CN113551680A - Lane-level positioning system and method - Google Patents
Lane-level positioning system and method Download PDFInfo
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- CN113551680A CN113551680A CN202010327559.0A CN202010327559A CN113551680A CN 113551680 A CN113551680 A CN 113551680A CN 202010327559 A CN202010327559 A CN 202010327559A CN 113551680 A CN113551680 A CN 113551680A
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- 238000000034 method Methods 0.000 title claims description 7
- 230000004927 fusion Effects 0.000 claims abstract description 21
- 230000004807 localization Effects 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
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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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- 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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
Abstract
The invention relates to and provides a lane-level positioning system. The lane-level positioning system includes: a vision sensor for identifying a first set of information of a lane in which the vehicle is located; the positioning module is used for providing positioning information; the map module is used for determining the road where the vehicle is located through the positioning information and providing a second information set related to the road; and a localization fusion algorithm module for: respectively calculating the total matching degree of each lane on the road through the first information set and the second information set, selecting the lane with the highest total matching degree, comparing the highest total matching degree with a threshold value T, outputting the number of the lane with the highest total matching degree if the highest total matching degree is larger than the threshold value T, enabling the map module to re-determine the road where the vehicle is located if the highest total matching degree is smaller than the threshold value T, correspondingly providing an updated second information set, and enabling the positioning fusion algorithm module to re-perform the above operations until the highest total matching degree is larger than the threshold value T.
Description
Technical Field
The invention relates to the field of positioning, in particular to the field of vehicle positioning.
Background
Currently, a commonly used Positioning method for an automobile is to receive Positioning information of a Global Navigation Satellite System (GNSS) such as a Global Positioning System (GPS), a beidou, and the like through an antenna, perform inertial Navigation algorithm fusion on the information and an acceleration sensor and a gyroscope built in the automobile, and finally apply the information to applications or services based on vehicle positions, such as Navigation, an Advanced Driving Assistance System (ADAS), and the like.
However, due to the accuracy factors of GNSS positioning, acceleration sensors, gyroscopes, and the like, road matching errors are likely to occur in some cases. For example, in areas with weak GNSS signal coverage (e.g., tunnels, high-rise building group sections, etc.), or in road bifurcations, high-low overpasses, and parallel road sections. This results in navigation or ADAS information errors, reducing the user experience.
Disclosure of Invention
To solve or at least alleviate one or more of the above problems, the following technical solutions are provided.
According to an aspect of the present invention, there is provided a lane-level positioning system, characterized in that the lane-level positioning system comprises: a vision sensor for identifying a first set of information of a lane in which the vehicle is located; the positioning module is used for providing positioning information; the map module is used for determining the road where the vehicle is located through the positioning information and providing a second information set related to the road; and a localization fusion algorithm module for: respectively calculating the total matching degree of each lane on the road through the first information set and the second information set, selecting the lane with the highest total matching degree, comparing the highest total matching degree with a threshold value T, outputting the number of the lane with the highest total matching degree if the highest total matching degree is larger than the threshold value T, enabling the map module to re-determine the road where the vehicle is located if the highest total matching degree is smaller than the threshold value T, correspondingly providing an updated second information set, and enabling the positioning fusion algorithm module to re-perform the above operations until the highest total matching degree is larger than the threshold value T.
Optionally, in the above lane-level positioning system, the total matching degree M of each lanetotalCalculated as follows:
wherein m iskIs a type of degree of matching, akAnd εkRespectively coefficient and confidence of the type of match.
Optionally, in the above lane-level positioning system, the confidence ekDepending on the confidence of the first information relating to the type of degree of match.
Optionally, in the above lane-level positioning system, the first information set includes first information indicating whether a left side line L, a right side line R, a left side line LL and a right side line RR of a lane where the vehicle is located exist; the second set of information includes second information indicative of a number of lanes of the road; determining the lane line existence matching degree m of each lane according to the first information and the second informationexistence。
Optionally, in the above lane-level positioning system, the first information set includes first information indicating whether a left side line L, a right side line R, a left side line LL and a right side line RR of a lane where the vehicle is located are curbs; the second set of information includes second information indicative of a number of lanes of the road; the positioning fusion algorithm module determines each lane according to the first information and the second informationRoad curb degree of matching medge。
Optionally, in the above lane-level positioning system, the positioning module periodically performs inertial navigation algorithm fusion to provide the positioning information.
Optionally, in the above lane-level positioning system, the threshold T is adjusted according to an actual measurement result.
Optionally, in the above lane-level positioning system, if the highest degree of matching > the threshold T, the number of the lane having the highest degree of matching is output to a vehicle position-based service or application.
According to another aspect of the invention, a vehicle is provided, which is provided with a lane-level positioning system as described above.
According to still another aspect of the present invention, there is provided a lane-level locating method including the step S410 of: acquiring a first information set of a lane where a vehicle is located; step S420: acquiring positioning information; step S430: determining a road where the vehicle is located according to the positioning information, and acquiring a second information set related to the road; step S440: respectively calculating the total matching degree of each lane on the road through the first information set and the second information set, and selecting the lane with the highest total matching degree; and step S450: comparing the highest total matching degree with a threshold value T, if the highest total matching degree is larger than the threshold value T, outputting the number of the lane with the highest total matching degree, and if the highest total matching degree is smaller than the threshold value T, re-performing the steps S430 and S450 until the highest total matching degree is larger than the threshold value T.
The lane-level positioning scheme of the invention adds a positioning fusion link, and matches the lane information identified by the visual sensor with the corresponding data in the map to realize lane-level positioning. A better user experience, such as lane-level navigation, may be provided for conventional vehicle location-based applications or services. More application scenes can be added, such as early warning of front vehicle collision in V2X, enhanced Display Head Up Display (AR HUD) navigation and the like.
Drawings
The above and other objects and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like or similar elements are designated by like reference numerals.
FIG. 1 shows a schematic structural diagram of a lane-level positioning system 1000 according to one embodiment of the present invention;
FIG. 2 is a lane-line diagram of a lane in which a vehicle is located;
FIG. 3 shows a road curvature matching degree calculation diagram;
fig. 4 shows a flow diagram of a lane-level locating method 4000 according to one embodiment of the invention.
Detailed Description
It is to be understood that the term "vehicle" or other similar term as used herein includes motor vehicles in general, such as passenger vehicles (including sport utility vehicles, buses, trucks, etc.), various commercial vehicles, boats, planes, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, etc. A hybrid vehicle is a vehicle having two or more power sources, such as gasoline powered and electric vehicles.
Unless specifically mentioned or otherwise apparent from the context, the term "about" as used herein is understood to be within the normal tolerances in the art, for example within 2 standard deviations of the mean.
It is also noted that the terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprising" and "having," and the like, are intended to mean non-exclusive inclusion, unless otherwise specifically indicated.
Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a schematic structural diagram of a lane-level positioning system 1000 according to an embodiment of the invention. As shown in fig. 1, the lane-level localization system 1000 includes a vision sensor 100, a localization module 200, a map module 300, and a localization fusion algorithm module 400. Therein, the vision sensor 100 is used to identify a first set of information of a lane in which the vehicle is located. The first set of information may include first information indicative of the following information and their corresponding confidence e: whether a left side line L, a right side line R, a left side line LL and a right side line RR of the lane are present or not, or the color, type, shape, curb or lane change signal of the L, LL, R and RR, and the like. The positioning system 200 is used to provide positioning information. The map module 300 is used to determine the road on which the vehicle is located from the positioning information and to provide a second set of information about the road. The positioning fusion algorithm module 400 is configured to calculate a total matching degree of each lane on the road respectively through the first information set and the second information set, select a lane with the highest total matching degree, and compare the highest total matching degree with the threshold T. If the highest total matching degree is larger than the threshold value T, the number of the lane with the highest total matching degree is output. The number may be output to a vehicle location based service or application. If the highest overall degree of match < threshold T, then the map module 300 is caused to re-determine the road on which the vehicle is located and accordingly provide the updated second set of information, and the localization fusion algorithm module 400 is caused to re-do so until the highest overall degree of match > threshold T.
In one embodiment, the total matching degree M of each lanetotalVarious types of matching degrees are comprehensively considered, and the matching degree is specifically calculated as follows:
wherein m iskIs a type of degree of matching, akAnd εkRespectively coefficient and confidence of the type of match. Confidence coefficient epsilonkMay depend on the confidence level of the first information in relation to the type of matching degree.
In one embodiment, the first set of information includes information indicating whether a left side line L, a right side line R, a left side line LL and a right side line RR of a lane in which the vehicle is located existThe first information in. The relationship between L, LL, R, RR and the vehicle is shown in fig. 2. The second set of information includes second information indicative of a number of lanes of the road. Determining the matching degree m of the lane lines of each lane according to the first information and the second informationexistence. For example, if the first information indicates that LL is not present and L, R, RR is present, and the second information indicates that the number of lanes in the map is two or more, m of the left laneexistence1, and m of the other lanesexistenceIs 0.
Furthermore, the first set of information comprises first information indicating whether a left side line L, a right side line R, a left side lane left side line LL, and a right side lane right side line RR of the lane in which the vehicle is located are curbs. The second set of information includes second information indicative of a number of lanes of the road. The positioning fusion algorithm module determines the road curb matching degree m of each lane according to the first information and the second informationedge. For example, if LL of the lane is a curb and the current road vehicle has two or more lanes in the driving direction, m of the left two lanesedge1, m of other lanesedgeIs 0.
In addition, the lane line type matching degree m of each lane can be determined according to the lane line type in the first information and the type of each lane line of the current road in the second informationtype. For example, L is a solid line, LL, R, RR are broken lines, and the lane m that matches completely is compared with each lane line type in the second informationtype1, incompletely matched lane mtype0.5, lane m completely mismatchedtypeIs 0.
In addition, the lane color matching degree m of each lane may be determined according to the lane line color in the first information and the color of each lane line of the current road in the second informationcolor. For example, L is a yellow line, LL, R, RR are white lines, and the lane m that matches completely is compared with the color of each lane line in the second informationcolor1, incompletely matched lane mcolor0.5, lane m completely mismatchedcolorIs 0.
Further, the lane change matching degree m may be determined based on the lane change information in the first information and the lane information in the second informationchange. For example, the lane change matching degree m of the lane in the corresponding direction of the lane number before lane changechange1, m of other laneschangeIs 0. If the lane change signal conflicts with the number of lanes in the map, m of all laneschangeIs 0.
In addition, the road curvature matching degree m can be determined according to the transverse offset and the longitudinal offset of the two previous and subsequent positioning and the current road curvature provided by the map module 300curvature. As shown in fig. 3, a is the previous location position and its lane number, and B is the ideal position for keeping the current lane calculated from the curvature of the road and the vehicle speed. And if the projection distance of the last positioning positions C and B in the transverse direction of the road is greater than the lane width provided by the map, the lane is considered to be changed. If C is the position of C1 in FIG. 3, then m of the lane where C1 is locatedcurvature1, m of other lanescurvatureIs 0. If C is the position of C2 in FIG. 3, then m of the lane where C2 is locatedcurvature1, m of other lanescurvatureIs 0.
In one embodiment, the localization fusion algorithm module 400 determines a lane line existence matching degree m for each laneexistenceRoad curb matching degree medgeMatching degree m of lane line typestypeLane color matching degree mcolorMatching degree m of lane changechangeDegree of matching with road curvature mcurvatureAnd correspondingly confidence e and coefficient a. Thus, the overall matching degree calculation formula can be expanded as:
in one embodiment, the positioning module 200 periodically performs inertial navigation algorithm fusion on GNSS signals, acceleration sensor signals, gyroscope signals, and the like, to provide fused positioning information, such as vehicle longitude and latitude, heading angle information, and the like.
In one embodiment, the threshold T may be preset or adjusted according to actual measurement results.
Fig. 4 shows a flow diagram of a lane-level locating method 4000 according to one embodiment of the invention. In step S410, a first set of information of a lane in which the vehicle is located is acquired. The first set of information may include first information indicative of the following information and their corresponding confidence e: whether a left side line L, a right side line R, a left side line LL and a right side line RR of the lane are present or not, or the color, type, shape, curb or lane change signal of the L, LL, R and RR, and the like.
In step S420, positioning information is acquired. The obtaining may be performed by periodically fusing signals such as GNSS signals, acceleration sensor signals, gyroscope signals, and the like with an inertial navigation algorithm, so as to provide fused positioning information, such as vehicle longitude and latitude, heading angle information, and the like.
In step S430, the road on which the vehicle is located is determined by the positioning information, and a second set of information about the road is acquired. The second set of information may include information such as the number of lanes in the driving direction of the current road, the type of lane lines on the current road, the color of lane lines on the current road, and the curvature of the current road.
In step S440, a total matching degree of each lane on the road is calculated by the first information set and the second information set, respectively, and a lane having the highest total matching degree is selected. In step S450, the highest total match is compared to a threshold T. If the highest total matching degree is larger than the threshold value T, the number of the lane with the highest total matching degree is output. This number may be output to applications such as front vehicle collision warning in V2X, AR HUD navigation, etc. If the highest total matching degree is less than the threshold T, the steps S430 and S450 are repeated until the highest total matching degree is greater than the threshold T.
In conclusion, the lane-level positioning scheme of the invention adds a positioning fusion link, and the lane information identified by the visual sensor is matched with the corresponding data in the map, thereby realizing the lane-level positioning. A better user experience, such as lane-level navigation, may be provided for conventional vehicle location-based applications or services. More application scenes such as front vehicle collision early warning in V2X, AR HUD navigation and the like can be added.
Although only a few embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. A lane-level positioning system, comprising:
a vision sensor for identifying a first set of information of a lane in which the vehicle is located;
the positioning module is used for providing positioning information;
the map module is used for determining the road where the vehicle is located through the positioning information and providing a second information set related to the road; and
a localization fusion algorithm module for:
respectively calculating the total matching degree of each lane on the road through the first information set and the second information set,
the lane with the highest overall degree of matching is selected,
comparing the highest total degree of match to a threshold T,
if the highest total matching degree is larger than the threshold value T, outputting the number of the lane with the highest total matching degree,
if the highest overall degree of matching < the threshold T, causing the map module to re-determine the road on which the vehicle is located and provide an updated second set of information accordingly, and causing the localization fusion algorithm module to re-do so until the highest overall degree of matching > the threshold T.
2. The lane-level positioning system of claim 1,
total matching degree M of each lanetotalCalculated as follows:
wherein m iskIs a type of degree of matching, akAnd εkRespectively coefficient and confidence of the type of match.
3. The lane-level positioning system of claim 2,
the confidence coefficient εkDepending on the confidence of the first information relating to the type of degree of match.
4. The lane-level positioning system of claim 1,
the first information set comprises first information indicating whether a left side line L, a right side line R, a left side line LL and a right side line RR of a lane where the vehicle is located exist or not;
the second set of information includes second information indicative of a number of lanes of the road;
the positioning fusion algorithm module determines the matching degree m of the lane lines of each lane according to the first information and the second informationexistence。
5. The lane-level positioning system of claim 1,
the first information set comprises first information indicating whether a left side line L, a right side line R, a left side line LL and a right side line RR of a lane where the vehicle is located are curbs or not;
the second set of information includes second information indicative of a number of lanes of the road;
the positioning fusion algorithm module is used for performing positioning fusion according to the first information sumThe second information determines the road curb matching degree m of each laneedge。
6. The lane-level positioning system of claim 1,
the positioning module periodically performs inertial navigation algorithm fusion to provide the positioning information.
7. The lane-level positioning system of claim 1,
adjusting the threshold value T according to the actual measurement result.
8. The lane-level positioning system of claim 1,
outputting the number of the lane having the highest degree of match to a vehicle location based service or application if the highest degree of match > the threshold T.
9. Vehicle provided with a lane-level localization system according to one of claims 1 to 7.
10. A lane-level positioning method is characterized by comprising
Step S410: acquiring a first information set of a lane where a vehicle is located;
step S420: acquiring positioning information;
step S430: determining a road where the vehicle is located according to the positioning information, and acquiring a second information set related to the road;
step S440: respectively calculating the total matching degree of each lane on the road through the first information set and the second information set, and selecting the lane with the highest total matching degree; and
step S450: comparing the highest total degree of match to a threshold T,
if the highest total matching degree is larger than the threshold value T, outputting the number of the lane with the highest total matching degree,
if the highest total matching degree is less than the threshold value T, the steps S430 and S450 are repeated until the highest total matching degree is greater than the threshold value T.
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| WO2024027350A1 (en) * | 2022-08-03 | 2024-02-08 | 腾讯科技（深圳）有限公司 | Vehicle positioning method and apparatus, computer device and storage medium |
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