CN115056801A - Multipath recognition method and device for automatic driving, electronic equipment and storage medium - Google Patents
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The application discloses multipath identification method and device for automatic driving, electronic equipment and storage medium, wherein the method comprises the following steps: when the differential state of the satellite positioning data at the current moment is a fixed solution, determining the current altitude difference according to the satellite positioning data at the current moment; acquiring the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference; determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment; acquiring the number of current satellites, and determining a third multi-path identifier according to the number of the current satellites; and determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier. According to the method and the device, three different multi-path identification strategies are defined to redundantly identify the multi-path effect, so that the accuracy of multi-path effect identification is greatly improved, and the positioning robustness and the safety of the automatic driving vehicle are improved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for multipath recognition in automatic driving, an electronic device, and a storage medium.
Background
The RTK (Real-time kinematic Real-time dynamic differential) based satellite positioning equipment can give a differential state according to the quality of a satellite positioning signal, for example, single-point positioning is 1, dead reckoning is 3, a fixed solution is 4, a floating solution is 5, and the theoretical positioning accuracy of the fixed solution can be generally controlled to be in centimeter level, so that the differential state with the highest positioning accuracy is obtained. However, when the autonomous driving vehicle is running in some specific scenes, such as urban canyons and other scenes, the differential state given by the positioning device based on the RTK is a fixed solution, but the actual positioning error may reach the meter level, for example, when the satellite positioning device has a multipath effect and other situations, the positioning accuracy and the safety of the autonomous driving vehicle are seriously affected.
In Satellite positioning measurement such as GNSS (Global Navigation Satellite System), if a Satellite signal (reflected wave) reflected by a reflector near a station to be measured enters a receiver antenna, the Satellite signal interferes with a signal (direct wave) directly from a Satellite, so that an observed value deviates from a true value, thereby generating a so-called "multipath error", and an interference delay effect caused by multipath signal propagation is called "multipath effect".
When the satellite positioning equipment has the multipath effect, the introduction of the multipath error influences the positioning precision of the automatic driving vehicle, the prior art mainly focuses on researching the correction of the positioning error in the multipath scene, namely how to reduce the influence of the positioning error caused by the multipath effect after the multipath effect occurs, a scheme for accurately identifying the multipath effect is lacked, and the accurate identification of the multipath effect is particularly important for positioning by adopting a positioning strategy in the multipath scene, so that the positioning robustness and the safety of the automatic driving vehicle are ensured as much as possible.
Disclosure of Invention
The embodiment of the application provides a multipath identification method and device for automatic driving, an electronic device and a storage medium, so that the multipath effect is accurately identified, and the positioning robustness and safety of an 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 an automatic driving multipath identification method, where the method includes:
determining a current altitude difference according to the satellite positioning data at the current time under the condition that a differential state corresponding to the satellite positioning data at the current time is a fixed solution state;
acquiring the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current height difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment;
acquiring the number of current satellites, and determining a third multi-path identifier according to the number of the current satellites;
and determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
Optionally, the satellite positioning data at the current time includes a satellite positioning altitude at the current time, and the determining a current altitude difference according to the current satellite positioning data includes:
acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises a satellite positioning height of the previous moment;
and determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
Optionally, the determining a first multipath identifier according to the current driving speed and the current altitude difference comprises:
determining the maximum height difference according to the current running speed and the pitch angle;
and determining the first multipath identifier according to the current running speed, the maximum altitude difference and the current altitude difference.
Optionally, the determining the first multi-path indicator according to the current driving speed, the maximum altitude difference and the current altitude difference comprises:
comparing the current driving speed with a preset driving speed threshold value, and comparing the current height difference with the maximum height difference;
if the current running speed is greater than the preset running speed threshold value and the current height difference is greater than the maximum height difference, determining that the first multi-path identifier is an entering multi-path identifier;
otherwise, determining that the first multipath mark does not enter the multipath mark.
Optionally, the determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device includes:
determining a difference between the first antenna speed and the second antenna speed;
if the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multi-path identifier is an entering multi-path identifier;
otherwise, determining that the second multipath mark does not enter the multipath mark.
Optionally, the determining a third multipath identifier according to the current satellite number includes:
comparing the current satellite number with a preset satellite number threshold;
if the current satellite number is smaller than the preset satellite number threshold value, determining that the third multi-path identifier is an entering multi-path identifier;
otherwise, determining that the third multi-path identifier does not enter the multi-path identifier.
Optionally, the determining a multipath identification result according to the first multipath identifier, the second multipath identifier, and the third multipath identifier includes:
determining whether an incoming multipath identifier exists in the first multipath identifier, the second multipath identifier, and the third multipath identifier;
if so, determining the multi-path identification result as entering a multi-path scene;
otherwise, determining that the multi-path identification result is not to enter a multi-path scene.
Optionally, after determining a multipath identification result according to the first multipath identifier, the second multipath identifier and the third multipath identifier, the method further comprises:
determining whether an incoming multi-path identity does not exist in the first multi-path identity, the second multi-path identity and the third multi-path identity in the case that a multi-path scene has been entered;
and if so, exiting the multipath scene after a preset time period.
In a second aspect, an embodiment of the present application further provides an autonomous driving multipath recognition apparatus, where the apparatus includes:
the first determining unit is used for determining the current altitude difference according to the satellite positioning data at the current moment under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state;
the second determining unit is used for acquiring the current running speed of the automatic driving vehicle and determining a first multi-path identifier according to the current running speed and the current height difference;
a third determining unit, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device;
the fourth determining unit is used for acquiring the number of the current satellites and determining a third multipath identifier according to the number of the current satellites;
and the fifth determining unit is used for determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
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 multipath identification method for automatic driving, under the condition that the difference state corresponding to the satellite positioning data at the current moment is a fixed solution state, the current altitude difference is determined according to the satellite positioning data at the current moment; acquiring the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference; determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment; acquiring the number of current satellites, and determining a third multi-path identifier according to the number of the current satellites; and determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier. According to the multipath identification method for automatic driving, three different multipath identification strategies are defined to redundantly identify the multipath effect in the current scene, the accuracy of multipath effect identification is greatly improved, and the positioning robustness and the safety of an automatic driving vehicle are further improved.
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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 multi-path identification method for automatic driving according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of an autonomous driving multi-path recognition apparatus 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.
An automatic driving multipath identification method according to an embodiment of the present application is provided, as shown in fig. 1, with a flowchart of the automatic driving multipath identification method according to the embodiment of the present application, where the method at least includes the following steps S110 to S150:
step S110, determining a current altitude difference according to the satellite positioning data at the current time when the differential state corresponding to the satellite positioning data at the current time is a fixed solution state.
When the multipath effect is identified in the automatic driving scene, the differential state of the satellite positioning data received at the current moment needs to be determined first, and when the differential state is a fixed solution, although the theoretical positioning accuracy of the satellite positioning data is higher, if the multipath effect occurs in the satellite positioning equipment, the actual positioning error will be greatly increased, and whether the multipath effect exists needs to be further identified. For the differential state being the non-fixed solution state, it can be said that the precision of the satellite positioning data is not enough, and further, the actual need of identifying the multipath effect is not needed.
When multi-path identification is performed, a current altitude difference needs to be determined based on satellite positioning data received at a current time, and the satellite positioning data refers to a positioning signal output by an RTK-based satellite positioning device. When multipath effects occur, the altitude difference obtained based on the satellite positioning data may have a large deviation, and thus, it can be used as a basis for identifying the multipath effects.
Step S120, obtaining the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference.
When the multi-path effect is identified based on the current altitude difference, the running speed of the autonomous vehicle also affects the identification result, so that the first multi-path identifier can be jointly determined by combining the current running speed and the current altitude difference, and the first multi-path identifier is taken as one of strategies for identifying the multi-path effect.
Step S130, determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment.
The antenna speed at the current moment, namely the first antenna speed, can be calculated through a differential mode based on the current altitude difference, and the antenna speed obtained through calculation based on data of the satellite positioning equipment is characterized. Inertial navigation devices such as an IMU (Inertial measurement unit) on an autonomous vehicle can also output an antenna speed, i.e., a second antenna speed, based on raw data measured by the Inertial measurement unit.
Because the data output by the inertial navigation equipment is not influenced by the outside, namely the problem of multipath effect does not exist, a second multipath identifier can be determined by combining the first antenna speed corresponding to the satellite positioning equipment and the second antenna speed corresponding to the inertial navigation equipment and is used as a second strategy for identifying the multipath effect.
Step S140, obtaining the current satellite number, and determining a third multi-path identifier according to the current satellite number.
The number of the satellites also affects the quality of the satellite positioning signals to a certain extent, the quality of the satellite positioning signals is generally better when the number of the satellites is larger, and the overall positioning accuracy is also improved.
Step S150, determining a multipath identification result according to the first multipath identifier, the second multipath identifier, and the third multipath identifier.
Because the first multipath identifier, the second multipath identifier and the third multipath identifier in the previous steps have different variation sensitivity and fluctuation characteristics, in order to avoid frequent switching of multipath scenes, the accuracy of multipath effect identification is improved, the final multipath identification result can be determined jointly through mutual constraints among the three multipath identifiers, namely, whether the current positioning scene needs to be switched to the positioning strategy of the multipath scene is determined, and therefore the positioning robustness and the safety of the automatic driving vehicle are guaranteed.
According to the multipath identification method for automatic driving, three different multipath identification strategies are defined to redundantly identify the multipath effect in the current scene, the accuracy of multipath effect identification is greatly improved, and then the positioning robustness and safety of the automatic driving vehicle are improved.
In some embodiments of the present application, the satellite positioning data at the current time comprises a satellite positioning altitude at the current time, and the determining a current altitude difference from the current satellite positioning data comprises: acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises a satellite positioning height of the previous moment; and determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
The current altitude difference in the embodiment of the present application may be understood as a difference between the satellite positioning altitude at the current time and the satellite positioning altitude at the previous time, so that here, the satellite positioning data at the previous time (pre _ utm _ x _ cal, pre _ utm _ y _ cal, pre _ utm _ z _ cal) may be obtained first, then the satellite positioning altitude at the previous time is pre _ utm _ z _ cal, and the satellite positioning altitude at the current time is utm _ z _ cal in the satellite positioning data (utm _ x _ cal, utm _ y _ cal, utm _ z _ cal) at the current time, so that the current altitude difference dh may be expressed as:
dh＝abs(utm_z_cal-pre_utm_z_cal)；
wherein abs () is an absolute value calculation function, and the above coordinates are all represented in a UTM (Universal transform Mercator Grid System) coordinate System.
In some embodiments of the present application, the determining a first multipath signature from the current travel speed and the current altitude difference comprises: determining the maximum height difference according to the current running speed and the pitch angle; and determining the first multipath identifier according to the current running speed, the maximum altitude difference and the current altitude difference.
As mentioned above, when there is multipath effect, there will be large fluctuation and deviation in the altitude difference of the satellite positioning, so here, a theoretical maximum altitude difference can be determined first, and the fluctuation condition or deviation degree of the current altitude difference can be measured by the maximum altitude difference.
The maximum height difference max _ dh in the embodiment of the application can be determined according to the current running speed and the pitch angle, the pitch angle reflects the change condition of the positioning height along with the fluctuation of the road, and the pitch angle has large change under the condition of climbing or descending, so that the height difference is large in change, and based on the change condition, the theoretical maximum height difference can be determined in the embodiment of the application, and can be represented as the following form for example:
max_dh＝abs(vb*sin(abs(pitch+a)*DEG_TO_RAD))；
wherein abs () is a function of solving an absolute value, vb is the current driving speed, pitch is the pitch angle, a is a noise value introduced for the pitch angle, and DEG _ TO _ RAD represents the conversion from angle TO radian.
It should be noted that the current traveling speed vb is a speed in the vehicle body coordinate system, and since the current traveling speed directly output by the positioning apparatus is usually a speed (vx, vy) in the navigation coordinate system, for example, if a northeast coordinate system is adopted as the navigation coordinate system, vx represents an east-direction speed and vy represents a north-direction speed, the embodiment of the present application may convert the speed in the navigation coordinate system into the vehicle body coordinate system and then use the converted speed for the subsequent processing. Specifically, it can be expressed as:
vb＝sqrt(vx^2+vy^2)；
where sqrt () is a square root function.
In some embodiments of the present application, the determining the first multipath marker based on the current travel speed, the maximum altitude difference, and the current altitude difference comprises: comparing the current driving speed with a preset driving speed threshold value, and comparing the current height difference with the maximum height difference; if the current running speed is greater than the preset running speed threshold value and the current height difference is greater than the maximum height difference, determining that the first multi-path identifier is an entering multi-path identifier; otherwise, determining that the first multipath mark does not enter the multipath mark.
When the first road strength identification is determined, on one hand, the current speed can be compared with a preset running speed threshold value, on the other hand, the current altitude difference can be compared with a theoretical maximum altitude difference, the comparison on the former hand is mainly used for limiting specific conditions applicable to multi-path identification, for example, when an automatic driving vehicle enters or is in a parking state, a corresponding positioning strategy in the parking state is usually adopted, and the automatic driving vehicle does not need to enter a multi-path scene and adopt the positioning strategy of the multi-path scene, so that if the current running speed is not greater than the preset running speed threshold value, the automatic driving vehicle is probably in the parking state, and at this time, the first multi-path identification can be directly determined as the non-entering multi-path identification.
For the second aspect, the determination may be made after determining whether the current driving speed meets the preset driving speed threshold requirement, or may be made simultaneously with the previous aspect. The maximum height difference reflects the maximum value of the height difference which may cause fluctuation of the vehicle under the condition of fluctuation of the road, and the height difference generated under the relatively flat road scene is usually smaller than the maximum height difference, so that if the current height difference is larger than the maximum height difference, the first multipath identifier can be determined as an entering multipath identifier, namely the multipath effect is considered to be possibly generated currently, and otherwise, the first multipath identifier is determined as a not entering multipath identifier, namely the multipath effect is considered to be possibly not generated currently.
For ease of understanding, the determination of the first path flag _ dh may be expressed, for example, in the following form:
if vb >0.5 and (dh-max _ dh) >0.0, flag _ dh is 1;
otherwise, flag _ dh is not equal to 1;
wherein, flag _ dh is 1, which indicates that the first path identifier is an entry multi-path identifier, and 0.5 is an empirical value of a preset driving speed threshold, and those skilled in the art can flexibly adjust the size of the first path identifier according to actual conditions.
In some embodiments of the present application, the determining a second multipath identifier according to the first antenna speed and a second antenna speed output by an inertial navigation device includes: determining a difference between the first antenna speed and the second antenna speed; if the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multi-path identifier is an entering multi-path identifier; otherwise, determining that the second multipath mark does not enter the multipath mark.
When determining the second multipath identifier, the embodiment of the application may first calculate a difference between the first antenna speed vh1 and the second antenna speed vh0, and then compare the difference between the first antenna speed and the second antenna speed with a preset antenna speed difference threshold. Under normal conditions, the deviation between the first antenna speed calculated by the satellite positioning device and the second antenna speed output by the inertial navigation device should be small, and when the multipath effect occurs, because the fluctuation of the altitude difference is large, the deviation between the first antenna speed calculated based on the altitude difference and the second antenna speed output by the inertial navigation device becomes large, therefore, if the difference value between the first antenna speed and the second antenna speed is greater than the preset antenna speed difference value threshold, the second multipath identifier can be determined as entering the multipath identifier, that is, the multipath effect is considered to possibly occur currently, otherwise, the second multipath identifier is determined as not entering the multipath identifier, that is, the multipath effect is considered to possibly not occur currently.
For ease of understanding, the determination of the second path flag _ vel may be expressed, for example, as follows:
if abs ((abs (vh1) -abs (vh0)) >0.2, then flag _ vel ═ 1;
otherwise, flag _ vel is not equal to 1;
wherein abs () is a function for solving an absolute value, flag _ vel ═ 1 indicates that the second path identifier is an incoming multi-path identifier, and 0.2 is an empirical value of a preset antenna speed difference threshold, and those skilled in the art can flexibly adjust the size of the second path identifier according to actual conditions.
In some embodiments of the present application, the determining a third multipath signature based on the current number of satellites includes: comparing the current satellite quantity with a preset satellite quantity threshold value; if the current satellite number is smaller than the preset satellite number threshold value, determining that the third multi-path identifier is an entering multi-path identifier; otherwise, determining that the third multi-path identifier does not enter the multi-path identifier.
When the third multipath identifier is determined, the current satellite number GPS num may be compared with the preset satellite number threshold, and if the current satellite number is smaller than the preset satellite number threshold, the third multipath identifier may be determined as an entry multipath identifier, that is, it is considered that a multipath effect may occur currently, otherwise, the third multipath identifier is determined as no entry multipath identifier, that is, it is considered that the multipath effect may not occur currently.
For ease of understanding, the determination of the third path flag _ num may be expressed, for example, as follows:
if the GPS num is less than 12, the flag _ num is 1;
otherwise, flag _ num is not equal to 1;
wherein, flag _ num ═ 1 indicates that the third path identifier is an entry multipath identifier, 12 is a preset satellite number threshold, and is mainly determined according to the number of satellite positioning systems, for example, there are three satellite positioning systems of GPS, beidou and glonass currently, each satellite positioning system has at least 4 satellites, and the preset satellite number threshold here can be set to 12, and of course, those skilled in the art can flexibly adjust the size according to actual conditions.
In some embodiments of the present application, the determining a multipath identification result according to the first multipath identifier, the second multipath identifier, and the third multipath identifier comprises: determining whether an incoming multipath identifier exists in the first multipath identifier, the second multipath identifier, and the third multipath identifier; if so, determining the multi-path identification result as entering a multi-path scene; otherwise, determining that the multi-path identification result is not to enter a multi-path scene.
When a final multi-path identification result is determined, the embodiment of the application can combine three multi-path identifications determined in the previous embodiment to perform redundancy identification, in order to ensure the accuracy of multi-path identification, on one hand, a relatively loose judgment condition is set when a multi-path scene is determined to enter, that is, when only one of the three multi-path identifications enters the multi-path identification, the multi-path scene can be directly entered, and a positioning strategy of the multi-path scene is adopted to perform positioning, so that the positioning accuracy is ensured.
On the other hand, a relatively strict judgment condition is set when it is determined not to enter or exit a multipath scenario because there are differences in the sensitivity of variation, the fluctuation situation, and the like between three different multipath identifiers. For example, for a first multipath identifier, the first multipath identifier is mainly determined directly according to the change of the current altitude difference, and therefore the change is sensitive, for a second multipath identifier, the first antenna speed is determined according to the change of the current altitude difference, and then the second multipath identifier is determined according to the first antenna speed and the second antenna speed output by the inertial navigation device, so that the change is less sensitive relative to the first multipath identifier, and for the third multipath identifier, the change sensitivity is determined directly based on the number of satellites, and the change sensitivity is generally higher relative to the first multipath identifier and the second multipath identifier, so that the change can be sensed most quickly. If any one or two of the three multipath identifiers are the multipath identifier, if the multipath identifier is directly determined not to enter the multipath scene or exit the multipath scene, the multipath scene identification is unstable and the multipath scene frequently exits, so that the positioning stability of the automatic driving vehicle is influenced. Therefore, when the embodiment of the application determines not to enter the multipath scenario or exit the multipath scenario, the embodiment of the application may be executed again under the condition that all three multipath identifiers do not enter the multipath identifier.
According to the embodiment of the application, through the 'wide-in strict' multi-path identification strategy, on one hand, the accuracy of multi-path identification can be improved, and on the other hand, frequent switching between a multi-path scene and a normal scene can be avoided, so that the positioning robustness and the safety of the automatic driving vehicle are ensured.
In some embodiments of the present application, after determining a multipath identification result based on the first multipath identifier, the second multipath identifier, and the third multipath identifier, the method further comprises: determining whether an incoming multi-path identity does not exist in the first multi-path identity, the second multi-path identity and the third multi-path identity in the case that a multi-path scene has been entered; and if so, exiting the multipath scene after a preset time period.
The embodiment of the application designs an exit mechanism of a multi-path scene, when no multi-path entering identifier exists in a current first multi-path identifier, a current second multi-path identifier and a current third multi-path identifier, for example, flag _ dh, flag _ vel and flag _ num are not equal to 1, which indicates that the three multi-path identifying strategies do not identify the multi-path effect any more, indicates that the multi-path effect may not exist any more at this time, and the multi-path scene can exit.
In order to avoid the situation that the positioning of the automatic driving vehicle fluctuates greatly due to the fact that the automatic driving vehicle directly exits from the multipath scene, the automatic driving vehicle can exit from the multipath scene after a preset time period is delayed, and therefore the positioning stability of the automatic driving vehicle is guaranteed. The length of the preset time period may be flexibly set according to actual requirements, for example, may be set to 3 seconds, and is not limited specifically herein.
An embodiment of the present invention further provides an autonomous driving multipath recognition apparatus 200, as shown in fig. 2, which provides a schematic structural diagram of an autonomous driving multipath recognition apparatus in an embodiment of the present invention, where the apparatus 200 includes: a first determining unit 210, a second determining unit 220, a third determining unit 230, a fourth determining unit 240, and a fifth determining unit 250, wherein:
a first determining unit 210, configured to determine a current altitude difference according to the satellite positioning data at the current time when a difference state corresponding to the satellite positioning data at the current time is a fixed solution state;
a second determining unit 220, configured to obtain a current driving speed of the autonomous vehicle, and determine a first multipath identifier according to the current driving speed and the current altitude difference;
a third determining unit 230, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device;
a fourth determining unit 240, configured to obtain a current satellite number, and determine a third multipath identifier according to the current satellite number;
a fifth determining unit 250, configured to determine a multipath identification result according to the first multipath identifier, the second multipath identifier, and the third multipath identifier.
In some embodiments of the present application, the satellite positioning data at the current time includes a satellite positioning altitude at the current time, and the first determining unit 210 is specifically configured to: acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises a satellite positioning height of the previous moment; and determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
In some embodiments of the present application, the second determining unit 220 is specifically configured to: determining the maximum height difference according to the current running speed and the pitch angle; and determining the first multipath identifier according to the current running speed, the maximum altitude difference and the current altitude difference.
In some embodiments of the present application, the second determining unit 220 is specifically configured to: comparing the current driving speed with a preset driving speed threshold value, and comparing the current height difference with the maximum height difference; if the current running speed is greater than the preset running speed threshold value and the current height difference is greater than the maximum height difference, determining that the first multi-path identifier is an entering multi-path identifier; otherwise, determining that the first multipath mark does not enter the multipath mark.
In some embodiments of the present application, the third determining unit 230 is specifically configured to: determining a difference between the first antenna speed and the second antenna speed; if the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multi-path identifier is an entering multi-path identifier; otherwise, determining that the second multipath mark does not enter the multipath mark.
In some embodiments of the present application, the fourth determining unit 240 is specifically configured to: comparing the current satellite number with a preset satellite number threshold; if the current satellite number is smaller than the preset satellite number threshold value, determining that the third multi-path identifier is an entering multi-path identifier; otherwise, determining that the third multi-path identifier does not enter the multi-path identifier.
In some embodiments of the present application, the fifth determining unit 250 is specifically configured to: determining whether an incoming multipath identifier exists in the first multipath identifier, the second multipath identifier, and the third multipath identifier; if so, determining the multi-path identification result as entering a multi-path scene; otherwise, determining that the multi-path identification result is not to enter a multi-path scene.
In some embodiments of the present application, the apparatus further comprises: a fifth determining unit, configured to determine whether there is no incoming multipath identifier in the first multipath identifier, the second multipath identifier, and the third multipath identifier, if a multipath scene has been entered; and the exit unit is used for exiting the multipath scene after a preset time period if the exit unit is used for exiting the multipath scene after the preset time period.
It can be understood that the above-mentioned multipath identification apparatus for automatic driving can implement each step of the multipath identification method for automatic driving provided in the foregoing embodiments, and the related explanations regarding the multipath identification method for automatic driving are all applicable to the multipath identification apparatus for automatic driving, and are not described herein again.
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 a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the multipath recognition device for automatic driving on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
determining a current altitude difference according to the satellite positioning data at the current time under the condition that a differential state corresponding to the satellite positioning data at the current time is a fixed solution state;
acquiring the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current height difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment;
acquiring the number of current satellites, and determining a third multipath identifier according to the number of the current satellites;
and determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
The method performed by the multi-path recognition device for automatic driving 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 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 multipath recognition apparatus for automatic driving in fig. 1, and implement the functions of the multipath recognition apparatus for automatic driving in the embodiment shown in fig. 1, which are not described herein again in this embodiment of the present application.
An embodiment of the present application further provides 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 multipath recognition apparatus for automatic driving in the embodiment shown in fig. 1, and are specifically configured to perform:
determining a current altitude difference according to the satellite positioning data at the current time under the condition that a differential state corresponding to the satellite positioning data at the current time is a fixed solution state;
acquiring the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current height difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment;
acquiring the number of current satellites, and determining a third multipath identifier according to the number of the current satellites;
and determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
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 like elements in a 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 (11)
1. A multi-path recognition method for autonomous driving, wherein the method comprises:
determining a current altitude difference according to the satellite positioning data at the current time under the condition that a differential state corresponding to the satellite positioning data at the current time is a fixed solution state;
acquiring the current running speed of the automatic driving vehicle, and determining a first multi-path identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current height difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation equipment;
acquiring the number of current satellites, and determining a third multipath identifier according to the number of the current satellites;
and determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
2. The method of claim 1, wherein the satellite positioning data for the current time comprises a satellite positioning altitude for the current time, and wherein determining a current altitude difference from the current satellite positioning data comprises:
acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises a satellite positioning height of the previous moment;
and determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
3. The method of claim 1, wherein the determining a first multipath signature based on the current travel speed and the current altitude difference comprises:
determining the maximum height difference according to the current running speed and the pitch angle;
and determining the first multipath identifier according to the current running speed, the maximum altitude difference and the current altitude difference.
4. The method of claim 3, wherein the determining the first multi-path indicator based on the current travel speed, the maximum altitude difference, and the current altitude difference comprises:
comparing the current driving speed with a preset driving speed threshold value, and comparing the current height difference with the maximum height difference;
if the current running speed is greater than the preset running speed threshold value and the current height difference is greater than the maximum height difference, determining that the first multi-path identifier is an entering multi-path identifier;
otherwise, determining that the first multipath mark does not enter the multipath mark.
5. The method of claim 1, wherein the determining a second multipath signature based on the first antenna speed and a second antenna speed output by an inertial navigation device comprises:
determining a difference between the first antenna speed and the second antenna speed;
if the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multi-path identifier is an entering multi-path identifier;
otherwise, determining that the second multipath mark does not enter the multipath mark.
6. The method of claim 1, wherein the determining a third multipath signature based on the current number of satellites comprises:
comparing the current satellite number with a preset satellite number threshold;
if the current satellite number is smaller than the preset satellite number threshold value, determining that the third multi-path identifier is an entering multi-path identifier;
otherwise, determining that the third multi-path identifier does not enter the multi-path identifier.
7. The method of claim 1, wherein the determining a multipath identification result based on the first multipath identifier, the second multipath identifier, and the third multipath identifier comprises:
determining whether an incoming multipath identifier exists in the first multipath identifier, the second multipath identifier, and the third multipath identifier;
if so, determining the multi-path identification result as entering a multi-path scene;
otherwise, determining that the multi-path identification result is not to enter a multi-path scene.
8. A method as claimed in any one of claims 1 to 7, wherein after determining a multipath recognition result in dependence on the first multipath identifier, the second multipath identifier and the third multipath identifier, the method further comprises:
determining whether an incoming multi-path identity does not exist in the first multi-path identity, the second multi-path identity and the third multi-path identity in the case that a multi-path scene has been entered;
and if so, exiting the multipath scene after a preset time period.
9. An autonomous driving multipath recognition apparatus, wherein the apparatus comprises:
the first determining unit is used for determining the current altitude difference according to the satellite positioning data at the current moment under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state;
the second determining unit is used for acquiring the current running speed of the automatic driving vehicle and determining a first multi-path identifier according to the current running speed and the current height difference;
a third determining unit, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device;
the fourth determining unit is used for acquiring the number of the current satellites and determining a third multipath identifier according to the number of the current satellites;
and the fifth determining unit is used for determining a multi-path identification result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
10. 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 8.
11. 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 1-8.
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