CN113566834A - Positioning method, positioning device, vehicle, and storage medium - Google Patents
Positioning method, positioning device, vehicle, and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention discloses a positioning method, a positioning device, a vehicle and a storage medium. The positioning method comprises the following steps: obtaining current position information and correction data of the vehicle; processing the correction data to acquire environmental information of the vehicle; and correcting the current position information of the vehicle according to the environment information. According to the positioning method, the current position information of the vehicle can be corrected by utilizing the environment information of the vehicle, so that the current position information of the vehicle can more accurately reflect the position of the vehicle, and the positioning deviation is reduced.
Description
Technical Field
The present invention relates to the field of vehicle positioning technologies, and in particular, to a positioning method, a positioning device, a vehicle, and a storage medium.
Background
In the satellite navigation and positioning technology of modern vehicles, the satellite positioning technology is widely used, and a satellite signal receiving device is mounted on a vehicle, so that satellite signals can be obtained, and thus, the factors such as the position and the movement direction of the vehicle can be obtained.
Although satellite positioning technology is mature day by day, in practical application, when a vehicle passes through an overhead, a tunnel and the like, a receiving device is difficult to receive satellite signals, and the satellite positioning technology only causes great deviation in positioning.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a positioning device, a vehicle and a storage medium.
The positioning method of the embodiment of the invention comprises the following steps:
obtaining current position information and correction data of the vehicle;
processing the correction data to acquire environmental information of the vehicle;
and correcting the current position information of the vehicle according to the environment information.
In some embodiments, the correction data includes output data of a vehicle distance sensor, the environmental information includes distance environmental information where the vehicle is located,
the processing the correction data to obtain the environmental information of the vehicle comprises:
processing output data of the vehicle distance sensor to generate corresponding point cloud data;
and analyzing and modeling by utilizing the corresponding point cloud data to acquire distance environment information of the vehicle.
In some embodiments, performing analytical modeling using the corresponding point cloud data to obtain distance environment information of the vehicle includes:
outputting first distance environment information when the point cloud data is used for analyzing and modeling to obtain a closed surrounding model;
outputting second distance environment information when the point cloud data is used for analyzing and modeling to obtain a closed model only from top to bottom;
and outputting third distance environment information when analyzing and modeling by using the point cloud data to obtain a non-closed model.
In some embodiments, the modifying the current location information of the vehicle according to the environmental information includes:
retrieving map road network data according to the current position information to obtain current lane distance information;
and matching the first distance environment information, the second distance environment information or the third distance environment information with the current lane distance information to correct the current position information of the vehicle.
In some embodiments, the correction data includes output data of a vehicle image sensor, the environmental information includes image environmental information of a vehicle,
processing the correction data to acquire environmental information of the vehicle, including:
and processing the output data of the vehicle image sensor to acquire the image environment information of the vehicle.
In some embodiments, the modifying the current location information of the vehicle according to the environmental information includes:
retrieving map road network data according to the current position information to obtain current lane image information;
and matching the image environment information of the vehicle with the current lane image information to correct the current position information of the vehicle.
In some embodiments, the corrective data includes output data from vehicle grade and curvature sensors, the environmental information includes grade and curvature information of the vehicle,
processing the correction data to acquire environmental information of the vehicle, including:
processing output data of the vehicle grade and curvature sensor to obtain grade and curvature environment information of the vehicle.
In some embodiments, the modifying the current location information of the vehicle according to the environmental information includes:
retrieving map road network data according to the current position information to obtain the current lane gradient and curvature information;
and matching the gradient and curvature environment information of the vehicle with the current lane gradient and curvature information to correct the current position information of the vehicle.
A positioning device according to an embodiment of the present invention includes:
the acquisition module is used for acquiring the current position information and the correction data of the vehicle;
the processing module is used for processing the correction data to acquire the environmental information of the vehicle;
and the correction module is used for correcting the current position information of the vehicle according to the environment information.
The vehicle of the embodiment of the invention comprises the positioning device.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the positioning method according to any of the above embodiments.
According to the positioning method, the vehicle and the computer-readable storage medium, the current position information of the vehicle can be corrected by utilizing the environment information of the vehicle, so that the current position information of the vehicle can more accurately reflect the position of the vehicle, and the positioning deviation is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
FIG. 2 is another schematic flow chart diagram of a positioning method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another process of the positioning method according to the embodiment of the present invention;
FIG. 5 is a scene diagram of a positioning method according to an embodiment of the invention;
FIG. 6 is a schematic diagram of another process of the positioning method according to the embodiment of the present invention;
fig. 7 is another scene diagram of the positioning method according to the embodiment of the present invention;
FIG. 8 is a schematic diagram of another process of the positioning method according to the embodiment of the present invention;
fig. 9 is still another scene diagram of the positioning method according to the embodiment of the present invention;
FIG. 10 is a schematic diagram of another process of the positioning method according to the embodiment of the invention;
FIG. 11 is a block diagram of a positioning device in accordance with an embodiment of the present invention;
fig. 12 is a schematic structural view of a vehicle according to an embodiment of the invention;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, a positioning method according to an embodiment of the present invention includes:
s10, obtaining current position information and correction data of the vehicle 1000;
s20, processing the correction data to obtain environmental information of the vehicle 1000;
s30, the current position information of vehicle 1000 is corrected based on the environmental information.
According to the positioning method, the current position information of the vehicle 1000 can be corrected by utilizing the environment information of the vehicle 1000, so that the current position information of the vehicle 1000 can more accurately reflect the position of the vehicle 1000, and the positioning deviation is reduced.
Specifically, there are two main modes for positioning in the market at present, one is positioning through a GNSS (Global Navigation Satellite System), and the method realizes positioning through Satellite signals, so that accurate positioning is difficult when the Satellite signals are weak; another method is to estimate the position by DR (dead reckoning), which calculates the position after a certain time by measuring the moving distance and direction using the previously determined position, when the satellite signal is weak, but the position estimated by DR has an error inevitably.
According to the positioning method provided by the embodiment of the invention, when the satellite signal is weak, the correction data and the current position information of the vehicle 1000 with possible errors are obtained, and the correction data is processed to obtain the environment information of the vehicle 1000, so that the current position information of the vehicle 1000 is corrected according to the environment information, and the current position information of the vehicle 1000 is more accurate.
The current position of the vehicle 1000 may be obtained by a GNSS positioning method, may also be obtained by a DR positioning method, and may also be obtained by combining the GNSS positioning method and the DR positioning method. When the satellite signals are weak, both the GNSS positioning method and the DR positioning method have errors, and thus the current position of the vehicle 1000 in step S10 is a position where there is a possibility of error.
The correction data is various data on the surrounding environment acquired by the sensors of the vehicle 1000 so as to acquire the environmental information where the vehicle 1000 is located based on the correction data. The correction data may include data relating to distance, the correction data may include data relating to an image, the correction data may include data relating to curvature and gradient, the correction data may include data relating to color, and the correction data may include a variety of content, to name a few.
The environment information where the vehicle 1000 is located is used to indicate the environment around the vehicle 1000, so as to verify whether the current location information of the vehicle 1000 matches the environment around the vehicle 1000, and if not, the current location information of the vehicle 1000 may be corrected according to the surrounding environment information, so that the current location of the vehicle 1000 matches the environment information where the vehicle 1000 is located. The type of the environment information is adjusted according to the type of the correction data, and is not particularly limited herein.
In some embodiments, referring to fig. 2, the correction data includes output data of a distance sensor of the vehicle 1000, the environment information includes distance environment information of the vehicle 1000,
step S20 includes:
s21, processing the output data of the vehicle 1000 distance sensor to generate corresponding point cloud data;
and S22, analyzing and modeling by using the corresponding point cloud data to acquire distance environment information of the vehicle 1000.
In this way, the distance between the vehicle 1000 and the surrounding environment can be determined by analyzing and modeling the point cloud data, so that whether the vehicle 1000 is in a tunnel, a bridge bottom, or the like can be determined, and in addition, when the vehicle 1000 is on a road with a plurality of lanes, the lane on which the vehicle 1000 is located can be identified by determining the distance between the vehicle 1000 and the environments on two sides.
Specifically, the type of the vehicle 1000 distance sensor is various, and the vehicle 1000 distance sensor may be a laser radar, a millimeter wave radar, or the like, and is not particularly limited herein. Along with more and more vehicles 1000 integrated technologies such as autopilot, the condition that vehicle 1000 has set up distance sensor is very general, and distance sensor not only can be used for judging whether vehicle 1000 is in the condition such as tunnel, bridge bottom, and distance sensor can also be used for judging the condition such as vehicle 1000, pedestrian around to in order to adjust vehicle 1000 speed, remind operations such as driver.
The point cloud data is a set of vectors in a three-dimensional coordinate system, and a model related to the surrounding environment of the vehicle 1000 can be established by analyzing and modeling the point cloud data, so that distance environment information of the vehicle 1000 is obtained according to the model related to the surrounding environment of the vehicle 1000.
Specifically, referring to fig. 3, step S22 includes:
step S221, outputting first distance environment information when the point cloud data is used for analyzing and modeling to obtain a closed surrounding model;
step S223, outputting second distance environment information when the point cloud data is used for analyzing and modeling to obtain a model which is only closed up and down;
and step S225, outputting third distance environment information when analyzing and modeling by using the point cloud data to obtain a non-closed model.
In this way, it is convenient to subsequently correct the current position information of the vehicle 1000 according to the environmental information.
Specifically, when the point cloud data is analyzed and modeled to obtain a closed surrounding model, it indicates that the vehicle 1000 may be located in a driving environment with a closed periphery, such as a tunnel, that is, when the first distance environment information is output, it indicates that the vehicle 1000 may be located in the tunnel; when the point cloud data is analyzed and modeled to obtain a model which is only closed up and down, the vehicle 1000 is indicated to be possibly located under a driving environment which is only closed up and down, for example, under an overpass, namely when the second distance environment information is output, the vehicle 1000 is indicated to be possibly located under the overpass; when the point cloud data is analyzed and modeled to obtain the non-closed model, it indicates that the vehicle 1000 may be located on a non-occluded road, that is, when the third distance environment information is output, it indicates that the vehicle 1000 may be located on a non-occluded road.
Further, referring to fig. 4, step S30 includes:
step S31, according to the current position information, the map road network data is retrieved to obtain the current lane distance information;
in step S32, the first distance environment information, the second distance environment information, or the third distance environment information is matched with the current lane distance information to correct the current position information of the vehicle 1000.
In this manner, the first distance environment information, the second distance environment information, or the third distance environment information is matched with the current lane distance information, so that the current position information of the vehicle 1000 can be corrected according to the distance environment information.
The map road network data may be road network data provided by a third party, which includes various road information, such as gradient and curvature of a road, identification on the road, environment of the road, and the like. The map network data may also include EHP data. The map network data may be stored in the vehicle 1000, may also be stored in the cloud, and the vehicle 1000 and the cloud can both provide the map network data, so as to facilitate switching between offline query and online query, which is not specifically limited herein.
And retrieving the map road network data according to the current position information to acquire the current lane distance information near the current position information. It is to be noted that, since the current location information of the vehicle 1000 may be inaccurate, the actual location of the vehicle 1000 may be on a lane near the lane where the current location of the vehicle 1000 is located, and thus the current lane distance information should include information of a plurality of lanes near the current location of the vehicle 1000 so that the distance environment information where the vehicle 1000 is located can be matched to the correct current lane distance information.
Referring to fig. 5, fig. 5 is a diagram illustrating a scenario of a positioning method according to an embodiment of the invention.
Obtaining current position information and correction data of the vehicle 1000, the current position information of the vehicle 1000 indicating that the vehicle 1000 is positioned on the axle;
processing output data of the vehicle 1000 distance sensors to generate corresponding point cloud data;
analyzing and modeling by using the corresponding point cloud data to obtain distance environment information of the vehicle 1000, analyzing and modeling the point cloud data to obtain a closed model only from top to bottom, and outputting second distance environment information;
according to the current position information, retrieving the map road network data to obtain the current lane distance information, and knowing that the current road comprises various conditions on the bridge and under the bridge according to the current road distance information;
the second distance environment information is matched with the current lane distance information, the second distance environment information is found to be matched with the under-bridge lane distance information, and the current position information of the vehicle 1000 is corrected to under-bridge.
In some embodiments, the correction data includes output data of an image sensor of the vehicle 1000, the environment information includes image environment information where the vehicle 1000 is located, and the step S20 includes:
in step S24, the output data of the image sensor of the vehicle 1000 is processed to acquire the image environment information where the vehicle 1000 is located.
In this way, according to the output data of the image sensor of the vehicle 1000, the image environment information of the vehicle 1000 can be acquired to provide a basis for subsequently correcting the current position information of the vehicle 1000.
Specifically, the vehicle 1000 image sensor may be a vehicle-mounted camera, a driving recorder, or other devices capable of acquiring images. With more and more vehicles 1000 integrating technologies such as automatic driving, the situation that the vehicle 1000 is provided with an image sensor is very common, and the image sensor can be used for not only correcting the current position information of the vehicle 1000, but also recording a journey, judging surrounding pedestrians and the like.
The image environment information is used for information representing the surrounding environment, which can be obtained by road marking in the surrounding environment, i.e., processing the output data of the image sensor, extracting information about the road marking in the data, and acquiring the image environment information where the vehicle 1000 is located according to the road marking information. The image environment information may also be used to indicate information related to an image, such as brightness of the surrounding environment, color of the surrounding environment, and the like, so as to correct the current position of the vehicle 1000, which is not limited herein.
Further, referring to fig. 6, step S30 includes:
step S33, according to the current position information, the map road network data is retrieved to obtain the current lane image information;
in step S34, the image environment information where the vehicle 1000 is located is matched with the current lane image information to correct the current position information of the vehicle 1000.
As such, the image environment information is matched with the lane image information, so that the current position information of the vehicle 1000 can be corrected according to the image environment information.
It is to be noted that, since the current position information of the vehicle 1000 may be inaccurate, the actual position of the vehicle 1000 may be on a lane near the lane where the current position of the vehicle 1000 is located, and thus the current lane image information should include information of a plurality of lanes near the current position of the vehicle 1000 so that the image environment information where the vehicle 1000 is located can be matched to the correct current lane distance information.
Referring to fig. 7, fig. 7 is a diagram illustrating a scenario of a positioning method according to an embodiment of the invention.
Obtaining current position information and correction data of the vehicle 1000, the current position information of the vehicle 1000 indicating a position of the vehicle 1000 at reference numeral 1 in fig. 7;
processing output data of an image sensor of the vehicle 1000, wherein the output data comprises an identifier of a tunnel entrance, acquiring image environment information of the vehicle 1000, and the image environment information is generated according to the identifier of the tunnel entrance;
retrieving the map road network data according to the current position information to obtain current lane image information;
the image environment information where the vehicle 1000 is located is matched with the current lane image information, the image environment information where the vehicle 1000 is located is found to be matched with the position where the vehicle 1000 is located at the mark 2 in fig. 7, and the current position information of the vehicle 1000 is corrected to the position where the mark 2 is located.
In some embodiments, the correction data includes output data of a gradient and curvature sensor of the vehicle 1000, the environment information includes gradient and curvature information where the vehicle 1000 is located, and the step S20 includes:
s26, the output data of the gradient and curvature sensors of the vehicle 1000 are processed to obtain gradient and curvature environment information where the vehicle 1000 is located.
In this way, the slope and curvature environment information of the vehicle 1000 can be obtained according to the output data of the slope and curvature sensors of the vehicle 1000, so as to provide a basis for subsequently correcting the current position information of the vehicle 1000.
Specifically, the gradient is used to indicate the gradient of the road surface, and the curvature is used to indicate the horizontal rotation angle. There are various types of sensors for the gradient and curvature of the vehicle 1000, and the gradient of the vehicle 1000 may be estimated by an acceleration sensor, and the curvature of the vehicle 1000 may be measured by a gyroscope, which is not listed here. When the gyroscope measures the curvature of the vehicle 1000, the gyroscope is sampled at a certain sampling frequency, the collected voltage is converted into the angular velocity at the moment, and the angular velocity is multiplied by time to obtain the variation of the angular velocity, so that the curvature of the vehicle 1000 within one end time is obtained.
Further, referring to fig. 8, step S30 includes:
step S36, according to the current position information, the map road network data is retrieved to obtain the current lane gradient and curvature information;
in step S37, the gradient and curvature environment information where the vehicle 1000 is located is matched with the current lane gradient and curvature information to correct the current position information of the vehicle 1000.
In this manner, the gradient and curvature information of the vehicle 1000 and the current lane gradient and curvature information are matched, so that the current position information of the vehicle 1000 can be corrected according to the gradient and curvature information of the vehicle 1000.
It is noted that, because the current location information of the vehicle 1000 may be inaccurate, the actual location of the vehicle 1000 may be on a lane near the lane where the current location of the vehicle 1000 is located, and thus the current lane gradient and curvature information should include information for multiple lanes near the current location of the vehicle 1000 so that the gradient and curvature environment information where the vehicle 1000 is located can be matched to the correct current lane gradient and curvature information.
Referring to fig. 9, fig. 9 is a diagram illustrating a scene of a positioning method according to an embodiment of the invention.
Obtaining current position information and correction data of the vehicle 1000, the current position information of the vehicle 1000 indicating a position of the vehicle 1000 at reference numeral 1 in fig. 9;
processing output data of the vehicle 1000 and the curvature sensor to obtain slope and curvature environment information of the vehicle 1000, wherein the slope and curvature environment information of the vehicle 1000 indicates that the slope of the environment of the vehicle 1000 is greater than zero and the curvature is equal to zero;
according to the current position information, retrieving map road network data to obtain the current lane gradient and curvature information;
the gradient and curvature environment information in which the vehicle 1000 is located and the current lane gradient and curvature information are matched with the current lane gradient and curvature information to correct the current position information of the vehicle 1000.
It is worth mentioning that the correction data in the embodiment of the present invention may include output data of the vehicle 1000 distance sensor, the correction data may include output data of the vehicle 1000 image sensor, the correction data may include output data of the vehicle 1000 gradient and curvature sensor, the correction data may include output data of the vehicle 1000 distance sensor and output data of the vehicle 1000 gradient and curvature sensor, the correction data may include output data of the vehicle 1000 image sensor and output data of the vehicle 1000 gradient and curvature sensor, and the correction data may include output data of the vehicle 1000 distance sensor, output data of the vehicle 1000 image sensor and output data of the vehicle 1000 gradient and curvature sensor. When the correction data includes two or more of the above data, a plurality of kinds of data can be mutually verified, so that the accuracy of correcting the current position information of the vehicle 1000 is higher. Specifically, referring to fig. 10, the image recognition traveling monitoring output S2 shown in fig. 10 is output data of the image sensor of the vehicle 1000 according to the embodiment of the present invention, the radar tunnel monitoring output S1 is output data of the distance sensor of the vehicle 1000 according to the embodiment of the present invention, and S0 … … Sn includes output data of the gradient and curvature sensor of the vehicle 1000 according to the embodiment of the present invention.
The content of the environment information and the content of the map routing data retrieved are adjusted according to the content of the correction data, which is not repeated herein.
Referring to fig. 11, a positioning apparatus 100 according to an embodiment of the invention includes an obtaining module 10, a processing module 20, and a correcting module 30. The acquisition module 10 is used to obtain current position information and correction data of the vehicle 1000. The processing module 20 is used for processing the correction data and acquiring the environmental information of the vehicle 1000. The correction module 30 is configured to correct the current location environment of the vehicle 1000 according to the environment information.
The positioning device 100 can correct the current position information of the vehicle 1000 by using the environmental information of the vehicle 1000, so that the current position information of the vehicle 1000 can more accurately reflect the position of the vehicle 1000, and the positioning deviation is reduced.
In particular, the acquisition module 10 includes, but is not limited to, a distance sensor, an image sensor, a slope and curvature sensor, a satellite signal receiver.
Referring to fig. 12, a vehicle 1000 according to an embodiment of the present invention includes a positioning device 100.
The vehicle 1000 may correct the current position information of the vehicle 1000 by using the environmental information of the vehicle 1000, so that the current position information of the vehicle 1000 may more accurately reflect the position of the vehicle 1000, and the positioning deviation may be reduced.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the positioning method of any of the above embodiments.
The storage medium can correct the current position information of the vehicle 1000 by using the environmental information of the vehicle 1000, so that the current position information of the vehicle 1000 can more accurately reflect the position of the vehicle 1000, and the positioning deviation is reduced.
The computer readable medium may be provided in the vehicle 1000, or may be provided in the cloud server. The vehicle 1000 can communicate with the cloud server to acquire a corresponding program. It will be appreciated that the computer program comprises computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.
A computer readable storage medium may be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be noted that the above description of the embodiment and the beneficial effects of the positioning method is also applicable to the positioning device 100, the vehicle 1000 and the computer readable medium of the embodiments of the present invention, and is not detailed herein to avoid redundancy.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A method of positioning, comprising:
obtaining current position information and correction data of the vehicle;
processing the correction data to acquire environmental information of the vehicle;
and correcting the current position information of the vehicle according to the environment information.
2. The positioning method according to claim 1, wherein the correction data includes output data of a vehicle distance sensor, the environmental information includes distance environmental information where a vehicle is located,
the processing the correction data to obtain the environmental information of the vehicle comprises:
processing output data of the vehicle distance sensor to generate corresponding point cloud data;
and analyzing and modeling by utilizing the corresponding point cloud data to acquire distance environment information of the vehicle.
3. The positioning method according to claim 2, wherein the performing analysis modeling by using the corresponding point cloud data to obtain distance environment information of the vehicle comprises:
outputting first distance environment information when the point cloud data is used for analyzing and modeling to obtain a closed surrounding model;
outputting second distance environment information when the point cloud data is used for analyzing and modeling to obtain a closed model only from top to bottom;
and outputting third distance environment information when analyzing and modeling by using the point cloud data to obtain a non-closed model.
4. The method according to claim 3, wherein the correcting the current position information of the vehicle according to the environment information comprises:
retrieving map road network data according to the current position information to obtain current lane distance information;
and matching the first distance environment information, the second distance environment information or the third distance environment information with the current lane distance information to correct the current position information of the vehicle.
5. The positioning method according to claim 1 or 2, wherein the correction data includes output data of a vehicle image sensor, the environment information includes image environment information where a vehicle is present,
processing the correction data to acquire environmental information of the vehicle, including:
and processing the output data of the vehicle image sensor to acquire the image environment information of the vehicle.
6. The method according to claim 5, wherein the correcting the current position information of the vehicle according to the environment information comprises:
retrieving map road network data according to the current position information to obtain current lane image information;
and matching the image environment information of the vehicle with the current lane image information to correct the current position information of the vehicle.
7. The positioning method according to claim 1, wherein the correction data includes output data of a vehicle gradient and curvature sensor, the environmental information includes gradient and curvature information on which the vehicle is located,
processing the correction data to acquire environmental information of the vehicle, including:
processing output data of the vehicle grade and curvature sensor to obtain grade and curvature environment information of the vehicle.
8. The method according to claim 7, wherein the correcting the current position information of the vehicle according to the environment information includes:
retrieving map road network data according to the current position information to obtain the current lane gradient and curvature information;
and matching the gradient and curvature environment information of the vehicle with the current lane gradient and curvature information to correct the current position information of the vehicle.
9. A positioning device, comprising:
the acquisition module is used for acquiring the current position information and the correction data of the vehicle;
the processing module is used for processing the correction data to acquire the environmental information of the vehicle;
and the correction module is used for correcting the current position information of the vehicle according to the environment information.
10. A vehicle comprising the positioning device of claim 9.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the positioning method according to any one of claims 1 to 8.
Priority Applications (1)
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