction, and sending a positioning request to a field terminal;
Receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request;
Verifying the positioning result by combining the dynamic motion data of the vehicle;
The positioning result comprises a plurality of pieces of position information and posture information of the vehicle at different moments;
The responding to the receiving the positioning request, the site end generating the positioning result and sending the positioning result to a positioning device of the vehicle, comprising:
Responsive to receiving the positioning request, a plurality of site end base stations at the site end respectively determine first distances between the site end base stations and the vehicle;
position information and attitude information of the vehicle are determined based on the known positions of the plurality of site base stations and the plurality of first distance calculations.
2. The vehicle positioning method according to claim 1, wherein the verifying the positioning result in combination with the dynamic motion data of the vehicle includes:
determining an initial pose of the vehicle based on position information and pose information of a first moment in positioning results of a plurality of moments received from the field terminal;
And carrying out dead reckoning on the vehicle based on a vehicle kinematic model by combining the dynamic motion data of the vehicle and the initial dead reckoning, and determining whether the positioning result passes the verification according to the dead reckoning result.
3. The vehicle positioning method according to claim 2, wherein the dynamic motion data of the vehicle includes acceleration and angular velocity of the vehicle,
Combining the dynamic motion data of the vehicle with the initial pose, calculating the pose of the vehicle based on a vehicle kinematic model, and determining whether the positioning result passes the verification according to the result of the pose calculation, wherein the method comprises the following steps:
obtaining estimated poses of the vehicle at a plurality of moments using a vehicle kinematic model based on acceleration, angular velocity and the initial poses of the vehicle;
setting a covariance matrix corresponding to the initial pose, performing time update on the initial pose by using a filtering method to obtain a predicted positioning result at the k time, and performing measurement update on the basis of the positioning result obtained from the field end period to obtain a measurement positioning result at the k time;
Respectively determining a prediction covariance matrix of the weighted prediction positioning result and a measurement covariance matrix of the weighted measurement positioning result;
And determining a first validity of the positioning result corresponding to each moment based on the weighted predicted positioning result, the weighted measured positioning result, the predicted covariance matrix and the measured covariance matrix, wherein the first validity is used for representing whether the measured positioning result is valid or invalid.
4. The vehicle positioning method according to claim 3, wherein the combining the dynamic motion data of the vehicle and the initial pose, performing pose estimation on the vehicle based on a vehicle kinematic model, determining whether the positioning result passes a verification according to a result of the pose estimation, further comprises:
Comparing the positioning result received from the site with the positioning result calculated by the pose corresponding to each updating moment, and determining the second validity of the positioning result, wherein the second validity is used for representing whether the positioning result updated by measurement is valid or invalid;
based on a preset rule, the first validity and the second validity corresponding to all updated positioning results in a set time period, determining a verification result,
The set time period comprises a plurality of moments when the site end obtains a positioning result.
5. The vehicle positioning method according to claim 4, wherein the determining the verification result based on the first validity and the second validity corresponding to all updated positioning results in the preset rule and the set time period includes:
In the set time period, if the effective quantity of the measured and updated positioning results reaches a first numerical value and the first validity and the second validity representation result corresponding to each measured and updated positioning result are the same, determining that the verification is successful;
and in the set time period, if the effective number of the positioning results of the measurement update does not reach the first numerical value or the first validity and the second validity representation result corresponding to any one positioning result of the measurement update are different, determining that the verification fails.
6. The vehicle positioning method according to claim 1, characterized by further comprising: and under the condition that the positioning result passes the verification, sending an initialization completion status bit to the control system, wherein the status bit is determined based on the positioning result sent by the field terminal.
7. The vehicle positioning method according to claim 1, wherein the plurality of site base stations at the site each determine a first distance between the site base station and the vehicle, comprising:
For each site base station: respectively determining the distances between the base station and a plurality of vehicle base stations of the vehicle, wherein the plurality of vehicle base stations comprise a first vehicle base station and a second vehicle base station, the distance between a site base station and the first vehicle base station is a first sub-distance, the distance between the site base station and the second vehicle base station is a second sub-distance, and the first distance comprises the first sub-distance and the second sub-distance;
the determining the position information and the attitude information of the vehicle based on the known positions of the plurality of site base stations and the plurality of first distance calculations includes:
determining the locations of the first and second vehicle base stations using geometric sense calculations based on the known locations of the plurality of site base stations, the plurality of first sub-distances, and the plurality of second sub-distances;
Position information and attitude information of the vehicle are determined based on a first position of the first vehicle base station and a second position of the second vehicle base station.
8. A vehicle positioning device applied to a vehicle, characterized by comprising:
the instruction obtaining module is used for obtaining a positioning initialization instruction of a control system of the vehicle;
the request sending module is used for responding to the positioning initialization instruction and sending a positioning request to a site;
The result receiving module is used for receiving a positioning result sent by the field terminal, wherein the field terminal generates the positioning result and sends the positioning result to a positioning device of the vehicle in response to receiving the positioning request;
the result verification module is used for verifying the positioning result by combining the dynamic motion data of the vehicle;
The positioning result comprises a plurality of pieces of position information and posture information of the vehicle at different moments;
the result receiving module is used for responding to the received positioning request, generating the positioning result by the site end and sending the positioning result to a positioning device of the vehicle, and comprises the following steps:
Responsive to receiving the positioning request, a plurality of site end base stations at the site end respectively determine first distances between the site end base stations and the vehicle;
position information and attitude information of the vehicle are determined based on the known positions of the plurality of site base stations and the plurality of first distance calculations.
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