CN114076601A

CN114076601A - Auxiliary positioning method and device

Info

Publication number: CN114076601A
Application number: CN202111351763.7A
Authority: CN
Inventors: 张�林; 郭晓英; 曹力; 辛鑫
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-02-22
Anticipated expiration: 2041-11-16
Also published as: CN114076601B

Abstract

The invention discloses an auxiliary positioning method and device, wherein the method comprises the following steps: receiving a regional high-precision map sent by road side equipment and regional high-precision auxiliary positioning data within the regional high-precision map range; in the process of driving based on the regional high-precision map, if the vehicle is determined to enter an auxiliary positioning subarea, judging whether a target auxiliary positioning reference object is detected or not according to appearance characteristic information, lane reference points and relative position relation in the regional high-precision auxiliary positioning data; if the target auxiliary positioning reference object is determined to be detected, converting the vehicle body coordinate system into a north-south forward coordinate system with the target auxiliary positioning reference object as an origin; and determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system. By the method, auxiliary positioning can be realized, and the problem that the accurate positioning cannot be realized due to weak positioning signals and the like of the original positioning system is solved.

Description

Auxiliary positioning method and device

Technical Field

The invention relates to the technical field of positioning, in particular to an auxiliary positioning method and device.

Background

With the development of science and technology and the improvement of the living standard of people, the automobile keeping quantity is larger and larger. Navigation systems on automobiles are almost standard, especially automatic driving automobiles, and even the navigation systems cannot be separated. In the vehicle navigation process, the most basic link is positioning, namely path planning can be carried out only by determining the current position of a vehicle, so that intelligent navigation is realized.

The current vehicle Positioning method includes GPS (Global Positioning System) Positioning, base station Positioning, etc., but when a vehicle enters an area with weak GPS and base station signals, such as an urban canyon, an overpass, a tunnel, an indoor parking lot, etc., the Positioning accuracy is greatly reduced, thereby affecting the user experience of manual driving and the safety of automatic driving.

Disclosure of Invention

The invention provides an auxiliary positioning method and device, which can realize auxiliary positioning of a regional high-precision map based on an auxiliary positioning reference object in regional high-precision auxiliary positioning data and related information of the auxiliary positioning reference object, thereby solving the problem that the original positioning system cannot realize accurate positioning due to weak positioning signals and the like. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides an auxiliary positioning method, where the method includes:

receiving a regional high-precision map sent by roadside equipment and regional high-precision auxiliary positioning data within the range of the regional high-precision map, wherein the regional high-precision auxiliary positioning data comprises at least one auxiliary positioning subarea, and the auxiliary positioning subarea comprises appearance characteristic information of an auxiliary positioning reference object with a unique identifiable characteristic, a lane reference point for sensing the relative position relationship with the auxiliary positioning reference object, and the relative position relationship between the auxiliary positioning reference object and the lane reference point;

in the process of driving based on the regional high-precision map, if the fact that a vehicle enters an auxiliary positioning subarea is determined, judging whether a target auxiliary positioning reference object is detected or not according to the appearance characteristic information, the lane reference point and the relative position relation, wherein the target auxiliary positioning reference object is an auxiliary positioning reference object of the auxiliary positioning subarea where the vehicle is located currently;

if the target auxiliary positioning reference object is determined to be detected, converting a vehicle body coordinate system into a north-south forward coordinate system with the target auxiliary positioning reference object as an origin, wherein the positive direction of the horizontal axis of the north-south forward coordinate system is the positive east direction, and the positive direction of the longitudinal axis of the north-south forward coordinate system is the positive north direction;

and determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system.

Optionally, determining that the vehicle enters an assisted positioning zone comprises:

when the vehicle runs a first preset distance from a last auxiliary positioning point, determining that the vehicle enters an auxiliary positioning subarea, wherein the first preset distance is the distance between the auxiliary positioning point and a first lane reference point, and the first lane reference point is a lane reference point which is closest to the auxiliary positioning point in the running direction of the vehicle.

Optionally, determining whether a target auxiliary positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative position relationship includes:

when the vehicle runs from the first lane reference point to a second lane reference point, detecting whether an auxiliary positioning reference object is contained according to a detection range defined by a relative position relationship between the first lane reference point and the target auxiliary positioning reference object and a relative position relationship between the second lane reference point and the target auxiliary positioning reference object, wherein the second lane reference point is a lane reference point adjacent to the first lane reference point in the running direction of the vehicle;

and if the target auxiliary positioning reference object contains the auxiliary positioning reference object, determining the detected auxiliary positioning reference object as the target auxiliary positioning reference object when the difference between the detected appearance characteristic information of the auxiliary positioning reference object and the appearance characteristic information of the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data meets the preset difference requirement.

Optionally, the converting the coordinate system of the vehicle body into a north-south coordinate system with the target auxiliary positioning reference object as an origin includes:

translating the origin of the body coordinate system to the target auxiliary positioning reference object;

and rotating the horizontal and vertical coordinate axes of the vehicle body coordinate system by a preset angle so as to generate the north-south forward coordinate system when the positive direction of the horizontal axis is the east-right direction and the positive direction of the vertical axis is the north-north direction.

Optionally, when the regional high-accuracy assistant positioning data further includes a vehicle system applicability requirement required by an assistant positioning function, in the process of traveling based on the regional high-accuracy map, if it is determined that a vehicle enters an assistant positioning sub-area, before determining whether a target assistant positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative position relationship, the method further includes:

judging whether the vehicle meets the vehicle system applicability requirement or not;

in the process of driving based on the regional high-precision map, if it is determined that the vehicle enters an auxiliary positioning subarea, judging whether a target auxiliary positioning reference object is detected according to the appearance characteristic information, the lane reference point and the relative position relationship, wherein the judging step comprises the following steps:

and if the vehicle is determined to meet the requirement of the vehicle system applicability, judging whether a target auxiliary positioning reference object is detected or not according to the appearance characteristic information, the lane reference point and the relative position relation if the vehicle is determined to enter an auxiliary positioning subarea in the process of driving based on the regional high-precision map.

Optionally, the area high-precision auxiliary positioning data further includes consistency description information used for characterizing whether an auxiliary positioning reference object in the area high-precision auxiliary positioning data is consistent with a corresponding reference object in the area high-precision map, where, when there is an inconsistency, the consistency description information includes a reference object identifier of an auxiliary positioning reference object inconsistent with a reference object in the area high-precision map and an update time of the inconsistent auxiliary positioning reference object, and the reference object identifier is an identifier determined according to appearance feature information of the auxiliary positioning reference object;

and/or when the auxiliary positioning reference object comprises a ground mark, the auxiliary positioning subarea also comprises a depression angle between the vehicle-mounted sensor and the ground mark;

and/or when the auxiliary positioning reference object comprises an upper signboard, the auxiliary positioning subarea also comprises the elevation angle of the vehicle-mounted sensor and the upper signboard.

Optionally, after determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system, the method further includes:

calculating the auxiliary positioning accuracy corresponding to the longitude and latitude coordinates according to positioning error calibration parameters, the regional high-accuracy auxiliary positioning data, the distance traveled by the vehicle from the last auxiliary positioning point to the detected target auxiliary positioning reference object, the position coordinates of the auxiliary positioning reference object detected by the vehicle, and the relative position relationship between the vehicle and the target auxiliary positioning reference object detected by the vehicle;

and if the auxiliary positioning precision meets the preset positioning precision requirement, driving through the longitude and latitude coordinates positioned by the regional high-precision auxiliary positioning data.

Optionally, when the positioning error calibration parameter includes a longitudinal error and a lateral error, and the regional high-precision auxiliary positioning data further includes an actual position coordinate of a target auxiliary positioning reference object, calculating the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the positioning error calibration parameter, the regional high-precision auxiliary positioning data, a distance traveled by the vehicle from a last auxiliary positioning point to the detected target auxiliary positioning reference object, a position coordinate of the auxiliary positioning reference object detected by the vehicle, and a relative position relationship between the vehicle and the target auxiliary positioning reference object detected by the vehicle, including:

acquiring the actual position coordinates of the target auxiliary positioning reference object from the regional high-precision auxiliary positioning data;

determining an actual distance between the vehicle and the target auxiliary positioning reference object and an actual included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle driving direction according to the relative position relation between the target auxiliary positioning reference object and a lane reference point corresponding to the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data and the distance from the last auxiliary positioning point to the detected target auxiliary positioning reference object;

taking the position coordinates of the target auxiliary positioning reference object detected by the vehicle as measurement position coordinates, and acquiring a measurement distance between the vehicle and the target auxiliary positioning reference object and a measurement included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle driving direction from a relative position relation between the vehicle and the target auxiliary positioning reference object detected by the vehicle;

taking the absolute value of the difference between the measured position coordinate and the actual position coordinate as the position coordinate error δ r of the target auxiliary positioning reference object;

taking an absolute value of a difference between the measured distance and the actual distance as a distance measurement error δ L when the vehicle measures the distance between the vehicle and a target auxiliary positioning reference object;

taking the absolute value of the difference between the measured included angle and the actual included angle as an angle measurement error delta theta when the vehicle measures the included angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the vehicle running direction;

calculating the longitudinal error according to a longitudinal error formula delta r + delta L + L delta theta ctg theta, wherein L represents the minimum distance between the measured distance and the actual distance, and theta represents the included angle between the connecting line of the vehicle and the target auxiliary positioning reference object corresponding to L and the driving direction of the vehicle;

calculating the transverse error according to a transverse error formula delta r + L delta theta;

and determining the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the longitudinal error and the transverse error.

Optionally, the method further includes:

when an abnormal event occurs in the auxiliary positioning process based on the regional high-precision auxiliary positioning data, reporting abnormal event description information aiming at the abnormal event to a cloud server;

when the abnormal event comprises that an auxiliary positioning reference object is not detected, the abnormal event description information comprises a reference object identifier of the auxiliary positioning reference object which is not detected, and the reference object identifier is an identifier determined according to appearance characteristic information of the auxiliary positioning reference object;

when the abnormal event comprises that the detected auxiliary positioning reference object is not in the regional high-precision auxiliary positioning data, the abnormal event description information comprises position information and appearance characteristic information of the detected auxiliary positioning reference object;

when the abnormal event comprises that the detected auxiliary positioning reference object has a difference with the corresponding auxiliary positioning reference object in the area high-precision auxiliary positioning data or the existing difference does not meet a preset difference requirement, the abnormal event description information comprises a reference object identifier of the detected auxiliary positioning reference object, and difference information between the detected auxiliary positioning reference object and the corresponding auxiliary positioning reference object in the area high-precision auxiliary positioning data;

when the abnormal event includes that the auxiliary positioning precision does not meet the preset positioning precision requirement, the abnormal event description information includes the auxiliary positioning precision and a reference object identifier of an auxiliary positioning reference object corresponding to the auxiliary positioning precision.

Optionally, the method further includes:

and reporting any one or more of the vehicle state, the vehicle-mounted sensor state and the original data detected by the vehicle-mounted sensor when the abnormal event occurs to the cloud server.

In a second aspect, an embodiment of the present invention provides an auxiliary positioning apparatus, where the apparatus includes:

the system comprises a receiving unit, a road side device and a positioning unit, wherein the receiving unit is used for receiving a regional high-precision map sent by the road side device and regional high-precision auxiliary positioning data in the regional high-precision map range, the regional high-precision auxiliary positioning data comprises at least one auxiliary positioning subarea, and the auxiliary positioning subarea comprises appearance characteristic information of an auxiliary positioning reference object with a unique identifiable characteristic, a lane reference point used for sensing the relative position relation with the auxiliary positioning reference object and the relative position relation of the auxiliary positioning reference object and the lane reference point;

the judging unit is used for judging whether a target auxiliary positioning reference object is detected or not according to the appearance characteristic information, the lane reference point and the relative position relation in the process of driving based on the regional high-precision map, if the fact that the vehicle enters an auxiliary positioning subarea is determined, wherein the target auxiliary positioning reference object is an auxiliary positioning reference object of the auxiliary positioning subarea where the vehicle is located currently;

the conversion unit is used for converting a vehicle body coordinate system into a north-south coordinate system with the target auxiliary positioning reference object as an origin if the target auxiliary positioning reference object is determined to be detected, wherein the positive direction of the horizontal axis of the north-south coordinate system is the positive east direction, and the positive direction of the vertical axis of the north-south coordinate system is the positive north direction;

and the position determining unit is used for determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system.

Optionally, the apparatus further comprises:

an entry zone determining unit for determining whether the vehicle enters an auxiliary positioning zone;

the entry zone determining unit is configured to determine that the vehicle enters an auxiliary positioning zone when the vehicle travels a first preset distance from a last auxiliary positioning point, where the first preset distance is a distance between the auxiliary positioning point and a first lane reference point, and the first lane reference point is a lane reference point closest to the auxiliary positioning point in a vehicle traveling direction.

Optionally, the determining unit includes:

the detection module is used for detecting whether an auxiliary positioning reference object is contained according to a detection range defined by the relative position relation between the first lane reference point and the target auxiliary positioning reference object and the relative position relation between the second lane reference point and the target auxiliary positioning reference object when the vehicle runs from the first lane reference point to a second lane reference point, wherein the second lane reference point is a lane reference point adjacent to the first lane reference point in the running direction of the vehicle;

the first determining module is configured to determine, if an auxiliary positioning reference object is included, that the detected auxiliary positioning reference object is the target auxiliary positioning reference object when a difference between the detected appearance feature information of the auxiliary positioning reference object and the appearance feature information of the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data meets a preset difference requirement.

Optionally, the conversion unit includes:

the translation module is used for translating the origin of the vehicle body coordinate system to the target auxiliary positioning reference object;

and the rotation module is used for rotating the transverse and longitudinal coordinate axes of the vehicle body coordinate system by a preset angle so as to generate the north-south forward coordinate system when the positive direction of the transverse axis is the positive east direction and the positive direction of the longitudinal axis is the positive north direction.

Optionally, the determining unit is configured to, when the regional high-precision assistant positioning data further includes a vehicle system applicability requirement required by an assistant positioning function, determine whether the vehicle meets the vehicle system applicability requirement before determining whether a target assistant positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative position relationship if it is determined that the vehicle enters an assistant positioning partition during the driving based on the regional high-precision map; and if the vehicle is determined to meet the requirement of the vehicle system applicability, judging whether a target auxiliary positioning reference object is detected or not according to the appearance characteristic information, the lane reference point and the relative position relation if the vehicle is determined to enter an auxiliary positioning subarea in the process of driving based on the regional high-precision map.

Optionally, the apparatus further comprises:

a calculating unit, configured to calculate, after determining longitude and latitude coordinates of the vehicle according to a relative position relationship between the vehicle and the target auxiliary positioning reference object and a mapping relationship between the north-south forward coordinate system and a geographic coordinate system, auxiliary positioning accuracy corresponding to the longitude and latitude coordinates according to a positioning error calibration parameter, the regional high-accuracy auxiliary positioning data, a distance traveled by the vehicle from a last auxiliary positioning point to the target auxiliary positioning reference object, a position coordinate of the auxiliary positioning reference object detected by the vehicle, and a relative position relationship between the vehicle and the target auxiliary positioning reference object detected by the vehicle;

and the driving unit is used for driving through the longitude and latitude coordinates positioned by the regional high-precision auxiliary positioning data if the auxiliary positioning precision meets the preset positioning precision requirement.

Optionally, the computing unit includes:

an obtaining module, configured to obtain an actual position coordinate of a target auxiliary positioning reference object from the regional high-precision auxiliary positioning data when the positioning error calibration parameter includes a longitudinal error and a lateral error and the regional high-precision auxiliary positioning data also includes the actual position coordinate of the target auxiliary positioning reference object;

the calculation module is used for determining an actual distance between the vehicle and the target auxiliary positioning reference object and an actual included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle driving direction according to the relative position relationship between the target auxiliary positioning reference object and a lane reference point corresponding to the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data and the distance traveled by the vehicle from the last auxiliary positioning point to the detected target auxiliary positioning reference object;

the acquisition module is further configured to use the position coordinates of the target auxiliary positioning reference object detected by the vehicle as measurement position coordinates, and acquire a measurement distance between the vehicle and the target auxiliary positioning reference object and a measurement included angle between a connection line of the vehicle and the target auxiliary positioning reference object and a vehicle driving direction from a relative position relationship between the vehicle and the target auxiliary positioning reference object detected by the vehicle;

the setting module is used for taking the absolute value of the difference between the measured position coordinate and the actual position coordinate as the position coordinate error delta r of the target auxiliary positioning reference object;

the setting module is further used for taking the absolute value of the difference between the measured distance and the actual distance as a distance measurement error delta L when the vehicle measures the distance between the vehicle and a target auxiliary positioning reference object;

the setting module is further configured to use an absolute value of a difference between the measured included angle and the actual included angle as an angle measurement error δ θ when the vehicle measures an included angle between a connecting line of the vehicle and the target auxiliary positioning reference object and a vehicle driving direction;

the calculation module is further configured to calculate the longitudinal error according to a longitudinal error formula δ r + δ L + L δ θ ctg θ, where L represents a minimum distance between the measured distance and the actual distance, and θ represents an included angle between a connection line between the vehicle and the target auxiliary positioning reference object corresponding to L and a vehicle driving direction;

the calculation module is further configured to calculate the lateral error according to a lateral error formula δ r + L δ θ;

and the second determining module is used for determining the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the longitudinal error and the transverse error.

Optionally, the apparatus further comprises:

the reporting unit is used for reporting abnormal event description information aiming at the abnormal event to a cloud server when the abnormal event occurs in the auxiliary positioning process based on the regional high-precision auxiliary positioning data;

Optionally, the reporting unit is further configured to report any one or a combination of a vehicle state when an abnormal event occurs, a vehicle-mounted sensor state, and raw data detected by the vehicle-mounted sensor to the cloud server.

In a third aspect, an embodiment of the present invention provides a storage medium having stored thereon executable instructions, which when executed by a processor, cause the processor to implement the method of the first aspect.

In a fourth aspect, an embodiment of the present invention provides a vehicle, including:

one or more processors;

a storage device for storing one or more programs,

wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of the first aspect.

As can be seen from the above, the assisted positioning method and apparatus provided in the embodiments of the present invention can determine whether an object assisted positioning reference object is detected according to appearance characteristic information, a lane reference point and a relative position relationship when a vehicle enters an assisted positioning sub-area during a driving process based on a regional high-precision map after receiving the regional high-precision map sent by a roadside device and the regional high-precision assisted positioning data within the regional high-precision map, and can position longitude and latitude coordinates where the vehicle is located through coordinate system conversion and the relative position relationship between the vehicle and the object assisted positioning reference object when determining that the object assisted positioning reference object is detected. Therefore, compared with the prior art that accurate positioning cannot be realized due to weak positioning signals and the like, the embodiment of the invention can realize the auxiliary positioning of the regional high-precision map based on the auxiliary positioning reference object in the regional high-precision auxiliary positioning data and the related information of the auxiliary positioning reference object, thereby solving the problem that the accurate positioning cannot be realized due to weak positioning signals and the like in the original positioning system, and further improving the positioning precision.

In addition, the embodiment of the invention can also realize the technical effects that:

1. through setting up vehicle system suitability requirement in regional high accuracy assistance-localization real-time data, can just can carry out assistance-localization real-time when can be so that the vehicle confirms that it satisfies vehicle system suitability requirement to avoided unsatisfied vehicle system suitability requirement directly to carry out assistance-localization real-time, and leaded to the problem of location failure, and then improved assistance-localization real-time efficiency.

2. By adding consistency description information used for representing whether an auxiliary positioning reference object in the regional high-precision auxiliary positioning data is consistent with a corresponding reference object in a regional high-precision map in the regional high-precision auxiliary positioning data, whether the regional high-precision map of the vehicle is the same as an actual road network or not can be reminded, and large errors can exist in the regional high-precision map positioning.

3. In order to further ensure whether the vehicle can run based on the longitude and latitude coordinates calculated by the auxiliary positioning, the auxiliary positioning precision can be compared with the preset positioning precision requirement, and only when the auxiliary positioning precision meets the preset positioning precision requirement, the vehicle can run by using the longitude and latitude coordinates of the auxiliary positioning.

4. When an abnormal event occurs in the auxiliary positioning process, the abnormal event description information aiming at the abnormal event can be reported to the cloud server, and any one or combination of a vehicle state, a vehicle-mounted sensor state and original data detected by the vehicle-mounted sensor when the abnormal event occurs can be further conveniently carried out by the cloud server so as to solve the abnormal event in time.

Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, further figures can be obtained from these figures.

Fig. 1 is a schematic flowchart of an auxiliary positioning method according to an embodiment of the present invention;

fig. 2 is an exemplary diagram of a regional high-precision map and regional high-precision auxiliary positioning data according to an embodiment of the present invention;

FIG. 3 is an exemplary diagram of auxiliary positioning data when a road side cone is used as an auxiliary positioning reference object according to an embodiment of the present invention;

fig. 4 is an exemplary diagram of auxiliary positioning related data when the roadside sign board provided by the embodiment of the invention is used as an auxiliary positioning reference object;

fig. 5 is an exemplary diagram of auxiliary positioning related data when a ground sign and an above-road sign board are used as auxiliary positioning reference objects according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a coordinate transformation provided by an embodiment of the present invention;

FIG. 7 is a schematic diagram of a positioning error calibration parameter according to an embodiment of the present invention;

fig. 8 is a block diagram of an auxiliary positioning device according to an embodiment of the present invention.

Detailed Description

The technical solution 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. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The invention provides an auxiliary positioning method and device, which can realize auxiliary positioning of a regional high-precision map based on an auxiliary positioning reference object in regional high-precision auxiliary positioning data and related information of the auxiliary positioning reference object, thereby solving the problem that the original positioning system cannot realize accurate positioning due to weak positioning signals and the like. The vehicle of the embodiment of the invention can be provided with a V2X (vehicle to X) communication device, so that the vehicle can communicate with road side equipment, other vehicles and a central server (including a cloud server, and a personal handheld terminal can be included in a specific scene) through the V2X communication device. The roadside devices include road infrastructure into which traffic information such as traffic light phase information, cameras and other sensor information may be imported.

The following provides a detailed description of embodiments of the invention.

Fig. 1 is a schematic flowchart of an auxiliary positioning method according to an embodiment of the present invention. The method may comprise the steps of:

s100: and receiving a regional high-precision map sent by the road side equipment and regional high-precision auxiliary positioning data within the regional high-precision map.

After the technician completes the regional high-precision map and the regional high-precision auxiliary positioning data in the cloud server, the cloud server can send the regional high-precision map and the regional high-precision auxiliary positioning data to the roadside equipment in the corresponding region. When the roadside device is directly connected with the vehicle or when the vehicle is judged to be in the coverage area of the regional high-precision map based on the position of the vehicle, the roadside device can issue regional high-precision auxiliary positioning data in the regional high-precision map and the regional high-precision auxiliary positioning data in the regional high-precision map range to the vehicle when the vehicle enters the region corresponding to the regional high-precision map, so that the vehicle can run based on the regional high-precision map and can perform auxiliary positioning based on the regional high-precision auxiliary positioning data. In addition, the roadside device can also transmit the regional high-precision map and the regional high-precision auxiliary positioning data to vehicles within a certain range in a broadcast mode without triggering. The certain range comprises a range covered by the regional high-precision map.

The regional high-precision map comprises a data identifier, a basic element and an expansion element. The data identification comprises an area identification and an area high-precision map version number; the basic elements comprise roads, lanes and intersection data (including basic information such as lane lines, road sidelines and zebra crossings); the extended elements include road center, road side, above ground or buildings, facilities, signboards, pavement markers, and the like. The data identification is a unique code of the regional high-precision map. The basic elements are basic elements describing lanes, lanes and road networks. The extension element is a nearby feature other than the basic element. The basic elements are road information necessary for navigation and driving decisions (including lane-level routing), while the extension elements are not necessary information, but rather spatial elements that can be selected for high-precision driving assistance.

In order to realize the auxiliary positioning and improve the precision of the auxiliary positioning, the selection principle of the regional high-precision auxiliary positioning data comprises the following steps: (1) the regional high-precision auxiliary positioning data is required to be within the regional range defined by the regional high-precision map; (2) multiple assisted positioning partitions can be defined simultaneously; (3) the auxiliary positioning reference object in the auxiliary positioning subarea must have unique identifiable characteristics (the element space boundary of the auxiliary positioning reference object is clear and is not overlapped with other elements, and the identification number is unique); (4) the auxiliary positioning subareas can be crossed and covered (the crossed area does not exceed N meters (such as 1 meter) along the road direction, and the crossed area does not allow the definition of an auxiliary positioning reference object); (5) at least one auxiliary positioning reference object is defined in the auxiliary positioning subarea, and a plurality of auxiliary positioning reference objects are allowed to be defined at the same time, wherein each auxiliary positioning reference object has a unique identifier; (6) and positioning auxiliary information of the auxiliary positioning reference object so as to position the auxiliary positioning reference object according to the positioning auxiliary information. Illustratively, as shown in fig. 2, the left side is an area high-precision map, and the right side is an auxiliary positioning partition within the area high-precision map, and the auxiliary positioning partition has two auxiliary positioning reference objects, namely a reference object 1 and a reference object 2 in the figure.

The high-precision auxiliary positioning data of the area can be manually manufactured (for example, manufactured on a GIS (Geographic Information System or Geo-Information System) software platform according to the requirements of rules), and can also be automatically generated by programming a processing program. The data needed when the regional high-precision auxiliary positioning data is manufactured is a data set obtained by collecting data on site by mapping equipment and processing the data. The data will be checked to see if the data meets the requirements. The quality inspection process mainly detects the spatial relationship among the areas, partitions and elements defined by the process, whether the spatial relationship includes, overlaps or intersects, and judges whether the spatial relationship conforms to the principle.

The finally manufactured high-precision auxiliary positioning data of the area comprises at least one auxiliary positioning subarea, wherein the auxiliary positioning subarea comprises appearance characteristic information of an auxiliary positioning reference object with a unique identifiable characteristic, an actual position coordinate, a lane reference point (comprising the position coordinate of the lane reference point) for sensing the relative position relation with the auxiliary positioning reference object, and the relative position relation of the auxiliary positioning reference object and the lane reference point. The auxiliary positioning reference object comprises a roadside column, a roadside cone, a sign, a ground sign, an above road sign and the like. The appearance characteristic information comprises the length, the height and the width of the auxiliary positioning reference object and the text or graphic content displayed on the auxiliary positioning reference object. The lane reference point for sensing the relative position relationship with the auxiliary positioning reference object is a reference point selected on a lane near the auxiliary positioning reference object, for example, a lane reference point is selected on a lane line or a lane center line. The relative position relationship between the auxiliary positioning reference object and the lane reference point comprises the distance between the auxiliary positioning reference object and the lane reference point, the included angle between the connecting line of the auxiliary positioning reference object and the lane reference point and the lane line or the lane central line of the lane where the lane reference point is located, and the like. The regional high-precision auxiliary positioning data also comprises a data description, and the data description comprises a data packet identifier and a version number of the regional high-precision auxiliary positioning data and a data identifier of a matched regional high-precision map. The matching of the regional high-precision auxiliary positioning data and the regional high-precision map means that the regional high-precision auxiliary positioning data are in the regional range described by the regional high-precision map.

When the auxiliary positioning reference object comprises a ground mark, the auxiliary positioning subarea also comprises a depression angle between the vehicle-mounted sensor and the ground mark; and/or when the auxiliary positioning reference object comprises an upper signboard, the auxiliary positioning subarea also comprises the elevation angle of the vehicle-mounted sensor and the upper signboard; and/or the regional high-precision auxiliary positioning data further comprises consistency description information used for representing whether an auxiliary positioning reference object in the regional high-precision auxiliary positioning data is consistent with a corresponding reference object in the regional high-precision map, wherein when inconsistency exists, the consistency description information comprises reference object identification of an auxiliary positioning reference object inconsistent with the reference object in the regional high-precision map and update time of the inconsistent auxiliary positioning reference object, and the reference object identification is identification determined according to appearance characteristic information of the auxiliary positioning reference object. By adding consistency description information used for representing whether an auxiliary positioning reference object in the regional high-precision auxiliary positioning data is consistent with a corresponding reference object in a regional high-precision map in the regional high-precision auxiliary positioning data, whether the regional high-precision map of the vehicle is the same as an actual road network or not can be reminded, and large errors can exist in the regional high-precision map positioning.

For example, fig. 3 includes three sub-diagrams of the left, middle and right, where the left diagram is an area included in the area high-precision auxiliary positioning data, where there are 2 auxiliary positioning reference objects (in the diagram, reference object 1 and reference object 2), the lane reference point corresponding to reference object 1 includes reference point A, B, C, and the lane reference point corresponding to reference object 2 includes reference point D, E. The distance between the reference object 1 and the reference point A is L, and the connecting line of the reference object 1 and the reference point A and the center line of the laneIs theta. The reference object 1 is a road cone, the external characteristic information of which is shown in the right side figure and comprises the height H of the upper and lower boundaries of the reference object 1 from the ground₁、H₂Width of lower border W₁Width of upper boundary W_2a、W_2b。

The auxiliary positioning reference object in fig. 4 is a roadside sign board, and the lane reference points corresponding to the roadside sign board include reference points a and B. The thickness of the roadside signboard is d, the width of the roadside signboard is W, the distance between the roadside signboard and the reference point A is L, and the included angle between the connecting line of the roadside signboard and the reference point A and the center line of the lane is theta. The appearance characteristic information of the roadside signboard comprises the height H of the upper boundary and the lower boundary from the ground₁、H₂And a width W.

The auxiliary positioning reference object in fig. 5 includes a ground mark and an upper road sign, the ground mark and the upper road sign are on the same vertical plane, the distance between the vehicle and the two auxiliary positioning reference objects is L, the depression angle between the vehicle-mounted sensor and the ground mark is β, the depression angle between the vehicle-mounted sensor and the upper road sign is β, the height between the vehicle-mounted sensor and the ground is H, the depression angle between the vehicle-mounted sensor and the ground mark is α, and the depression angle between the vehicle-mounted sensor and the upper road sign is β, when the upper road sign and the ground mark are respectively identified, the involved view angle lines include β 1 view angle line, β 2 view angle line, α 1 view angle line, and α 2 view angle line as shown in the figure, wherein the difference between β 1 view angle line and β 2 view angle line is δ β 2 view angle line.

In practical application, a vehicle which may meet certain software and hardware requirements can be successfully positioned by using the auxiliary positioning method provided by the embodiment of the invention, so that in order to avoid the problem that the vehicle which does not meet the requirements is directly subjected to auxiliary positioning to cause positioning failure, the regional high-precision auxiliary positioning data also comprises the requirement on the applicability of a vehicle system required by using an auxiliary positioning function. Before the vehicle performs step S110, it may be determined whether the vehicle meets the vehicle system applicability requirement, and step S110 may be performed when it is determined that the vehicle meets the vehicle system applicability requirement, otherwise step S110 is not performed, and the auxiliary positioning is abandoned.

Vehicle system suitability requirements include software and hardware configuration requirements and performance requirements. The software and hardware configuration requirements comprise sensor types, models, calibration parameters during installation, software identification and the like. The cloud server can also send a software and hardware configuration list meeting the system applicability requirement or a software and hardware configuration list not meeting the system applicability requirement to the vehicle through the roadside device, so that the vehicle can preliminarily judge whether the vehicle-mounted system can use the auxiliary positioning technology provided by the embodiment of the invention by comparing the software and hardware configuration list of the vehicle with the software and hardware configuration list meeting the system applicability requirement or with the software and hardware configuration list not meeting the system applicability requirement. The performance requirements include parameter requirements for vehicle-mounted sensors such as sensing distance (testing distance), precision, installation angle, sensing period (data acquisition and processing period), and the like, so that a vehicle which is not subjected to test verification and is configured by software and hardware can select to autonomously judge whether to use the auxiliary positioning technology provided by the embodiment of the invention.

S110: and in the process of driving based on the regional high-precision map, if the vehicle is determined to enter an auxiliary positioning subarea, judging whether a target auxiliary positioning reference object is detected or not according to the appearance characteristic information, the lane reference point and the relative position relation.

And the target auxiliary positioning reference object is an auxiliary positioning reference object of an auxiliary positioning subarea where the vehicle is located currently. When the vehicle runs a first preset distance from a last auxiliary positioning point, determining that the vehicle enters an auxiliary positioning subarea, wherein the first preset distance is the distance between the auxiliary positioning point and a first lane reference point, and the first lane reference point is a lane reference point which is closest to the auxiliary positioning point in the running direction of the vehicle. When the vehicle runs from the first lane reference point to a second lane reference point, detecting whether an auxiliary positioning reference object is contained according to a detection range defined by a relative position relationship between the first lane reference point and the target auxiliary positioning reference object and a relative position relationship between the second lane reference point and the target auxiliary positioning reference object, wherein the second lane reference point is a lane reference point adjacent to the first lane reference point in the running direction of the vehicle, and the distance between the second lane reference point and the previous auxiliary positioning point is a second preset distance; and if the target auxiliary positioning reference object contains the auxiliary positioning reference object, determining the detected auxiliary positioning reference object as the target auxiliary positioning reference object when the difference between the detected appearance characteristic information of the auxiliary positioning reference object and the appearance characteristic information of the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data meets the preset difference requirement.

Illustratively, as shown in fig. 3, a first preset distance from an auxiliary positioning point on the vehicle to a lane reference point a is L1 (not shown in the figure), and a lane reference point closest to the lane reference point a is B, and when the vehicle travels from the last auxiliary positioning point L1, the vehicle is determined to enter an auxiliary positioning sub-area. During the process that the vehicle runs from the lane reference point a to the lane reference point B, the vehicle-mounted sensor may detect whether the auxiliary positioning reference object is included in a detection range defined by the relative positional relationship between the lane reference point a and the reference object 1 and the relative positional relationship between the lane reference point B and the reference object 1, and determine that the detected auxiliary positioning reference object is the reference object 1 if the auxiliary positioning reference object is detected and the difference between the appearance characteristic information of the detected auxiliary positioning reference object and the appearance characteristic information of the target auxiliary positioning reference object (i.e., the reference object 1 in the figure) satisfies a preset difference requirement.

S120: and if the target auxiliary positioning reference object is determined to be detected, converting the coordinate system of the vehicle body into a north-south forward coordinate system with the target auxiliary positioning reference object as an origin.

Specifically, the origin of the vehicle body coordinate system may be translated to the target auxiliary positioning reference object, and then the abscissa and ordinate axes of the vehicle body coordinate system are rotated by a preset angle, so that the north-south forward coordinate system is generated when the positive direction of the abscissa is the east direction and the positive direction of the ordinate is the north direction. The positive direction of the horizontal axis of the north-south forward coordinate system is the positive east direction, and the positive direction of the vertical axis is the positive north direction.

S130: and determining the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system.

For example, in one embodiment, the relative position between the vehicle and the target auxiliary positioning reference object includes a distance between the vehicle and the target auxiliary positioning reference object (which may be referred to as a measured distance), and an angle between a line connecting the vehicle and the target auxiliary positioning reference object and a driving direction of the vehicle (which may be referred to as a measured angle).

As shown in fig. 6, assuming that the vehicle is traveling in the lane direction, the on-vehicle sensor coordinates coincide with the vehicle body coordinate system horizontal projection (may be kept coincident by coordinate conversion). If the horizontal axis of the vehicle body coordinate system is an X axis and the vertical axis is a Y axis, the horizontal axis of the coordinate system obtained after translating the origin of the vehicle body coordinate system to the target auxiliary positioning reference object is an X 'axis and the vertical axis is a Y' axis, and after the horizontal and vertical coordinate axes of the vehicle body coordinate system translated to the target auxiliary positioning reference object are rotated by a preset angle gamma, a north-south forward coordinate system is obtained, wherein the horizontal axis is an X 'axis (or an E axis) and the vertical axis is a Y' axis (or an N axis). If the coordinates of the current position of the vehicle in the north-south forward coordinate system are (x ", y"), then according to the relative positions of the vehicle and the target auxiliary positioning reference object, it can be known that: the distance between the vehicle and the target auxiliary positioning reference object is L, and the angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the driving direction of the vehicle is theta.

According to the current position (x ', y') of the vehicle in the north-south forward coordinate system and the mapping relation between the north-south forward coordinate system and the geographic coordinate system, the current position of the vehicle in the geographic coordinate system, namely the longitude and latitude coordinates of the vehicle, can be calculated: E-1-Lcos (θ - γ)/R, N-N1 + Lsin (θ - γ)/R, where (E1, N1) are longitude and latitude coordinates of the target auxiliary positioning reference object, R is a radius of the earth, (E, N) are longitude and latitude coordinates of a current position of the vehicle, L is a distance (which may be simply referred to as a measurement distance) between the vehicle and the target auxiliary positioning reference object, θ is an angle (which may be simply referred to as a measurement angle) between a connecting line of the vehicle and the target auxiliary positioning reference object and a driving direction of the vehicle, and γ is a minimum rotation angle required for rotating an abscissa axis of a vehicle body coordinate system translated to the target auxiliary positioning reference object to a north-south forward coordinate system.

Optionally, when a vehicle-mounted sensor of the vehicle has a fault and a low accuracy or has an interference signal, the accuracy of the auxiliary positioning may not meet the requirement, so as to further ensure whether the vehicle can run based on the longitude and latitude coordinates calculated by the auxiliary positioning, the auxiliary positioning accuracy may be compared with the preset positioning accuracy requirement, and only when the auxiliary positioning accuracy is higher than the preset positioning accuracy requirement, the vehicle runs using the longitude and latitude coordinates of the auxiliary positioning.

Specifically, after determining longitude and latitude coordinates of the vehicle according to a relative position relationship between the vehicle and the target auxiliary positioning reference object and a mapping relationship between the north-south forward coordinate system and a geographic coordinate system, calculating auxiliary positioning accuracy corresponding to the longitude and latitude coordinates according to a positioning error calibration parameter, the regional high-accuracy auxiliary positioning data, a distance traveled by the vehicle from a last auxiliary positioning point to the detection of the target auxiliary positioning reference object, a position coordinate of the auxiliary positioning reference object detected by the vehicle, and a relative position relationship between the vehicle and the target auxiliary positioning reference object detected by the vehicle; and if the auxiliary positioning precision meets the preset positioning precision requirement, driving through the longitude and latitude coordinates positioned by the regional high-precision auxiliary positioning data.

For example, in one embodiment, the positioning error calibration parameters include a longitudinal error and a lateral error. As shown in fig. 7, the longitudinal error is δ r + δ L + L δ θ ctg θ, and the lateral error is δ r + L δ θ. δ r is a position coordinate error of a target auxiliary positioning reference object (taking a reference object 1 as an example in the figure), δ L is a distance measurement error when a vehicle (such as a vehicle-mounted sensor) measures a distance between the vehicle and the target auxiliary positioning reference object, δ θ is an angle measurement error when the vehicle (such as a vehicle-mounted sensor) measures an included angle between a vehicle driving direction and a connecting line between the vehicle and the target auxiliary positioning reference object, wherein L represents a minimum distance between the measured distance and the actual distance, and θ represents an included angle between the connecting line between the vehicle and the target auxiliary positioning reference object corresponding to L and the vehicle driving direction.

For example, in an embodiment, when the regional high-accuracy assistance positioning data further includes the actual position coordinates of the target-assistance positioning reference object, the actual position coordinates of the target-assistance positioning reference object may be obtained from the regional high-accuracy assistance positioning data, the actual distance between the vehicle and the target-assistance positioning reference object, the actual included angle between the line connecting the vehicle and the target-assistance positioning reference object and the vehicle driving direction may be determined according to the regional high-accuracy assistance positioning data and the recorded relative position relationship between the lane reference points corresponding to the target-assistance positioning reference object and the distance traveled by the vehicle from the last auxiliary positioning point to the detection of the target-assistance positioning reference object, and then the measured position coordinates, the measured distance, the measured target-assistance positioning reference object, and the measured vehicle speed of the vehicle may be obtained, According to the relative position relation between the vehicle and the target auxiliary positioning reference object detected by the vehicle, the measurement distance between the vehicle and the target auxiliary positioning reference object, and the measurement included angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the vehicle running direction, then calculating the absolute value of the difference between the measurement position coordinate measured by the vehicle-mounted sensor and the actual position coordinate as delta r, the absolute value of the difference between the measurement distance and the actual distance as delta L, and the absolute value of the difference between the measurement included angle and the actual included angle as delta theta, finally calculating the longitudinal error and the transverse error, and determining the auxiliary positioning accuracy corresponding to the longitude and latitude coordinates according to the longitudinal error and the transverse error. The measured position coordinates and the actual position coordinates are located in the same coordinate system, such as a vehicle body coordinate system and a geographic coordinate system.

According to the embodiment of the invention, the actual distance between the vehicle and the target auxiliary positioning reference object can be determined according to the relative position relationship between the target auxiliary positioning reference object and the lane reference point corresponding to the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data and the distance traveled by the vehicle from the last auxiliary positioning point to the detected target auxiliary positioning reference object. When the vehicle travels a first preset distance from a last auxiliary positioning point to reach an auxiliary positioning subarea, the first preset distance is the distance between the auxiliary positioning point and a first lane reference point, and the first lane reference point is a lane reference point closest to the auxiliary positioning point in the vehicle traveling direction, so that when the lane reference point corresponding to the target auxiliary positioning reference object is the first lane reference point (also can be the next lane reference point in the vehicle traveling direction, the embodiment of the invention takes the first lane reference point as an example), the distance between the first lane reference point and the vehicle can be determined through the absolute value of the difference between the distance traveled by the vehicle from the last auxiliary positioning point to the detected target auxiliary positioning reference object and the first preset distance, and then the distance between the first lane reference point and the vehicle and the relative position relationship between the target auxiliary positioning reference object and the first lane reference point are determined through the distance between the vehicle and the last auxiliary positioning point and the detected target auxiliary positioning reference object and the first preset distance The actual distance between the target-assisted positioning reference objects.

According to the embodiment of the invention, the actual included angle between the connecting line of the vehicle and the target auxiliary positioning reference object and the driving direction of the vehicle can be determined according to the relative position relation between the target auxiliary positioning reference object and the lane reference point corresponding to the target auxiliary positioning reference object recorded in the regional high-precision auxiliary positioning data and the actual distance.

The embodiment of the invention can take the combination of the longitudinal error and the transverse error or the mean value of the longitudinal error and the transverse error as the auxiliary positioning precision corresponding to the longitude and latitude coordinates. The preset positioning accuracy requirement may be that the longitudinal error is smaller than a first error threshold, the lateral error is smaller than a second error threshold, or that the average value of the longitudinal error and the lateral error is smaller than a third error threshold, and the specific content may be determined according to actual requirements. The first error threshold, the second error threshold, and the third error threshold are empirical values, and may be the same or different.

Optionally, in the auxiliary positioning process, abnormal events such as that an auxiliary positioning reference object is not detected, the detected auxiliary positioning reference object is not in the regional high-precision auxiliary positioning data, the detected auxiliary positioning reference object is different from the corresponding auxiliary positioning reference object in the regional high-precision auxiliary positioning data, or the difference does not meet a preset difference requirement may occur, so that in order to enable technicians of the cloud server and the cloud server to timely know the abnormal event and solve the abnormal event, when the abnormal event occurs in the auxiliary positioning process based on the regional high-precision auxiliary positioning data, abnormal event description information for the abnormal event may be reported to the cloud server.

For example, in one embodiment, when the abnormal event includes that no auxiliary positioning reference object is detected, the abnormal event description information includes a reference object identifier of the undetected auxiliary positioning reference object; when the abnormal event comprises that the detected auxiliary positioning reference object is not in the regional high-precision auxiliary positioning data, the abnormal event description information comprises position information and appearance characteristic information of the detected auxiliary positioning reference object; when the abnormal event comprises that the detected auxiliary positioning reference object has a difference with the corresponding auxiliary positioning reference object in the area high-precision auxiliary positioning data or the existing difference does not meet a preset difference requirement, the abnormal event description information comprises a reference object identifier of the detected auxiliary positioning reference object, and difference information between the detected auxiliary positioning reference object and the corresponding auxiliary positioning reference object in the area high-precision auxiliary positioning data; when the abnormal event comprises that the auxiliary positioning precision is lower than the original positioning precision, the abnormal event description information comprises the auxiliary positioning precision and a reference object identifier of an auxiliary positioning reference object corresponding to the auxiliary positioning precision.

For example, in an embodiment, the reference object identifier is a reference object identifier determined according to appearance characteristic information of the auxiliary positioning reference object, and specifically, the reference object identifier may be part or all of the appearance characteristic information capable of uniquely identifying the auxiliary positioning reference object, or may be information calculated by a preset algorithm (an algorithm agreed by the vehicle and the cloud server) according to part or all of contents of the appearance characteristic information. The regional high-precision auxiliary positioning data issued by the road side equipment to the vehicle can include reference object marks, and the reference object marks can be generated according to appearance characteristic information when the vehicle needs to be used.

Optionally, the reason for the abnormal event may be that the vehicle-mounted sensor is abnormal or the other actuator is abnormal, and in order to enable the cloud server to determine whether the reason for the abnormal event is related to the vehicle itself in time, the vehicle may report any one or a combination of a vehicle state when the abnormal event occurs, a vehicle-mounted sensor state, and raw data detected by the vehicle-mounted sensor to the cloud server.

The vehicle state includes a vehicle motion state, whether or not each actuator in the vehicle has failed, what type of failure has occurred, and the like, and the vehicle-mounted sensor state includes whether or not the vehicle-mounted sensor has failed, what type of failure has occurred, and the like.

After receiving the abnormal event description information, the cloud server can verify the abnormal content described in the abnormal event description information, and if the verification is passed, the regional high-precision map and/or regional high-precision auxiliary positioning data can be updated. When the abnormal event needs to be verified, if the cloud server receives any one or a combination of a vehicle state when the abnormal event occurs, a vehicle-mounted sensor state and original data detected by the vehicle-mounted sensor, the cloud server can confirm whether the abnormal event occurs or not is related to the vehicle per se as soon as possible.

The verification method comprises the following steps: and verifying the vehicle on site manually and verifying the reported sensor data and/or abnormal event description information of other vehicles. Through the method, whether the abnormal reason is that the regional high-precision map and/or regional high-precision auxiliary positioning data is not updated or the measurement error is caused by the vehicle fault can be confirmed.

It should be added that when the vehicle sends the information related to the abnormal event to the cloud server, the information may be sent to the roadside device through the V2X communication device, and then the roadside device uploads the information to the cloud server.

According to the auxiliary positioning method provided by the embodiment of the invention, after receiving the regional high-precision map sent by the roadside equipment and the regional high-precision auxiliary positioning data within the regional high-precision map, in the process of driving based on the regional high-precision map, if the vehicle is determined to enter an auxiliary positioning subarea, whether a target auxiliary positioning reference object is detected or not is judged according to the appearance characteristic information, the lane reference point and the relative position relation, and if the target auxiliary positioning reference object is determined to be detected, the longitude and latitude coordinates where the vehicle is located can be positioned through coordinate system conversion and the relative position relation between the vehicle and the target auxiliary positioning reference object. Therefore, compared with the prior art that accurate positioning cannot be realized due to weak positioning signals and the like, the embodiment of the invention can realize the auxiliary positioning of the regional high-precision map based on the auxiliary positioning reference object in the regional high-precision auxiliary positioning data and the related information of the auxiliary positioning reference object, thereby solving the problem that the accurate positioning cannot be realized due to weak positioning signals and the like in the original positioning system, and further improving the positioning precision.

Based on the above embodiment, another embodiment of the present invention provides an auxiliary positioning device, as shown in fig. 8, the device including:

the receiving unit 20 is used for receiving a regional high-precision map sent by a roadside device and regional high-precision auxiliary positioning data within the regional high-precision map, wherein the regional high-precision auxiliary positioning data comprises at least one auxiliary positioning subarea, and the auxiliary positioning subarea comprises appearance characteristic information of an auxiliary positioning reference object with a unique identifiable characteristic, a lane reference point for sensing a relative position relationship with the auxiliary positioning reference object, and a relative position relationship between the auxiliary positioning reference object and the lane reference point;

the judging unit 22 is configured to, in the process of traveling based on the regional high-precision map, judge whether a target auxiliary positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative position relationship if it is determined that the vehicle enters one auxiliary positioning partition, where the target auxiliary positioning reference object is an auxiliary positioning reference object of an auxiliary positioning partition where the vehicle is currently located;

a conversion unit 24, configured to, if it is determined that the target auxiliary positioning reference object is detected, convert the vehicle body coordinate system into a north-south coordinate system with the target auxiliary positioning reference object as an origin, where a positive direction of a horizontal axis of the north-south coordinate system is a positive east direction, and a positive direction of a vertical axis of the north-south coordinate system is a positive north direction;

and the position determining unit 26 is configured to determine the longitude and latitude coordinates of the vehicle according to the relative position relationship between the vehicle and the target auxiliary positioning reference object and the mapping relationship between the north-south forward coordinate system and the geographic coordinate system.

Optionally, the apparatus further comprises:

Optionally, the determining unit 22 includes:

Optionally, the converting unit 24 includes:

Optionally, the determining unit 22 is configured to, when the regional high-precision assistant positioning data further includes a vehicle system applicability requirement required by using an assistant positioning function, determine whether the vehicle meets the vehicle system applicability requirement before determining whether a target assistant positioning reference object is detected according to the appearance feature information, the lane reference point, and the relative position relationship if it is determined that the vehicle enters an assistant positioning partition during the driving based on the regional high-precision map; and if the vehicle is determined to meet the requirement of the vehicle system applicability, judging whether a target auxiliary positioning reference object is detected or not according to the appearance characteristic information, the lane reference point and the relative position relation if the vehicle is determined to enter an auxiliary positioning subarea in the process of driving based on the regional high-precision map.

Optionally, the apparatus further comprises:

Optionally, the computing unit includes:

Optionally, the apparatus further comprises:

Based on the above method embodiments, another embodiment of the present invention provides a storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to implement the above method.

Based on the above embodiment, another embodiment of the present invention provides a vehicle including:

one or more processors;

a storage device for storing one or more programs,

wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method described above. The vehicle may be a non-autonomous vehicle or an autonomous vehicle.

The system and apparatus embodiments correspond to the method embodiments, and have the same technical effects as the method embodiments, and for the specific description, refer to the method embodiments. The device embodiment is obtained based on the method embodiment, and for specific description, reference may be made to the method embodiment section, which is not described herein again. Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.

Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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

1. An assisted positioning method, comprising:

2. The method of claim 1, wherein determining that the vehicle enters an assisted positioning zone comprises:

3. The method of claim 2, wherein determining whether a target-assisted positioning reference object is detected based on the appearance feature information, the lane reference point, and the relative positional relationship comprises:

when the vehicle runs from the first lane reference point to a second lane reference point, detecting whether an auxiliary positioning reference object is included according to a detection range defined by a relative position relationship between the first lane reference point and the target auxiliary positioning reference object and a relative position relationship between the second lane reference point and the target auxiliary positioning reference object, wherein the second lane reference point is a lane reference point adjacent to the first lane reference point in the running direction of the vehicle;

4. The method of claim 1, wherein converting a body coordinate system to a north-south forward coordinate system with the target-assisted positioning reference as an origin comprises:

5. The method according to claim 1, wherein when the regional high-accuracy assistance positioning data further includes a vehicle system suitability requirement required for using an assistance positioning function, before determining whether a target assistance positioning reference object is detected based on the appearance feature information, the lane reference point, and the relative positional relationship if it is determined that a vehicle enters an assistance positioning zone during the traveling based on the regional high-accuracy map, the method further includes:

6. The method according to claim 1, wherein the regional high-precision auxiliary positioning data further comprises consistency description information for characterizing whether auxiliary positioning reference objects in the regional high-precision auxiliary positioning data are consistent with corresponding reference objects in the regional high-precision map, wherein when there is inconsistency, the consistency description information comprises reference object identifications of auxiliary positioning reference objects inconsistent with the reference objects in the regional high-precision map and update times of the inconsistent auxiliary positioning reference objects, and the reference object identifications are identifications determined according to appearance characteristic information of the auxiliary positioning reference objects;

7. The method of any one of claims 1-6, wherein after determining the longitude and latitude coordinates of the vehicle according to the relative position relationship of the vehicle and the target auxiliary positioning reference object and the mapping relationship of the north-south forward coordinate system and the geographic coordinate system, the method further comprises:

8. The method as claimed in claim 7, wherein when the positioning error calibration parameters include a longitudinal error and a lateral error, and the regional high-precision auxiliary positioning data further includes an actual position coordinate of a target auxiliary positioning reference object, calculating the auxiliary positioning precision corresponding to the longitude and latitude coordinates according to the positioning error calibration parameters, the regional high-precision auxiliary positioning data, a distance traveled by the vehicle from a last auxiliary positioning point to the detection of the target auxiliary positioning reference object, the position coordinate of the auxiliary positioning reference object detected by the vehicle, and a relative position relationship between the vehicle detected by the vehicle and the target auxiliary positioning reference object, comprises:

9. The method of claim 7, wherein the method further comprises:

10. An auxiliary positioning device, the device comprising: