CN114993333A - Fusion positioning method and device for automatic driving vehicle and electronic equipment - Google Patents
Fusion positioning method and device for automatic driving vehicle and electronic equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The application discloses a fusion positioning method and device for an automatic driving vehicle and electronic equipment, wherein the method comprises the following steps: acquiring laser transverse correction information of the automatic driving vehicle at the previous moment; when the laser transverse correction information at the previous moment meets the preset correction condition, determining the laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment; when the signal state of the high-precision positioning signal is in an unavailable state, correcting the fusion positioning information at the current moment by using the laser transverse correction information corresponding to the fusion positioning information at the current moment; and performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result. According to the method and the device, under the condition that the laser transverse correction information meets the preset correction condition and the signal state of the high-precision positioning signal is an unavailable state, the laser transverse correction information is used for correcting the fusion positioning information, and the positioning precision of the automatic driving vehicle is guaranteed.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a fusion positioning method and device for an automatic driving vehicle and electronic equipment.
Background
In an automatic driving scene, high-precision positioning of an automatic driving vehicle needs to be realized, and a multi-sensor fusion positioning mode is usually adopted at present, namely positioning information acquired by a plurality of sensors is fused through a Kalman filter, so that the high-precision positioning of the vehicle is realized. For example, one of the fusion positioning schemes in the prior art is a fusion positioning scheme implemented based on an IMU (Inertial Measurement Unit) and an RTK (Real-time kinematic). However, according to the scheme, when the automatic driving vehicle encounters working conditions such as cities, canyons or tunnels, RTK can be interfered or cannot work due to no signal, particularly under the working conditions of long tunnels, high-precision positioning information cannot be obtained, and the automatic driving vehicle cannot keep lanes due to the reasons.
The positioning scheme based on laser SLAM (synchronous positioning and Mapping) has a good positioning effect in places with more features, but in open road sections, a degradation phenomenon is generated due to missing features, and positioning failure is further caused.
Thus, the use of only one of the above-described schemes in an autonomous driving process may not ensure a high accuracy positioning of the autonomous vehicle.
Disclosure of Invention
The embodiment of the application provides a fusion positioning method and device of an automatic driving vehicle and electronic equipment, so that the positioning accuracy and stability of the automatic driving vehicle are improved.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a fusion positioning method for an autonomous vehicle, where the method includes:
acquiring laser transverse correction information of the automatic driving vehicle at the previous moment;
under the condition that the laser transverse correction information at the previous moment meets a preset correction condition, determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment;
under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is in an unavailable state, utilizing laser transverse correction information corresponding to the fusion positioning information at the current moment to correct the fusion positioning information at the current moment to obtain corrected fusion positioning information;
and performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
Optionally, the laser lateral correction information at the previous time includes a position offset and a timestamp corresponding to the position offset, and after the laser lateral correction information at the previous time of the autonomous vehicle is acquired, the method further includes:
acquiring a fusion positioning information queue of the automatic driving vehicle, wherein the fusion positioning information queue is used for caching fusion positioning information in real time and comprises a plurality of position coordinates and corresponding timestamps;
traversing timestamps corresponding to all position coordinates in the fusion positioning information queue;
determining whether a timestamp with a difference absolute value smaller than a preset difference threshold value exists in the fusion positioning information queue, wherein the timestamp corresponds to the position coordinate and the timestamp corresponds to the position offset;
and if so, determining that the laser transverse correction information at the previous moment meets the preset correction condition.
Optionally, the determining, according to the laser lateral correction information at the previous time, the laser lateral correction information corresponding to the fusion positioning information at the current time includes:
converting the laser transverse correction information of the previous moment into a navigation coordinate system to obtain the laser transverse correction information in the navigation coordinate system;
and determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information under the navigation coordinate system.
Optionally, the determining, according to the laser lateral correction information at the previous time, the laser lateral correction information corresponding to the fusion positioning information at the current time includes:
determining the current accumulated time, wherein the current accumulated time is calculated from the time when the laser transverse correction information of the previous moment is obtained;
if the current accumulated time is smaller than a first accumulated time threshold, directly taking the laser transverse correction information at the previous moment as the laser transverse correction information corresponding to the fusion positioning information at the current moment;
if the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment, and taking the attenuated laser transverse correction information as the laser transverse correction information corresponding to the fusion positioning information at the current moment;
and if the current accumulated time is not less than the second accumulated time threshold, directly zeroing the attenuated laser transverse correction information to be used as the laser transverse correction information corresponding to the fusion positioning information at the current moment.
Optionally, the attenuating the laser lateral correction information at the previous time includes:
determining an attenuation factor;
and under the condition that the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment by using the attenuation factor to obtain the attenuated laser transverse correction information.
Optionally, the correcting the current-time fusion positioning information by using the laser transverse correction information corresponding to the current-time fusion positioning information to obtain the corrected fusion positioning information includes:
acquiring laser transverse correction information corresponding to fusion positioning information at a plurality of historical moments;
fitting the laser transverse correction information corresponding to the fusion positioning information at the current moment and the laser transverse correction information corresponding to the fusion positioning information at the plurality of historical moments to obtain a fitting equation;
determining laser transverse correction information at the current moment according to the fitting equation;
and correcting the fusion positioning information at the current moment by using the laser transverse correction information at the current moment to obtain the corrected fusion positioning information.
Optionally, after determining the laser lateral correction information corresponding to the fusion positioning information at the current time according to the laser lateral correction information at the previous time, the method further includes:
acquiring the number of satellites at the current moment and RTK positioning signals at the current moment;
determining that the signal state of the high-precision positioning signal is an available state under the condition that the number of satellites at the current moment reaches a preset number threshold and the RTK positioning signal at the current moment is a fixed solution;
otherwise, determining the signal state of the high-precision positioning signal as an unavailable state.
In a second aspect, an embodiment of the present application further provides a fusion positioning apparatus for an autonomous vehicle, where the apparatus includes:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring laser transverse correction information at the previous moment of an automatic driving vehicle;
the first determining unit is used for determining the laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment under the condition that the laser transverse correction information at the previous moment meets the preset correction condition;
the correction unit is used for correcting the fusion positioning information at the current moment by using the laser transverse correction information corresponding to the fusion positioning information at the current moment to obtain corrected fusion positioning information under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is an unavailable state;
and the fusion positioning unit is used for performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: according to the fusion positioning method of the automatic driving vehicle, laser transverse correction information of the automatic driving vehicle at the previous moment is obtained; then under the condition that the laser transverse correction information at the previous moment meets the preset correction condition, determining the laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment; then, under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is in an unavailable state, utilizing laser transverse correction information corresponding to the fusion positioning information at the current moment to correct the fusion positioning information at the current moment to obtain corrected fusion positioning information; and finally, performing fusion positioning by taking the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle. According to the fusion positioning method of the automatic driving vehicle, under the condition that the laser transverse correction information meets the preset correction condition and the signal state of the high-precision positioning signal is in the unavailable state, the fusion positioning information is corrected by utilizing the laser transverse correction information, and the positioning accuracy and stability of the automatic driving vehicle are guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart illustrating a fusion positioning method for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a fusion positioning device for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the present application provides a fusion positioning method for an autonomous vehicle, and as shown in fig. 1, provides a flow schematic diagram of a fusion positioning method for an autonomous vehicle in the embodiment of the present application, where the method at least includes the following steps S110 to S140:
step S110, laser lateral correction information of the autonomous vehicle at the previous time is acquired.
The fusion positioning method of the automatic driving vehicle can be executed by a fusion positioning subsystem of the automatic driving vehicle, and the fusion positioning subsystem is mainly used for fusing data of multiple sensors, so that a fusion positioning result is output, and high-precision positioning is realized.
When the fusion positioning of the automatic driving vehicle is carried out, the laser transverse correction information of the automatic driving vehicle at the previous moment needs to be obtained firstly, the laser transverse correction information is generated by a laser radar subsystem in the automatic driving system, and the laser transverse correction information has a certain delay compared with the fusion positioning information due to the fact that the frequency of the laser transverse correction information output by the laser radar subsystem is different from the frequency of the fusion positioning information output by the fusion positioning subsystem, for example, the delay is 70ms-100 ms. Therefore, the "previous time" may be understood as a time corresponding to the laser lateral correction information that is currently newly acquired, but is not the laser lateral correction information that is actually corresponding to the current fusion positioning information.
And step S120, determining the laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment under the condition that the laser transverse correction information at the previous moment meets preset correction conditions.
As mentioned above, the laser transverse correction information at the previous time is not the laser transverse correction information actually corresponding to the fusion positioning information at the current time, and therefore, under the condition that the laser transverse correction information actually corresponding to the fusion positioning information at the current time cannot be directly acquired, it is necessary to determine whether the laser transverse correction information at the previous time can be used for correcting the fusion positioning information at the current time, that is, whether the preset correction condition is met, and if the preset correction condition is met, the laser transverse correction information corresponding to the fusion positioning information at the current time can be determined according to the laser transverse correction information at the previous time, so as to be used for subsequent correction.
And step S130, under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is in an unavailable state, utilizing the laser transverse correction information corresponding to the fusion positioning information at the current time to correct the fusion positioning information at the current time to obtain corrected fusion positioning information.
After the laser transverse correction information corresponding to the fusion positioning information at the current moment is obtained, the signal state of the high-precision positioning signal of the current automatic driving vehicle also needs to be judged, because if the signal state of the current high-precision positioning signal is better and is enough to ensure the positioning precision requirement of the automatic driving vehicle, the correction link of the laser transverse correction information can be omitted at the moment, and if the signal state of the current high-precision positioning signal is poorer and cannot meet the positioning precision requirement of the automatic driving vehicle, the positioning deviation caused by the poorer high-precision positioning signal needs to be compensated by utilizing the laser transverse correction information.
And step S140, carrying out fusion positioning by taking the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
After the corrected fusion positioning information is obtained, in order to further improve the positioning accuracy, the corrected fusion positioning information may be measured and updated as an observation value, where EKF (Extended Kalman Filter) or Kalman Filter may be used to perform fusion positioning, so as to obtain a final fusion positioning result.
In one embodiment of the application, the laser lateral correction information at the previous time includes a position offset and a timestamp corresponding to the position offset, and after the laser lateral correction information at the previous time of the autonomous vehicle is acquired, the method further includes: acquiring a fusion positioning information queue of the automatic driving vehicle, wherein the fusion positioning information queue is used for caching fusion positioning information in real time and comprises a plurality of position coordinates and corresponding timestamps; traversing timestamps corresponding to all position coordinates in the fusion positioning information queue; determining whether a timestamp with a difference absolute value smaller than a preset difference threshold value exists in the fusion positioning information queue, wherein the timestamp corresponds to the position coordinate and the timestamp corresponds to the position offset; and if so, determining that the laser transverse correction information at the previous moment meets the preset correction condition.
According to the embodiment of the application, when judging whether the laser transverse correction information at the previous moment meets the preset correction condition, the fusion positioning information queue of the automatic driving vehicle can be obtained firstly, wherein the fusion positioning information queue is used for caching the fusion positioning information output by the fusion positioning subsystem in real time, namely the fusion positioning information in the fusion positioning information queue is dynamically updated. The fused positioning information may be obtained by fusing positioning information acquired by a plurality of sensors, such as the IMU + RTK, through an extended kalman filter, and of course, a person skilled in the art may also use other combined navigation modes, which is not specifically limited herein.
The fused positioning information queue can be specifically realized by a double-ended queue (deque), the deque is a data structure with the properties of a queue and a stack, elements in the double-ended queue can be popped out from two ends, in the embodiment of the application, the deque is used for caching the fused positioning information within a certain time length such as 1s, and when new fused positioning information enters the queue, the earliest fused positioning information is popped out from the queue, so that the latest fused positioning information within 1s is always stored in the queue.
The laser lateral correction information in the embodiment of the present application may specifically include a position offset Δ and a timestamp time0 corresponding to the position offset, and the fused positioning information cached in the fused positioning information queue in real time may specifically include a position Coordinate (Posx, Posy, Posz) and a timestamp time corresponding to the position Coordinate, where the position Coordinate may be obtained by using UTM (Universal Transverse merck Grid System) or WGS84(World geographic System-1984 Coordinate System, World geographic Coordinate System-1984 Coordinate System), or may also be in other forms, which is not specifically limited herein.
The fused positioning frequency of the embodiment of the application is generally 100Hz, so if the fused positioning information is cached in 1s, 100 data pairs consisting of position coordinates and time stamps exist in the fused positioning information queue. Based on this, when judging whether the laser transverse correction information meets the first preset correction condition, the timestamp time corresponding to each position coordinate cached currently in the fusion positioning information queue can be traversed first, the timestamp time corresponding to each position coordinate is compared with the timestamp time0 corresponding to the laser transverse correction information, if the absolute value of the difference between the timestamp time and the timestamp time is smaller than a certain difference threshold value, it is indicated that the delay error of the currently received laser transverse correction information is acceptable, and therefore it can be determined that the laser transverse correction information meets the preset correction condition, and the laser transverse correction information can be used for correcting the fusion positioning information at the current moment.
The size of the preset difference threshold mainly depends on the fusion positioning frequency, for example, the fusion positioning frequency is 100Hz, the preset difference threshold may be set to 0.01s, and certainly, in order to further improve the accuracy of the determination, the preset difference threshold may also be set to be smaller, for example, set to 0.005s, if | time-time0| <0.005s, it indicates that the laser lateral correction information may be used to correct the fusion positioning information at the current time, and therefore, the position information corresponding to the time1 at the current time cached in the fusion positioning information queue may be recorded.
In an embodiment of the present application, the determining, according to the laser lateral correction information at the previous time, laser lateral correction information corresponding to fusion positioning information at the current time includes: converting the laser transverse correction information of the previous moment into a navigation coordinate system to obtain the laser transverse correction information in the navigation coordinate system; and determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information under the navigation coordinate system.
In the embodiment of the present application, when the fused positioning information at the current time is corrected by using the laser lateral correction information at the previous time, the position offset Δ (Lidar posx, Lidar posy, Lidar posz) in the laser lateral correction information may be converted into a navigation coordinate system, for example, under an North East-North-Up (ENU) coordinate system, according to the RTK positioning information (RTK posx, RTK posy, RTK posz) at the current time, so as to obtain the position offset (dx, dy, dz) under the navigation coordinate system, which may be specifically implemented as follows:
dx＝timex Lidar posx-timex RTK posx
dy＝timex Lidar posy-timex RTK posy
dz＝timex Lidar posz-timex RTK posz
in an embodiment of the present application, the determining, according to the laser lateral correction information at the previous time, the laser lateral correction information corresponding to the fusion positioning information at the current time includes: determining the current accumulated time, wherein the current accumulated time is calculated from the time when the laser transverse correction information of the previous moment is obtained; if the current accumulated time is smaller than a first accumulated time threshold, directly taking the laser transverse correction information at the previous moment as the laser transverse correction information corresponding to the fusion positioning information at the current moment; if the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment, and taking the attenuated laser transverse correction information as the laser transverse correction information corresponding to the fusion positioning information at the current moment; and if the current accumulated time is not less than the second accumulated time threshold, directly zeroing the attenuated laser transverse correction information to be used as the laser transverse correction information corresponding to the fusion positioning information at the current moment.
As described above, the laser lateral correction information at the previous time obtained in the embodiment of the present application is not the correction information actually corresponding to the fusion positioning information at the current time, and the laser lateral correction information still has a certain availability in a short time, but when new laser lateral correction information cannot be obtained in a long time, the availability of the laser lateral correction information at the previous time is reduced or even no longer available, so that the embodiment of the present application designs a logic for determining the availability of the laser lateral correction information at the previous time in different accumulation times through a large number of experiments.
It should be noted that the "current accumulated time" defined in the embodiment of the present application may be used to represent the time duration after obtaining the laser lateral correction information of the previous time.
The first situation is that when the current accumulated time does not reach the first accumulated time threshold, it indicates that the time of the acquired laser lateral correction information at the previous time is closer to the current time, so that the laser lateral correction information at the previous time has higher availability, and at this time, the laser lateral correction information at the previous time can be directly used to correct the fusion positioning information at the current time.
In the second case, when the current accumulated time reaches the first accumulated time threshold but does not reach the second accumulated time threshold, it is explained at this time that the time at which the laser lateral correction information of the previous time is acquired has elapsed for a considerable period of time from the present time, the availability of the laser lateral correction information of the previous time is decreased due to accumulation of time, but in order to avoid the situation of abrupt change of the positioning track caused by directly abandoning the correction link of the laser transverse correction information, the laser transverse correction information at the previous moment can be subjected to certain smoothing operation, for example, the laser transverse correction information at the previous moment can be subjected to gradual attenuation processing, the attenuated laser transverse correction information is used for correcting the fusion positioning information at the current moment, therefore, the entering and exiting mechanisms of the laser transverse correction information are optimized, and the smoothness and the stability of fusion positioning are ensured. Therefore, the above processing method considers both the stability of the corrected fusion positioning result and the fusion positioning accuracy.
In a third case, when the current accumulated time reaches the second accumulated time threshold, it indicates that the distance between the time for acquiring the laser lateral correction information at the previous time and the current time is longer, and after the longer time, the laser lateral correction information may have changed relatively greatly, so that the laser lateral correction information at the previous time is no longer usable, and at this time, the laser lateral correction information is directly zeroed, that is, the lateral correction is no longer performed based on the laser lateral correction information.
The first accumulated time threshold and the second accumulated time threshold are empirical values and can be flexibly adjusted according to actual scenes and actual requirements. For convenience of understanding of the embodiments of the present application, it is further illustrated here that, assuming that the first cumulative time threshold is 1s and the second cumulative time threshold is 4s, when the current cumulative time is less than 1s, the laser lateral correction information at the previous time may be directly used to correct the fusion positioning information at the current time. When the current accumulated time reaches 1s but not 4s, the laser transverse correction information at the previous moment can be attenuated, and then the fusion positioning information at the current moment can be corrected. And when the current accumulated time reaches 4s, directly resetting the laser transverse correction information to zero.
In addition, since the generation of the laser lateral correction information is not affected by the blocking of the lane lines, weather, illumination, or the like, the output of the laser lateral correction information is relatively more stable, and the scheme of the visual lateral correction information based on the visual recognition output depends on the recognition effect of the lane lines, and thus the output of the visual lateral correction information is relatively less stable. Therefore, the determination of the usability of the laser lateral correction information at different accumulation times in the embodiment of the present application may be more strict than the determination of the vision lateral correction information, for example, the accumulation time of the vision lateral correction information determination may reach 6s, while the accumulation time of the laser lateral correction information determination in the embodiment of the present application may be less than the accumulation time of the vision lateral correction information determination, for example, set to 4 s.
In an embodiment of the application, said attenuating the laser lateral correction information at the previous time includes: determining an attenuation factor; and under the condition that the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment by using the attenuation factor to obtain the attenuated laser transverse correction information.
When the attenuation processing is performed on the laser transverse correction information at the previous moment, the attenuation factor lidar _ k can be determined first, and the attenuation factor can represent the degree of attenuation of the laser transverse correction information every time. The position offset in the navigation coordinate system is (dx, dy, dz), the attenuation factor Lidar _ k can be determined as follows:
Lidar_k[0]＝dx()/100.0；
Lidar_k[1]＝dy()/100.0；
Lidar_k[2]＝dz()/100.0。
assuming that the first cumulative time threshold is 1s and the second cumulative time threshold is 4s, the attenuated laser lateral correction information may be further calculated based on the attenuation factor Lidar _ k, which may be specifically represented as:
in an embodiment of the present application, the correcting the fusion positioning information at the current time by using the laser lateral correction information corresponding to the fusion positioning information at the current time, and obtaining the corrected fusion positioning information includes: acquiring laser transverse correction information corresponding to fusion positioning information at a plurality of historical moments; fitting the laser transverse correction information corresponding to the fusion positioning information at the current moment and the laser transverse correction information corresponding to the fusion positioning information at the plurality of historical moments to obtain a fitting equation; determining laser transverse correction information at the current moment according to the fitting equation; and correcting the fusion positioning information at the current moment by using the laser transverse correction information at the current moment to obtain the corrected fusion positioning information.
The above embodiment has a good positioning effect in the case where the autonomous vehicle runs at a low speed or a normal speed, but when the autonomous vehicle runs at a high speed, the position of the autonomous vehicle will change greatly in a short time, and at this time, a certain degree of error will be generated by directly correcting the attenuated laser lateral correction information obtained in the above manner.
Based on this, in order to further improve the positioning effect of the automatically driven vehicle in the case of high-speed driving, in the embodiment of the present application, when new laser lateral correction information is not received, the fitting process may be performed on multiple frames of laser lateral correction information obtained after continuous attenuation within a period of time, for example, 5 continuous frames of laser lateral correction information may be obtained, then the fitting process may be performed on the 5 continuous frames of laser lateral correction information to obtain a fitting equation, and finally, the laser lateral correction information at the current time is predicted by using the fitting equation, so that the problem of an error of the laser lateral correction information caused by the automatically driven vehicle in the case of high-speed driving may be solved.
When the fused positioning information (Posx, Posy, Posz) at the current time is corrected by using the laser transverse correction information (dx, dy, dz) at the current time, the following form may be specifically adopted:
Posx’＝Posx+dx
Posy’＝Posy+dy
Posz’＝Posy+dz
wherein, (Posx ', Posy ', Posz ') is the corrected fusion localization information.
In an embodiment of the application, after determining, according to the laser lateral correction information at the previous time, the laser lateral correction information corresponding to the fusion positioning information at the current time, the method further includes: acquiring the number of satellites at the current moment and RTK positioning signals at the current moment; determining that the signal state of the high-precision positioning signal is an available state under the condition that the number of satellites at the current moment reaches a preset number threshold and the RTK positioning signal at the current moment is a fixed solution; otherwise, determining the signal state of the high-precision positioning signal as an unavailable state.
The laser transverse correction information corresponding to the fusion positioning information at the current moment can be determined in a continuous process, but the determined laser transverse correction information is mainly used for making up positioning deviation when the quality of the high-precision positioning signal of the automatic driving vehicle is poor, and once the signal state of the current high-precision positioning signal is restored to be in a usable state, the laser transverse correction information does not need to be reused for correction.
That is, the calculation of the laser lateral correction information is continuously performed, but as to whether the calculated laser lateral correction information is to be used for correcting the fusion positioning information at the current time, the calculation depends on the signal state of the high-precision positioning signal at the current time, so that the embodiment of the present application may determine the signal state of the current high-precision positioning signal in real time, if the signal state of the current high-precision positioning signal is in an unavailable state, the fusion positioning information at the current time may be corrected by using the calculated laser lateral correction information, and once the signal state of the current high-precision positioning signal is restored to an available state, the strategy of fusion positioning based on the high-precision positioning signal may be switched.
When the signal state of the current high-precision positioning signal is determined, comprehensive judgment can be carried out through the number of satellites at the current moment and the RTK positioning signal at the current moment, if the number of the satellites at the current moment is larger than a certain number threshold, such as 20, and the RTK positioning signal at the current moment is a fixed solution 42, the signal state of the high-precision positioning signal is an available state, and otherwise, the signal state of the high-precision positioning signal is an unavailable state.
It should be noted that, if the determination is simply made according to whether the RTK positioning signal is a fixed solution, a situation of "spoofing" the extended kalman filter may occur, for example, the output RTK positioning signal is a fixed solution, but the number of satellites is small at this time, which still indicates that the quality of the RTK positioning signal is poor, so that the accuracy of determining the signal state of the high-precision positioning signal can be greatly improved by performing the comprehensive determination through the two dimensions.
In addition, in order to further improve the stability of determining that the signal state is the usable state, the embodiment of the present application may continuously determine whether the signal states of the high-precision positioning signal within a period of time are all the usable states, for example, may continuously determine the signal state of the high-precision positioning signal within 3 seconds, and specifically may count the lidar data, that is, count the lidar _ num _ cnt.
The fusion positioning method of the automatic driving vehicle is based on the laser transverse correction information to conduct fusion positioning optimization, measuring information used can be automatically switched according to the number of satellites and the RTK positioning signal quality, positioning accuracy is guaranteed, meanwhile, entering and exiting mechanisms of the laser transverse correction information are optimized, and smoothness and stability of fusion positioning are guaranteed.
The embodiment of the present application further provides a fusion positioning device 200 for an autonomous vehicle, as shown in fig. 2, which provides a fusion positioning device for an autonomous vehicle in the embodiment of the present application, where the device 200 includes: a first obtaining unit 210, a first determining unit 220, a correcting unit 230, and a fusion positioning unit 240, wherein:
a first acquisition unit 210 for acquiring laser lateral correction information of a preceding moment of the autonomous vehicle;
a first determining unit 220, configured to determine, according to the laser lateral correction information at the previous time, laser lateral correction information corresponding to the fusion positioning information at the current time when the laser lateral correction information at the previous time meets a preset correction condition;
a correcting unit 230, configured to correct the current-time fusion positioning information by using the laser transverse correction information corresponding to the current-time fusion positioning information when the signal state of the high-precision positioning signal of the autonomous vehicle is an unavailable state, so as to obtain corrected fusion positioning information;
and a fusion positioning unit 240, configured to perform fusion positioning using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the autonomous vehicle.
In an embodiment of the present application, the laser lateral correction information at the previous time includes a position offset and a timestamp corresponding to the position offset, and the apparatus further includes: the second acquisition unit is used for acquiring a fusion positioning information queue of the automatic driving vehicle, wherein the fusion positioning information queue is used for caching fusion positioning information in real time and comprises a plurality of position coordinates and corresponding timestamps; the traversing unit is used for traversing the timestamps corresponding to the position coordinates in the fusion positioning information queue; a second determining unit, configured to determine whether a timestamp, in which an absolute value of a difference between a timestamp corresponding to the position coordinate and a timestamp corresponding to the position offset is smaller than a preset difference threshold, exists in the fused positioning information queue; and a third determining unit, configured to determine that the laser lateral correction information at the previous time meets the preset correction condition if the laser lateral correction information exists.
In an embodiment of the present application, the first determining unit 220 is specifically configured to: converting the laser transverse correction information of the previous moment into a navigation coordinate system to obtain the laser transverse correction information in the navigation coordinate system; and determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information under the navigation coordinate system.
In an embodiment of the present application, the first determining unit 220 is specifically configured to: determining the current accumulated time, wherein the current accumulated time is calculated from the time when the laser transverse correction information of the previous moment is obtained; if the current accumulated time is smaller than a first accumulated time threshold, directly taking the laser transverse correction information at the previous moment as the laser transverse correction information corresponding to the fusion positioning information at the current moment; if the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment, and taking the attenuated laser transverse correction information as the laser transverse correction information corresponding to the fusion positioning information at the current moment; and if the current accumulated time is not less than the second accumulated time threshold, directly returning the attenuated laser transverse correction information to zero as the laser transverse correction information corresponding to the fusion positioning information at the current moment.
In an embodiment of the application, the first determining unit 220 is specifically configured to: determining an attenuation factor; and under the condition that the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment by using the attenuation factor to obtain the attenuated laser transverse correction information.
In an embodiment of the present application, the correction unit 230 is specifically configured to: acquiring laser transverse correction information corresponding to fusion positioning information at a plurality of historical moments; fitting the laser transverse correction information corresponding to the fusion positioning information at the current moment and the laser transverse correction information corresponding to the fusion positioning information at the plurality of historical moments to obtain a fitting equation; determining laser transverse correction information at the current moment according to the fitting equation; and correcting the fusion positioning information at the current moment by using the laser transverse correction information at the current moment to obtain the corrected fusion positioning information.
In one embodiment of the present application, the apparatus further comprises: the third acquisition unit is used for acquiring the number of satellites at the current moment and RTK positioning signals at the current moment; a fourth determining unit, configured to determine that a signal state of the high-precision positioning signal is an available state when the number of satellites at the current time reaches a preset number threshold and the RTK positioning signal at the current time is a fixed solution; and the fifth determining unit is used for determining the signal state of the high-precision positioning signal as an unavailable state if the signal state of the high-precision positioning signal is not available.
It can be understood that the fusion positioning device for an autonomous vehicle can implement the steps of the fusion positioning method for an autonomous vehicle provided in the foregoing embodiment, and the explanations related to the fusion positioning method for an autonomous vehicle are applicable to the fusion positioning device for an autonomous vehicle, and are not repeated herein.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 3, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 3, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the fusion positioning device of the automatic driving vehicle on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring laser transverse correction information of the automatic driving vehicle at the previous moment;
under the condition that the laser transverse correction information at the previous moment meets a preset correction condition, determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment;
under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is in an unavailable state, correcting the fusion positioning information at the current moment by using the laser transverse correction information corresponding to the fusion positioning information at the current moment to obtain corrected fusion positioning information;
and performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
The method performed by the fusion positioning device of the autonomous vehicle disclosed in the embodiment of fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the fusion positioning device of the autonomous vehicle in fig. 1, and implement the functions of the fusion positioning device of the autonomous vehicle in the embodiment shown in fig. 1, which are not described herein again in this application embodiment.
Embodiments of the present application further provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the fusion positioning apparatus of an autonomous vehicle in the embodiment shown in fig. 1, and are specifically configured to perform:
acquiring laser transverse correction information of the automatic driving vehicle at the previous moment;
determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment under the condition that the laser transverse correction information at the previous moment meets preset correction conditions;
under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is in an unavailable state, correcting the fusion positioning information at the current moment by using the laser transverse correction information corresponding to the fusion positioning information at the current moment to obtain corrected fusion positioning information;
and performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A fusion localization method of an autonomous vehicle, wherein the method comprises:
acquiring laser transverse correction information of the automatic driving vehicle at the previous moment;
under the condition that the laser transverse correction information at the previous moment meets a preset correction condition, determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment;
under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is in an unavailable state, correcting the fusion positioning information at the current moment by using the laser transverse correction information corresponding to the fusion positioning information at the current moment to obtain corrected fusion positioning information;
and performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
2. The method of claim 1, wherein the laser lateral correction information at the previous time comprises a position offset and a timestamp corresponding to the position offset, and after obtaining the laser lateral correction information at the previous time of the autonomous vehicle, the method further comprises:
acquiring a fusion positioning information queue of the automatic driving vehicle, wherein the fusion positioning information queue is used for caching fusion positioning information in real time and comprises a plurality of position coordinates and corresponding timestamps;
traversing timestamps corresponding to all position coordinates in the fusion positioning information queue;
determining whether a timestamp with a difference absolute value smaller than a preset difference threshold value exists in the fusion positioning information queue, wherein the timestamp corresponds to the position coordinate and the timestamp corresponds to the position offset;
and if so, determining that the laser transverse correction information at the previous moment meets the preset correction condition.
3. The method as claimed in claim 1, wherein the determining the laser lateral correction information corresponding to the fused positioning information at the current time according to the laser lateral correction information at the previous time comprises:
converting the laser transverse correction information of the previous moment into a navigation coordinate system to obtain the laser transverse correction information in the navigation coordinate system;
and determining laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information under the navigation coordinate system.
4. The method as claimed in claim 1, wherein said determining the laser lateral correction information corresponding to the fused positioning information at the current time according to the laser lateral correction information at the previous time comprises:
determining the current accumulated time, wherein the current accumulated time is calculated from the time when the laser transverse correction information of the previous moment is obtained;
if the current accumulated time is smaller than a first accumulated time threshold, directly taking the laser transverse correction information at the previous moment as the laser transverse correction information corresponding to the fusion positioning information at the current moment;
if the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment, and taking the attenuated laser transverse correction information as the laser transverse correction information corresponding to the fusion positioning information at the current moment;
and if the current accumulated time is not less than the second accumulated time threshold, directly zeroing the attenuated laser transverse correction information to be used as the laser transverse correction information corresponding to the fusion positioning information at the current moment.
5. The method of claim 4, wherein said attenuating the laser lateral correction information at the previous time instant comprises:
determining an attenuation factor;
and under the condition that the current accumulated time is not less than a first accumulated time threshold but less than a second accumulated time threshold, attenuating the laser transverse correction information at the previous moment by using the attenuation factor to obtain the attenuated laser transverse correction information.
6. The method according to claim 1, wherein the correcting the current-time fused positioning information by using the laser transverse correction information corresponding to the current-time fused positioning information, and obtaining the corrected fused positioning information comprises:
acquiring laser transverse correction information corresponding to fusion positioning information at a plurality of historical moments;
fitting the laser transverse correction information corresponding to the fusion positioning information at the current moment and the laser transverse correction information corresponding to the fusion positioning information at the plurality of historical moments to obtain a fitting equation;
determining laser transverse correction information at the current moment according to the fitting equation;
and correcting the fusion positioning information at the current moment by using the laser transverse correction information at the current moment to obtain the corrected fusion positioning information.
7. The method as claimed in claim 1, wherein after determining the laser lateral correction information corresponding to the fused positioning information at the current time according to the laser lateral correction information at the previous time, the method further comprises:
acquiring the number of satellites at the current moment and RTK positioning signals at the current moment;
determining that the signal state of the high-precision positioning signal is an available state under the condition that the number of satellites at the current moment reaches a preset number threshold and the RTK positioning signal at the current moment is a fixed solution;
otherwise, determining the signal state of the high-precision positioning signal as an unavailable state.
8. A fusion positioning apparatus of an autonomous vehicle, wherein the apparatus comprises:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring laser transverse correction information at the previous moment of an automatic driving vehicle;
the first determining unit is used for determining the laser transverse correction information corresponding to the fusion positioning information at the current moment according to the laser transverse correction information at the previous moment under the condition that the laser transverse correction information at the previous moment meets a preset correction condition;
the correction unit is used for correcting the fusion positioning information at the current moment by using the laser transverse correction information corresponding to the fusion positioning information at the current moment to obtain corrected fusion positioning information under the condition that the signal state of the high-precision positioning signal of the automatic driving vehicle is an unavailable state;
and the fusion positioning unit is used for performing fusion positioning by using the corrected fusion positioning information as measurement information to obtain a final fusion positioning result of the automatic driving vehicle.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115877429A (en) * | 2023-02-07 | 2023-03-31 | 安徽蔚来智驾科技有限公司 | Positioning method and device for automatic driving vehicle, storage medium and vehicle |
| CN115950441A (en) * | 2023-03-08 | 2023-04-11 | 智道网联科技(北京)有限公司 | Fusion positioning method and device for automatic driving vehicle and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115877429A (en) * | 2023-02-07 | 2023-03-31 | 安徽蔚来智驾科技有限公司 | Positioning method and device for automatic driving vehicle, storage medium and vehicle |
| CN115950441A (en) * | 2023-03-08 | 2023-04-11 | 智道网联科技(北京)有限公司 | Fusion positioning method and device for automatic driving vehicle and electronic equipment |
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