CN113790723A - Map auxiliary positioning method, system, electronic equipment and storage medium - Google Patents
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a map auxiliary positioning method, a map auxiliary positioning system, electronic equipment and a storage medium, wherein the method comprises the following steps: when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and the matching correction value at the same moment, curve matching is carried out on the basis of the map curve element and the camera curve element to obtain a to-be-selected matching correction result; in the matching correction result to be selected, respectively calculating a matching precision factor according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting manner; and selecting the corresponding matching correction when the matching precision factor is the highest, and storing the matching correction to the next filtering time to carry out filtering positioning. Therefore, the calculation amount of map auxiliary positioning can be reduced, and the real-time positioning precision is improved.
Description
Technical Field
The invention belongs to the field of positioning, and particularly relates to a map auxiliary positioning method, a map auxiliary positioning system, electronic equipment and a storage medium.
Background
Along with the popularization of intelligent driving services and products, the requirements of an intelligent driving system on positioning accuracy, stability and instantaneity are higher and higher, the requirements of the positioning accuracy under certain specified scenes are met, and the intelligent driving system is also suitable for various complex scenes (such as tunnels, half-shielded road sections and the like).
The traditional GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DR (Dead Reckoning) combined positioning cannot completely meet the use requirement of a carrier, and is based on matching modes such as a local map and the like, so that the calculation amount is large, the mismatching is easily affected by external environment changes and the like, and the precision is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a map aided positioning method, system, electronic device and storage medium, which are used to solve the problems of large computation amount and low accuracy in the existing combined positioning and local map matching positioning.
In a first aspect of the embodiments of the present invention, a map-assisted positioning method is provided, including:
when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and the matching correction value at the same moment, curve matching is carried out on the basis of the map curve element and the camera curve element to obtain a to-be-selected matching correction result;
in the matching correction result to be selected, respectively calculating a matching precision factor according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting manner;
the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value;
and selecting the corresponding matching correction when the matching precision factor is the highest, and storing the matching correction to the next filtering time to carry out filtering positioning.
In a second aspect of the embodiments of the present invention, there is provided a map-assisted positioning system, including:
the curve matching module is used for performing curve matching based on a map curve element and a camera curve element to obtain a matching and correcting result to be selected when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and a matching and correcting value at the same moment;
the matching precision calculation module is used for calculating a matching precision factor in the matching correction result to be selected according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting manner;
the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value;
and the matching correction module is used for selecting the corresponding matching correction when the matching precision factor is the highest, and storing the matching correction to the next filtering time so as to carry out filtering positioning.
In a third aspect of the embodiments of the present invention, there is provided an apparatus, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In the embodiment of the invention, when the GNSS, IMU and DR data are incomplete, the correction quantity of the vehicle positioning is obtained based on the matching calculation of the map curve element and the camera curve element. Compared with the traditional local map matching method, the method can reduce the calculated amount and ensure the positioning accuracy and real-time performance, and can effectively improve the GNSS/IMU combined positioning accuracy based on curve matching auxiliary positioning.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a map-assisted positioning method according to an embodiment of the present invention;
fig. 2 is another schematic flow chart of a map-assisted positioning method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a map-aided positioning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification or claims and in the accompanying drawings, are intended to cover a non-exclusive inclusion, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.
Referring to fig. 1, a schematic flow chart of a map-assisted positioning method according to an embodiment of the present invention includes:
s101, when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and a matching correction value at the same moment, performing curve matching based on a map curve element and a camera curve element to obtain a matching correction result to be selected;
after the positioning system is powered on, a road section with no GNSS signal shielding and complete map data and camera data is selected, and the positioning system is initialized. And starting a positioning system on a road section with a wide positioning signal and complete map and camera data, initializing the system, and starting auxiliary positioning.
Further, the positioning information of the current time point is calculated according to the information of GNSS, IMU, DR (dead reckoning), matching correction and the like received by the positioning system, and the positioning information at least includes time, position, speed and attitude.
The dead reckoning data is used for reckoning the position of the vehicle at the next moment according to the inertial measurement data on the basis of GNNS positioning. The matching correction value is a positioning information correction value obtained based on curve matching, can be generally obtained according to curve matching at the last moment, and at least comprises a course correction value and a transverse correction value.
Optionally, when the vehicle positioning system receives the GNSS data, the IMU data, the dead reckoning data, and the matching correction value at the same time, the current position of the vehicle is calculated through filtering. When the vehicle receives the GNSS, IMU, dead reckoning and the matching correction value at the same moment, the positioning information at the current moment can be comprehensively calculated through filtering, and the positioning result can be corrected according to the matching correction value.
It should be noted that, because the GNSS data amount is large, there is a delay in actual positioning, it is necessary to receive the GNSS, the IMU, the dead reckoning data, and the matching correction value at the same time, and then perform filtering to correct positioning. When the GNSS, IMU, DR and the matching correction information at the same moment are not received, curve matching is needed, and if the curve matching cannot be carried out, the current positioning information can be calculated in a recursion mode.
Wherein, still include before carrying on the curve matching:
judging whether to perform curve matching according to whether the collected map curve elements and camera curve elements meet preset integrity requirements and definition requirements; if the curve is judged to be processed, the map curve element and the camera curve element are converted into the same coordinate system.
In curve matching, curve elements in a map and curve elements in an image are required, the curve elements are generally lane lines, and corresponding matching results are obtained after the curve elements are converted into the same coordinate system based on curve features in the map and curve features in a camera.
It can be understood that the candidate matching correction result includes a matching result between the camera curve lane and each curve lane at a corresponding position in the map. The curve elements in the camera may be matched with curves of multiple lanes at the same position in the map, and for lane-level positioning, the lane where the vehicle is located needs to be determined, so that the matching precision factor of each lane needs to be calculated.
S102, in the matching correction result to be selected, calculating a matching precision factor according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting mode;
wherein the matching coefficient is a fitting coefficient of two curves, namely R2A value; the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value; and the matching correction value is the current time matching correction value.
And weighting and calculating the corresponding matching precision factor according to the influence degree of the matching coefficient, the matching correction variation value and the current matching correction value on the corresponding matching correction.
S103, selecting a corresponding matching correction quantity when the matching precision factor is the highest, and storing the matching correction quantity to the next filtering time to carry out filtering positioning.
And selecting the corresponding matching correction when the matching precision factor is the highest, namely the matching correction of the lane where the current vehicle is most likely to be located, and storing the matching correction so as to calculate the vehicle positioning at the next filtering moment. The matching correction is a matching correction value obtained by currently performing curve matching, and can be used for positioning correction at the next filtering moment.
In the embodiment, the sensing data of a certain period of time before and after the camera does not need to be relied on, iterative operation is not needed to be carried out on the matching result, the operation amount is small, the real-time performance is high, and the map auxiliary positioning is carried out by combining GNSS/IMU/DR because the change of ground curve elements is small, so that the precision is more stable and reliable. .
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In another embodiment, as shown in fig. 2, the curve matching-based map-assisted positioning method includes:
s21, powering on the system, selecting a road section with a wide GNSS signal and complete map and camera data, and initializing the positioning system;
s22, recursion calculation of positioning information (time, position, speed, posture and the like) of the current time point;
s23, judging whether filtering can be carried out on the GNSS, IMU, DR information and matching correction information at the same time point:
s24, if yes, filtering and correcting the GNSS, IMU, DR information and matching correction information to generate fused and corrected positioning information;
s25, if not, judging whether curve matching can be carried out:
s26, if curve matching can be carried out, converting the curve element of the still map and the curve element of the camera into the same coordinate system, and carrying out curve matching according to the curve element of the map and the curve element of the camera to obtain a correction result to be selected; if the curve matching is not possible, performing step S22;
s26, calculating a matching precision factor according to the matching coefficient, the matching correction variation value, the matching correction value and other factors;
s27, screening a group of correction values with the highest matching precision factor, storing matching correction information corresponding to the next filtering time point, filtering and feeding back after the next filtering time is reached, and then entering S22.
Repeating the steps S22-S28 until the positioning system stops working.
Compared with the local map matching and other modes, the method provided by the embodiment has the advantages that the calculation amount is small, the real-time performance is high, in addition, due to the fact that the change of the ground curve elements is small, the map auxiliary positioning is carried out by combining the GNSS, the IMU and the DR, and the precision is more stable and reliable.
Fig. 3 is a schematic structural diagram of a map-aided positioning system according to an embodiment of the present invention, where the system includes:
the curve matching module 310 is configured to, when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data, and a matching correction value at the same time, perform curve matching based on a map curve element and a camera curve element to obtain a to-be-selected matching correction result;
after the positioning system is powered on, a road section with no GNSS signal shielding and complete map data and camera data is selected, and the positioning system is initialized.
When the vehicle positioning system receives GNSS data, IMU data, dead reckoning data and the matching correction value at the same moment, filtering and calculating the current positioning of the vehicle.
Optionally, the curve matching based on the map curve element and the camera curve element further includes, before obtaining a correction result of the matching to be selected:
judging whether to perform curve matching according to whether the collected map curve elements and camera curve elements meet preset integrity requirements and definition requirements; and if the curve matching is judged, converting the map curve element and the camera curve element into the same coordinate system.
And the to-be-selected matching correction result comprises a matching result of the camera curve lane and each curve lane at the corresponding position in the map.
The matching precision calculation module 320 is used for calculating a matching precision factor according to the matching coefficient, the matching correction variation value and the matching correction value in the matching correction result to be selected;
the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value;
and the matching correction module 330 is configured to select a matching correction corresponding to the highest matching precision factor, and store the matching correction to the next filtering time to perform filtering positioning.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the modules described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is used for vehicle positioning. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a memory 410, a processor 420, and a system bus 430, the memory 410 including an executable program 4101 stored thereon, it being understood by those skilled in the art that the electronic device configuration shown in fig. 4 does not constitute a limitation of electronic devices and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The following describes each component of the electronic device in detail with reference to fig. 4:
the memory 410 may be used to store software programs and modules, and the processor 420 executes various functional applications and data processing of the electronic device by operating the software programs and modules stored in the memory 410. The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
An executable program 4101 of a network request method is contained on the memory 410, the executable program 4101 may be divided into one or more modules/units, the one or more modules/units are stored in the memory 410 and executed by the processor 420 to realize curve matching-based assisted positioning and the like, and the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program 4101 in the electronic device 4. For example, the computer program 4101 may be divided into a curve matching module, a matching accuracy calculation module, and a matching correction module.
The processor 420 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 410 and calling data stored in the memory 410, thereby performing overall status monitoring of the electronic device. Alternatively, processor 420 may include one or more processing units; preferably, the processor 420 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 420.
The system bus 430 is used to connect functional units inside the computer, and can transmit data information, address information, and control information, and may be, for example, a PCI bus, an ISA bus, a VESA bus, etc. The instructions of the processor 420 are transmitted to the memory 410 through the bus, the memory 410 feeds data back to the processor 420, and the system bus 430 is responsible for data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 may also access other devices such as network interfaces, display devices, and the like.
In this embodiment of the present invention, the executable program executed by the process 420 included in the electronic device includes:
when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and the matching correction value at the same moment, curve matching is carried out on the basis of the map curve element and the camera curve element to obtain a to-be-selected matching correction result;
in the matching correction result to be selected, respectively calculating a matching precision factor according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting manner;
the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value;
and selecting the corresponding matching correction when the matching precision factor is the highest, and storing the matching correction to the next filtering time to carry out filtering positioning.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A map-assisted positioning method is characterized by comprising the following steps:
when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and the matching correction value at the same moment, curve matching is carried out on the basis of the map curve element and the camera curve element to obtain a to-be-selected matching correction result;
in the matching correction result to be selected, respectively calculating a matching precision factor according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting manner;
the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value;
and selecting the corresponding matching correction when the matching precision factor is the highest, and storing the matching correction to the next filtering time to carry out filtering positioning.
2. The method of claim 1, wherein when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data, and match corrections at the same time, prior to curve matching based on the map curve elements and the camera curve elements comprises:
after the positioning system is powered on, a road section with no GNSS signal shielding and complete map data and camera data is selected, and the positioning system is initialized.
3. The method of claim 1, wherein the step of determining when the GNSS data, IMU data, dead reckoning data, and match corrections are not received by the vehicle positioning system at the same time further comprises:
and when the vehicle positioning system receives the GNSS data, the IMU data, the dead reckoning data and the matching correction value at the same moment, filtering and calculating the current positioning of the vehicle.
4. The method according to claim 1, wherein the curve matching based on the map curve element and the camera curve element further comprises, before obtaining the correction result of the candidate matching:
judging whether to perform curve matching according to whether the collected map curve elements and camera curve elements meet preset integrity requirements and definition requirements;
and if the curve matching is judged, converting the map curve element and the camera curve element into the same coordinate system.
5. The method according to claim 1, wherein the candidate matching correction result comprises a matching result of the camera curve lane and each curve lane at a corresponding position in a map.
6. A map-assisted positioning system, comprising:
the curve matching module is used for performing curve matching based on a map curve element and a camera curve element to obtain a matching and correcting result to be selected when the vehicle positioning system does not receive GNSS data, IMU data, dead reckoning data and a matching and correcting value at the same moment;
the matching precision calculation module is used for calculating a matching precision factor in the matching correction result to be selected according to the matching coefficient, the matching correction variation value and the matching correction value in a weighting manner;
the change value of the matching correction is the difference value between the current matching correction value and the previous matching correction value;
and the matching correction module is used for selecting the corresponding matching correction when the matching precision factor is the highest, and storing the matching correction to the next filtering time so as to carry out filtering positioning.
7. The system of claim 6, wherein the time when the GNSS data, IMU data, dead reckoning data, and match corrections are not received by the vehicle positioning system at the same time further comprises:
and when the vehicle positioning system receives the GNSS data, the IMU data, the dead reckoning data and the matching correction value at the same moment, filtering and calculating the current positioning of the vehicle.
8. The system according to claim 6, wherein the curve matching based on the map curve element and the camera curve element further comprises, before obtaining the candidate matching correction result:
judging whether to perform curve matching according to whether the collected map curve elements and camera curve elements meet preset integrity requirements and definition requirements;
and if the curve matching is judged, converting the map curve element and the camera curve element into the same coordinate system.
9. A terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor, when executing said computer program, implements the steps of a map-assisted positioning method according to any of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed, carries out the steps of a map-assisted positioning method according to any one of claims 1 to 5.
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| CN113790723B (en) | 2023-11-28 |
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