CN115223353A - Method and device for positioning vehicles in fleet - Google Patents
Method and device for positioning vehicles in fleet Download PDFInfo
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- CN115223353A CN115223353A CN202110432099.2A CN202110432099A CN115223353A CN 115223353 A CN115223353 A CN 115223353A CN 202110432099 A CN202110432099 A CN 202110432099A CN 115223353 A CN115223353 A CN 115223353A
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
Abstract
The disclosure provides a method and a device for positioning vehicles in a fleet, wherein the positioning method comprises the following steps: acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles; determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between different vehicles and the sensing distance range of the first positioning sensor; the determined reference vehicle is controlled to start the first positioning sensor, the positioning result of the slave vehicle is further determined based on the positioning result of the reference vehicle, and the slave vehicle can determine the positioning information of the slave vehicle without starting the first positioning sensor, so that the resource consumption of the slave vehicle is reduced, and the utilization rate of the whole resource of a fleet is improved.
Description
Technical Field
The disclosure relates to the technical field of computers, in particular to a method and a device for positioning vehicles in a fleet.
Background
With the rapid development of science and technology, the unmanned technology is gradually mature and is applied in various fields. Unmanned vehicles are generally referred to as driverless vehicles. The unmanned vehicle is one of intelligent vehicles, also called as a wheeled mobile robot, and mainly depends on an intelligent driver mainly based on a computer system in the vehicle to achieve the purpose of unmanned driving, and can detect the surrounding environment through a sensor arranged on the vehicle, position the surrounding object and the unmanned vehicle, and control the driving route of the vehicle according to the positioning information.
In a scene of running of a plurality of unmanned vehicles, a fleet of unmanned vehicles can be deployed, and the unmanned vehicles in the fleet are arranged in an array to run. Generally, vehicles in an unmanned vehicle fleet need to start corresponding sensors respectively for positioning, however, some sensors consume high energy and computing resources during operation, and the hardware cost is high, for example, a laser radar sensor, and long-time operation of the sensors can also cause the service life of the sensors to be shortened, and the operating cost of the fleet is high.
Disclosure of Invention
The embodiment of the disclosure at least provides a method and a device for positioning vehicles in a fleet.
The embodiment of the disclosure provides a method for positioning vehicles in a fleet, which comprises the following steps:
acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor;
controlling the determined reference vehicle to turn on the first positioning sensor; the measurement results of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
In an optional embodiment, the determining, based on the distance between the different vehicles and the sensing distance range of the first positioning sensor, a reference vehicle in the fleet that activates the first positioning sensor and a slave vehicle corresponding to the reference vehicle includes:
selecting a first vehicle in the fleet as a first reference vehicle;
starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle;
the vehicle between two adjacent reference vehicles is taken as a slave vehicle of the preceding reference vehicle, and the vehicle following the last reference vehicle is taken as a slave vehicle of the last reference vehicle.
In an optional embodiment, the method further comprises:
and when detecting that the first positioning sensor of the reference vehicle has a fault, taking a vehicle behind the reference vehicle with the fault in the first positioning sensor in the fleet as a new reference vehicle, and taking the vehicle with the fault in the first positioning sensor as a slave vehicle of the new reference vehicle.
In an optional embodiment, the determining, based on the distance between the different vehicles and the sensing distance range of the first positioning sensor, a reference vehicle in the fleet that activates the first positioning sensor and a slave vehicle corresponding to the reference vehicle includes:
dividing the fleet into a plurality of sub-fleets based on the distance between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range;
and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
In an optional embodiment, the method further comprises:
and under the condition that the first positioning sensor of the reference vehicle is detected to have a fault, selecting any other vehicle from the sub-fleet to which the reference vehicle belongs as a new reference vehicle of the sub-fleet.
The embodiment of the present disclosure further provides a positioning system for vehicles in a fleet, which includes a server, at least one reference vehicle, and at least one slave vehicle corresponding to the reference vehicle;
the server is used for acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles; determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor; controlling the determined reference vehicle to turn on the first positioning sensor;
the reference vehicle is used for determining the positioning information of the reference vehicle through the measurement result of the first positioning sensor;
the slave vehicle is used for determining the positioning information of the slave vehicle based on the positioning information of the reference vehicle and the distance between the reference vehicle and the slave vehicle thereof.
In an alternative embodiment, when determining the positioning information of the reference vehicle from the measurement result of the first positioning sensor, the reference vehicle is specifically configured to:
acquiring satellite positioning information for the reference vehicle;
and calibrating the satellite positioning information of the reference vehicle by using the positioning information of the peripheral objects indicated in the measurement result of the first positioning sensor to obtain the positioning information of the reference vehicle.
In an alternative embodiment, the slave vehicle is further configured to:
determining a distance between the slave vehicle and a previous vehicle in the fleet using a second positioning sensor deployed on the slave vehicle and broadcasting the distance between the slave vehicle and the previous vehicle in the fleet to other vehicles in the fleet;
determining a distance between each slave vehicle and the reference vehicle based on the received distance between the slave vehicle and a previous vehicle in the fleet.
In an alternative embodiment, the slave vehicle, when determining the positioning information of the slave vehicle based on the positioning information of the reference vehicle and the distance between the reference vehicle and its slave vehicle, is specifically configured to:
determining longitudinal positioning information in the positioning information of the slave vehicle based on longitudinal positioning information in the positioning information of the reference vehicle and a distance between the slave vehicle and the reference vehicle;
and acquiring a driving image corresponding to the slave vehicle, and determining transverse positioning information in the positioning information of the slave vehicle based on the driving image.
In an alternative embodiment, the reference vehicle is further configured to:
generating an automatic driving control instruction to control the reference vehicle based on the positioning information of the reference vehicle and the positioning information of the surrounding object indicated in the measurement result of the first positioning sensor;
the slave vehicle is further configured to:
generating an automatic driving control instruction to control the slave vehicle based on the positioning information of the slave vehicle and the positioning information of the surrounding object indicated in the measurement result of the first positioning sensor.
In an alternative embodiment, the first positioning sensor comprises a lidar sensor; the second positioning sensor comprises a millimeter wave radar sensor.
The disclosed embodiment also provides a positioning device for vehicles in a fleet, comprising
The acquisition module is used for acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
the determining module is used for determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between different vehicles and the sensing distance range of the first positioning sensor;
the control module is used for controlling the determined reference vehicle to start the first positioning sensor; the measurement results of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
In an optional implementation manner, the determining module is specifically configured to:
selecting a first vehicle in the fleet as a first reference vehicle;
starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle;
a vehicle between two adjacent reference vehicles is taken as a slave vehicle of a preceding reference vehicle, and a vehicle following a last reference vehicle is taken as a slave vehicle of the last reference vehicle.
In an optional embodiment, the determining module is further configured to:
and when detecting that the first positioning sensor of the reference vehicle has a fault, taking a vehicle behind the reference vehicle with the fault in the first positioning sensor in the fleet as a new reference vehicle, and taking the vehicle with the fault in the first positioning sensor as a slave vehicle of the new reference vehicle.
In an optional implementation manner, the determining module is specifically configured to:
dividing the fleet into a plurality of sub-fleets based on the distance between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range;
and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
In a possible implementation, the determining module is further configured to:
and under the condition that the first positioning sensor of the reference vehicle is detected to have a fault, selecting any other vehicle from the sub-fleet to which the reference vehicle belongs as a new reference vehicle of the sub-fleet.
An embodiment of the present disclosure further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the method of locating a vehicle in a fleet of vehicles as described above.
The disclosed embodiments also provide a computer readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the above-mentioned method for positioning vehicles in a fleet.
The disclosed embodiments also provide a computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, perform the steps of the above-mentioned method for locating vehicles in a fleet of vehicles.
According to the positioning method and the positioning device for the vehicles in the fleet, the distances between different vehicles in the fleet and the sensing distance range of the first positioning sensor deployed on the vehicles are obtained; determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor; controlling the determined reference vehicle to turn on the first positioning sensor; the measurement results of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
In this way, the reference vehicle is selected from the fleet to start the first positioning sensor, so that the reference vehicle determines the self positioning information through the measurement result of the first positioning sensor, and then the positioning information of the slave vehicle corresponding to the reference vehicle is determined based on the determined positioning information of the reference vehicle, so that the slave vehicle can determine the self positioning information without starting the first positioning sensor, thereby reducing the energy consumption of the slave vehicle and the calculation resource consumption of the slave vehicle, and prolonging the service life of the first positioning sensor on the slave vehicle; in addition, a reference vehicle is selected from the vehicles based on the distance between different vehicles and the sensing distance of the first positioning sensor, so that a slave vehicle corresponding to the reference vehicle is located within the sensing distance of the first positioning sensor, the accuracy of the distance between the reference vehicle and the slave vehicle is improved, and the accuracy of the positioning information of the slave vehicle is improved.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is to be understood that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art to which the disclosure pertains without the benefit of the inventive faculty, and that additional related drawings may be derived therefrom.
FIG. 1 illustrates a schematic diagram of a positioning system for vehicles in a fleet provided by embodiments of the present disclosure;
FIG. 2 illustrates a flow chart of a method for locating vehicles in a fleet of vehicles provided by an embodiment of the present disclosure;
FIG. 3 shows a schematic diagram of vehicles in a fleet provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating a positioning apparatus for vehicles in a fleet provided by embodiments of the present disclosure;
fig. 5 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. Additionally, the term "at least one" herein means any one of a variety or any combination of at least two of a variety, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Research shows that in the scene of an unmanned vehicle fleet, each vehicle needs to start a respective sensor, the energy and computing resources consumed by the partial sensors during operation are high, the hardware cost is high, for example, a laser radar sensor, the service life of the sensor is shortened due to long-time operation of the sensor, and the operation cost of the fleet is high.
Based on the research, the disclosure provides a method for positioning vehicles in a fleet, which may include turning on a first positioning sensor by a reference vehicle, determining positioning information of the reference vehicle and a subordinate vehicle thereof by a measurement result of the first positioning sensor, so that the subordinate vehicle does not need to turn on the first positioning sensor, and selecting the reference vehicle from the vehicles based on a distance between different vehicles and a sensing distance of the first positioning sensor, so that the subordinate vehicle corresponding to the reference vehicle is within the sensing distance of the first positioning sensor, thereby improving accuracy of a distance between the reference vehicle and the subordinate vehicle, and improving accuracy of the positioning information of the subordinate vehicle.
To facilitate understanding of the present embodiment, first, a detailed description is made of a positioning system for vehicles in a fleet disclosed in the present embodiment, and referring to fig. 1, a positioning system for vehicles in a fleet provided in the present embodiment may include a server 11 and a fleet 12, where the vehicles in the fleet may be unmanned vehicles, various sensors may be deployed on the unmanned vehicles, such as laser radar sensors, millimeter wave sensors, and the like, the vehicles in the fleet 12 may be deployed as a reference vehicle 13 and a slave vehicle 14 corresponding to the reference vehicle 13, the vehicles in the fleet may communicate with the server 11 or other vehicles, and the server 11 may be configured to perform a positioning method for the vehicles in the fleet disclosed in the present embodiment.
Referring to fig. 2, a flowchart of a method for positioning vehicles in a fleet according to an embodiment of the present disclosure is shown, where the method includes steps S201 to S203, where:
s201: the distance between different vehicles in the fleet and the sensing distance range of a first positioning sensor deployed on the vehicle are obtained.
In this step, the vehicles in the fleet may be unmanned vehicles, and the distance between different vehicles in the fleet may be determined by sensors disposed on the vehicles, for example, each vehicle may measure the distance between the previous vehicles by using a sensor disposed on each vehicle for measuring a relative distance, such as a millimeter wave radar sensor, and the vehicle may upload the measured data to the server after obtaining the measured data, so that the server may determine the distance between different vehicles according to the distance between each adjacent vehicle; the distance between different vehicles can also be measured by one or more vehicles through the first positioning sensor, and then the measurement result is uploaded to the server.
Here, the first positioning sensor may be a lidar sensor, which may include a single-beam narrow-band laser and a receiving system. The laser generates and emits a beam of light pulses which impinge on the object and are reflected back and finally received by the receiver. The receiver accurately measures the travel time of the light pulse from emission to reflection. Because the light pulses travel at the speed of light, the receiver will always receive the previous reflected pulse before the next pulse is sent out. Given that the speed of light is known, the travel time can be converted into a measure of distance. By measuring the obtained distance, the position information of the object in the coordinate system can be obtained.
The sensing distance range can be the radius of the effective range of the first positioning sensor, the accuracy of the measuring result of the first positioning sensor is higher in the sensing distance range, and the accuracy of the positioning of the object beyond the sensing distance range from the first positioning sensor is lower.
The position information of the object measured by the first positioning sensor may be coordinates in a lane coordinate system, the lane coordinate system may be a Frenet coordinate system, and the lane coordinate system may be a coordinate system established by using a center line of a lane as a reference line and using a tangent vector and a normal vector of the reference line, and includes a longitudinal direction and a transverse direction.
S202: and determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor.
In the step, after the distances between different vehicles and the sensing distance range of the first positioning sensor are obtained, the position information of each vehicle under a lane coordinate system can be determined based on the distances between the different vehicles, then the reference vehicle for starting the first positioning sensor and the slave vehicle corresponding to each reference vehicle are determined from the fleet based on the position information of each vehicle and the sensing distance range of the first positioning sensor, and each slave vehicle is enabled to be within the sensing distance range of the corresponding reference vehicle.
Illustratively, the two specific implementation manners of step S202 provided by the embodiments of the present disclosure are as follows:
(1) Selecting a first vehicle in the fleet as a first reference vehicle; starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle; a vehicle between two adjacent reference vehicles is taken as a slave vehicle of a preceding reference vehicle, and a vehicle following a last reference vehicle is taken as a slave vehicle of the last reference vehicle.
In this embodiment, the first vehicle in the fleet may be used as the first reference vehicle in the fleet, and then, the distances between the respective vehicles and the previously determined reference vehicle are sequentially determined according to the sequence in which the fleets are arranged, and if the distance between the current vehicle and the previously determined reference vehicle is greater than or equal to the sensing distance range, the current vehicle is used as a new reference vehicle, and then the vehicle located between the new reference vehicle and the previous reference vehicle is used as the slave vehicle corresponding to the previous reference vehicle, so that the slave vehicle corresponding to the previous reference vehicle is necessarily located within the sensing distance range of the first positioning sensor of the reference vehicle, and the reference vehicle can accurately measure the objects around its slave vehicle by using the first positioning sensor.
Further, if there is no vehicle meeting the requirement of the reference vehicle in the remaining vehicles after determining a reference vehicle, the vehicle after the last reference vehicle may be taken as a slave vehicle of the last reference vehicle, so that the vehicles in the fleet are all deployed as the reference vehicles or the slave vehicles, and each slave vehicle is ensured to be located within the sensing distance range of its corresponding reference vehicle.
In the use scene of the unmanned vehicle, a first positioning sensor of a reference vehicle may have a fault, so that the measurement result of the first positioning sensor is inaccurate or cannot be measured, and when the first positioning sensor of the reference vehicle is detected to have a fault, a vehicle behind the reference vehicle with the fault in a fleet is taken as a new reference vehicle, and the vehicle with the fault in the first positioning sensor is taken as a slave vehicle of the new reference vehicle, so that the slave vehicle and the vehicle with the fault in the first positioning sensor can obtain the measurement result.
(2) Dividing the fleet into a plurality of sub-fleets based on the distance between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range; and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
In this embodiment, the position information of each vehicle in the fleet under the lane coordinate system may be determined according to the distance between different vehicles, then the vehicles in the fleet are divided into a plurality of sub-fleets, so that the total length of each sub-fleet is less than or equal to the sensing distance range, then any vehicle in each sub-fleet is selected as a reference vehicle, and the remaining vehicles in each sub-fleet are taken as the slave vehicles corresponding to the reference vehicle, so that the distance between any slave vehicle and the reference vehicle in the sub-fleets is less than or equal to the sensing distance range, so that each slave vehicle can utilize the measurement result measured by the first positioning sensor of the reference vehicle.
Further, if it is detected that the first positioning sensor of the determined reference vehicle has a fault, another vehicle may be selected from the sub-fleet of the reference vehicle as a new reference vehicle of the sub-fleet.
S203: controlling the determined reference vehicle to turn on the first positioning sensor; the measurement results of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
In the step, after the reference vehicle and the slave vehicle in the fleet are determined, the determined reference vehicle can be controlled to start the first positioning sensor, so that the reference vehicle with the first positioning sensor started can determine the self positioning information of the reference vehicle according to the measurement result of the first positioning sensor, and send the self positioning information and the measurement result of the first positioning sensor to the corresponding slave vehicle, so that the slave vehicle can determine the self positioning information according to the positioning information of the reference vehicle and the distance between the slave vehicle and the reference vehicle.
Here, the distance between the reference vehicle and the slave vehicle may be measured by the reference vehicle using the first positioning sensor, transmitted to the slave vehicle by the reference vehicle, and in the case where the distance between the reference vehicle and the slave vehicle is determined by the reference vehicle, the position information of the slave vehicle may be directly determined, and the determined position information may be transmitted to the corresponding slave vehicle.
Further, the distance between the reference vehicle and the slave vehicle may also be measured by the slave vehicle, for example, each slave vehicle in the fleet may measure the distance between itself and the previous vehicle in the fleet by using a millimeter wave radar sensor with low energy consumption and low computational resource consumption, and broadcast the measured distance to other vehicles in the fleet, so that the slave vehicle may determine the distance between itself and the reference vehicle according to the distance between each vehicle and the previous vehicle and the distance between itself and the previous vehicle obtained through broadcasting. Compared with the mode determined by the reference vehicle, the calculation is dispersed to each slave vehicle, so that the obtained position information has better timeliness and more accurate data.
In another possible embodiment, the positioning information of the slave vehicle may also be determined by the reference vehicle, and after determining the distance to the slave vehicle, the reference vehicle may determine the position information of the slave vehicle directly according to the positioning information of the reference vehicle and the distance to the slave vehicle, and send the determined position information to the corresponding slave vehicle.
Referring to fig. 3, a schematic diagram of vehicles in a fleet according to an embodiment of the present disclosure is shown. In fig. 3, a reference vehicle a, a reference vehicle B, a reference vehicle C, a slave vehicle a corresponding to the reference vehicle a, a slave vehicle B corresponding to the reference vehicle B, and a slave vehicle C corresponding to the reference vehicle C are included, wherein the reference vehicle is determined by dividing a sub-fleet, each reference vehicle and its corresponding slave vehicle form a sub-fleet, and a distance between a first vehicle and a last vehicle in each sub-fleet is less than or equal to a sensing distance range of the first positioning sensor.
According to the positioning method of the vehicles in the fleet, the reference vehicle is selected from the fleet to start the first positioning sensor, so that the reference vehicle can determine the positioning information of the reference vehicle through the measurement result of the first positioning sensor, and then the positioning information of the slave vehicle corresponding to the reference vehicle is determined based on the determined positioning information of the reference vehicle, so that the slave vehicle can determine the positioning information of the slave vehicle without starting the first positioning sensor, the energy consumption of the slave vehicle is reduced, the calculation resource consumption of the slave vehicle is reduced, and the service life of the first positioning sensor on the slave vehicle is prolonged; in addition, a reference vehicle is selected from the vehicles based on the distance between different vehicles and the sensing distance of the first positioning sensor, so that a slave vehicle corresponding to the reference vehicle is located within the sensing distance of the first positioning sensor, the accuracy of the distance between the reference vehicle and the slave vehicle is improved, and the accuracy of the positioning information of the slave vehicle is improved.
In the above positioning system for vehicles in a fleet, a reference vehicle is used to determine the positioning information of the reference vehicle from the measurement result of the first positioning sensor.
Specifically, the reference vehicle may acquire satellite positioning information for the reference vehicle; and then, calibrating the satellite positioning information by using the positioning information of the peripheral objects indicated in the measurement result of the first positioning sensor of the reference vehicle to obtain the positioning information of the reference vehicle.
The Satellite positioning information may be positioning information of a Global Navigation Satellite System (GNSS), and the Satellite positioning information may be calibrated by using position information of each object around the first positioning sensor, and the positioning may be performed by using a combined Navigation of a laser radar sensor and the GNSS.
In the above-mentioned positioning system for vehicles in a fleet, the slave vehicle is configured to determine the positioning information of the slave vehicle based on the positioning information of the corresponding reference vehicle and the distance between the reference vehicle and the slave vehicle.
In particular, the slave vehicle may determine a distance between the slave vehicle and a previous vehicle in the fleet using a second positioning sensor deployed on the slave vehicle and broadcast the distance between the slave vehicle and the previous vehicle in the fleet to other vehicles in the fleet; then, after receiving the distance determined by the second positioning sensor, the slave vehicle may determine the distance between the slave vehicle and its corresponding reference vehicle based on the received distance between each slave vehicle and the previous vehicle in the platoon and the length of each vehicle.
Wherein, second positioning sensor can be millimeter wave radar sensor, and millimeter wave radar sensor's range finding can reach 200 meters more, can have or not detect, range finding, test the speed and the position measurement to the target, has good angle resolving power, can detect less object. Meanwhile, the millimeter wave radar sensor has extremely high penetration rate, can penetrate through illumination, rainfall, dust, fog and the like to accurately detect objects, can work all the day, and has low cost.
In one possible embodiment, the slave vehicle may determine the longitudinal positioning information in the positioning information of the slave vehicle based on the longitudinal positioning information in the positioning information of the reference vehicle and the distance between the slave vehicle and the reference vehicle, and specifically, the longitudinal positioning information of the slave vehicle may be obtained by offsetting the distance between the slave vehicle and the reference vehicle on the basis of the longitudinal positioning information of the reference vehicle.
Further, the slave vehicle may also acquire a running image corresponding to the slave vehicle through a photographing device disposed on the slave vehicle, and determine lateral positioning information in the positioning information of the slave vehicle based on the running image.
The driving image corresponding to the slave vehicle can be an image of a lane shot from the view angle of the slave vehicle, and the lateral position of the slave vehicle on the lane can be determined through the shot driving image, so that the lateral positioning information in the positioning information of the slave vehicle can be determined.
In some possible embodiments, the reference vehicle may further generate an automatic driving control instruction for controlling the reference vehicle based on the positioning information of the reference vehicle and the positioning information of the peripheral object indicated in the measurement result of the first positioning sensor, and similarly, the slave vehicle may further generate an automatic driving control instruction for controlling the slave vehicle based on the positioning information of the slave vehicle and the positioning information of the peripheral object indicated in the measurement result of the first positioning sensor.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
Based on the same inventive concept, the embodiment of the present disclosure further provides a positioning apparatus for a vehicle in a fleet corresponding to the positioning method for the vehicle in the fleet, and as the principle of the apparatus in the embodiment of the present disclosure for solving the problem is similar to the positioning method for the vehicle in the fleet described in the embodiment of the present disclosure, the implementation of the apparatus may refer to the implementation of the method, and repeated details are omitted.
Referring to fig. 4, a schematic diagram of positioning of vehicles in a fleet according to an embodiment of the present disclosure is provided, where the apparatus includes:
an obtaining module 410, configured to obtain distances between different vehicles in a fleet and a sensing distance range of a first positioning sensor deployed on the vehicles;
a determining module 420, configured to determine, based on the distance between the different vehicles and the sensing distance range of the first positioning sensor, a reference vehicle that starts the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle;
a control module 430 for controlling the determined reference vehicle to turn on the first positioning sensor; the measurement results of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
In an optional implementation manner, the determining module 420 is specifically configured to:
selecting a first vehicle in the fleet as a first reference vehicle;
starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle;
a vehicle between two adjacent reference vehicles is taken as a slave vehicle of a preceding reference vehicle, and a vehicle following a last reference vehicle is taken as a slave vehicle of the last reference vehicle.
In an optional implementation, the determining module 420 is further configured to:
and when detecting that the first positioning sensor of the reference vehicle has a fault, taking a vehicle behind the reference vehicle with the fault in the first positioning sensor in the fleet as a new reference vehicle, and taking the vehicle with the fault in the first positioning sensor as a slave vehicle of the new reference vehicle.
In an optional implementation manner, the determining module 420 is specifically configured to:
dividing the fleet into a plurality of sub-fleets based on the distance between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range;
and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
In a possible implementation, the determining module 420 is further configured to:
and under the condition that the first positioning sensor of the reference vehicle is detected to have a fault, selecting any other vehicle from the sub-fleet to which the reference vehicle belongs as a new reference vehicle of the sub-fleet.
According to the positioning device for the vehicles in the fleet, the reference vehicle is selected from the fleet to start the first positioning sensor, so that the reference vehicle can determine the positioning information of the reference vehicle through the measurement result of the first positioning sensor, and then the positioning information of the slave vehicle corresponding to the reference vehicle is determined based on the determined positioning information of the reference vehicle, so that the slave vehicle can determine the positioning information of the slave vehicle without starting the first positioning sensor, the energy consumption of the slave vehicle is reduced, the calculation resource consumption of the slave vehicle is reduced, and the service life of the first positioning sensor on the slave vehicle is prolonged; in addition, a reference vehicle is selected from the vehicles based on the distance between different vehicles and the sensing distance of the first positioning sensor, so that a slave vehicle corresponding to the reference vehicle is located within the sensing distance of the first positioning sensor, the accuracy of the distance between the reference vehicle and the slave vehicle is improved, and the accuracy of the positioning information of the slave vehicle is improved.
The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.
Corresponding to the method for positioning vehicles in the fleet in fig. 1, an embodiment of the present disclosure further provides an electronic device 500, as shown in fig. 5, a schematic structural diagram of the electronic device 500 provided in an embodiment of the present disclosure includes:
a processor 51, a memory 52, and a bus 53; the storage 52 is used for storing execution instructions and comprises a memory 521 and an external storage 522; the memory 521 is also referred to as an internal memory, and is configured to temporarily store operation data in the processor 51 and data exchanged with an external memory 522 such as a hard disk, the processor 51 exchanges data with the external memory 522 through the memory 521, and when the electronic device 500 operates, the processor 51 communicates with the memory 52 through the bus 53, so that the processor 51 executes the following instructions:
acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor;
controlling the determined reference vehicle to turn on the first positioning sensor; the measurement of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
In an alternative embodiment, the instructions executed by the processor 51 for determining a reference vehicle of the fleet that activates the first positioning sensor and a corresponding slave vehicle of the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor include:
selecting a first vehicle in the fleet as a first reference vehicle;
starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle;
a vehicle between two adjacent reference vehicles is taken as a slave vehicle of a preceding reference vehicle, and a vehicle following a last reference vehicle is taken as a slave vehicle of the last reference vehicle.
In an alternative embodiment, the processor 51 is further configured to:
and when detecting that the first positioning sensor of the reference vehicle has a fault, taking a vehicle behind the reference vehicle with the fault in the first positioning sensor in the fleet as a new reference vehicle, and taking the vehicle with the fault in the first positioning sensor as a slave vehicle of the new reference vehicle.
In an alternative embodiment, the instructions executed by the processor 51 for determining a reference vehicle of the fleet that activates the first positioning sensor and a corresponding slave vehicle of the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor include:
dividing the fleet into a plurality of sub-fleets based on the distance between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range;
and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
In an alternative embodiment, the processor 51 is further configured to:
and under the condition that the first positioning sensor of the reference vehicle is detected to have a fault, selecting any other vehicle from the sub-fleet to which the reference vehicle belongs as a new reference vehicle of the sub-fleet.
The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method for positioning vehicles in a fleet described in the above method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.
The embodiments of the present disclosure further provide a computer program product, where the computer program product carries program codes, and instructions included in the program codes may be used to execute the steps of the method for positioning vehicles in a fleet in the foregoing method embodiments, which may be specifically referred to the foregoing method embodiments, and are not described herein again.
The computer program product may be implemented by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
The embodiment of the disclosure at least provides a method and a device for positioning vehicles in a fleet, which specifically comprise the following steps:
TS1, a method for positioning vehicles in a fleet, comprising:
acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor;
controlling the determined reference vehicle to turn on the first positioning sensor so as to determine positioning information of the reference vehicle based on a measurement result of the first positioning sensor, and to determine positioning information of the slave vehicle based on the positioning information of the reference vehicle and a distance between the reference vehicle and its slave vehicle.
The method of TS1, wherein determining a reference vehicle of the fleet that activates the first positioning sensor and a slave vehicle to which the reference vehicle corresponds based on the distance between the different vehicles and the sensing distance range of the first positioning sensor comprises:
selecting a first vehicle in the fleet as a first reference vehicle;
starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle;
a vehicle between two adjacent reference vehicles is taken as a slave vehicle of a preceding reference vehicle, and a vehicle following a last reference vehicle is taken as a slave vehicle of the last reference vehicle.
TS3, the method according to TS2, wherein the method further comprises:
and when detecting that the first positioning sensor of the reference vehicle has a fault, taking a vehicle behind the reference vehicle with the fault in the first positioning sensor in the fleet as a new reference vehicle, and taking the vehicle with the fault in the first positioning sensor as a slave vehicle of the new reference vehicle.
The method of TS1, wherein determining a reference vehicle of the fleet that activates the first positioning sensor and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor comprises:
dividing the fleet into a plurality of sub-fleets based on the distance between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range;
and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
TS5, the method according to TS4, wherein the method further comprises:
and under the condition that the first positioning sensor of the reference vehicle is detected to have a fault, selecting another vehicle from the sub-fleet to which the reference vehicle belongs as a new reference vehicle of the sub-fleet.
The TS6 is a positioning system of vehicles in a fleet, wherein the positioning system comprises a server, at least one reference vehicle and at least one slave vehicle corresponding to the reference vehicle;
the server is used for acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles; determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor; controlling the determined reference vehicle to turn on the first positioning sensor;
the reference vehicle is used for determining positioning information of the reference vehicle through the measurement result of the first positioning sensor;
the slave vehicle is used for determining the positioning information of the slave vehicle based on the positioning information of the reference vehicle and the distance between the reference vehicle and the slave vehicle thereof.
TS7, the positioning system according to TS6, wherein when the reference vehicle determines the positioning information of the reference vehicle from the measurement result of the first positioning sensor, the positioning system is specifically configured to:
acquiring satellite positioning information for the reference vehicle;
and calibrating the satellite positioning information by using the measurement result to obtain the positioning information of the reference vehicle.
TS8, the positioning system according to TS6, wherein the slave vehicle is further configured to:
determining a distance between the slave vehicle and a previous vehicle in the fleet using a second positioning sensor deployed on the slave vehicle and broadcasting the distance between the slave vehicle and the previous vehicle in the fleet to other vehicles in the fleet;
determining a distance between each slave vehicle and the reference vehicle based on the received distance between the slave vehicle and a previous vehicle in the fleet.
TS9, the positioning system according to TS6, wherein when determining the positioning information of the slave vehicle based on the positioning information of the reference vehicle and the distance between the reference vehicle and its slave vehicle, the slave vehicle is specifically configured to:
determining longitudinal positioning information in the positioning information of the slave vehicle based on longitudinal positioning information in the positioning information of the reference vehicle and a distance between the slave vehicle and the reference vehicle;
and acquiring a driving image corresponding to the slave vehicle, and determining transverse positioning information in the positioning information of the slave vehicle based on the driving image.
TS10, the positioning system of TS6, wherein the reference vehicle is further configured to:
generating an automatic driving control instruction for controlling the reference vehicle based on the measurement result of the first positioning sensor and the positioning information of the reference vehicle;
the slave vehicle is further configured to:
and generating an automatic driving control instruction for controlling the slave vehicle based on the measurement result of the first positioning sensor and the positioning information of the slave vehicle.
TS11, the positioning system according to TS8, wherein the first positioning sensor comprises a lidar sensor; the second positioning sensor comprises a millimeter wave radar sensor.
TS12, a positioning device for vehicles in a fleet, comprising:
the acquisition module is used for acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
the determining module is used for determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between different vehicles and the sensing distance range of the first positioning sensor;
and the control module is used for controlling the determined reference vehicle to start the first positioning sensor so as to determine the positioning information of the reference vehicle based on the measurement result of the first positioning sensor and determine the positioning information of the slave vehicle based on the positioning information of the reference vehicle and the distance between the reference vehicle and the slave vehicle thereof.
TS13, an electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the method of locating a vehicle in a fleet of vehicles according to any one of TS1 to TS 5.
TS14, a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which computer program, when being executed by a processor, performs the steps of the method for locating a vehicle in a platoon according to any of the claims TS1 to TS 5.
TS15, a computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the steps of the method for positioning vehicles in a platoon according to any of TS1 to TS 5.
Claims (10)
1. A method for locating vehicles in a fleet of vehicles, comprising:
acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor;
controlling the determined reference vehicle to turn on the first positioning sensor; the measurement results of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
2. The method of claim 1, wherein determining a reference vehicle of the fleet that activates the first positioning sensor and a corresponding slave vehicle of the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor comprises:
selecting a first vehicle in the fleet as a first reference vehicle;
starting from the first reference vehicle, whenever it is determined that the distance between the current vehicle and the previous reference vehicle is greater than or equal to the sensing distance range based on the distance between the different vehicles, regarding the current vehicle as a new reference vehicle;
the vehicle between two adjacent reference vehicles is taken as a slave vehicle of the preceding reference vehicle, and the vehicle following the last reference vehicle is taken as a slave vehicle of the last reference vehicle.
3. The method of claim 2, further comprising:
and when detecting that the first positioning sensor of the reference vehicle has a fault, taking a vehicle behind the reference vehicle with the fault in the first positioning sensor in the fleet as a new reference vehicle, and taking the vehicle with the fault in the first positioning sensor as a slave vehicle of the new reference vehicle.
4. The method of claim 1, wherein determining a reference vehicle of the fleet that activates the first positioning sensor and a corresponding slave vehicle of the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor comprises:
dividing the fleet into a plurality of sub-fleets based on the distances between the different vehicles and the sensing distance range; the total length of each sub-fleet is less than or equal to the sensing distance range;
and aiming at each sub-fleet, selecting any vehicle from the sub-fleets as the reference vehicle, and taking other vehicles except the reference vehicle in the sub-fleets as slave vehicles corresponding to the reference vehicle.
5. The method of claim 4, further comprising:
and under the condition that the first positioning sensor of the reference vehicle is detected to have a fault, selecting any other vehicle from the sub-fleet to which the reference vehicle belongs as a new reference vehicle of the sub-fleet.
6. A positioning system for vehicles in a fleet comprises a server, at least one reference vehicle and at least one slave vehicle corresponding to the reference vehicle;
the server is used for acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles; determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between the different vehicles and the sensing distance range of the first positioning sensor; controlling the determined reference vehicle to turn on the first positioning sensor;
the reference vehicle is used for determining positioning information of the reference vehicle through the measurement result of the first positioning sensor;
the slave vehicle is used for determining the positioning information of the slave vehicle based on the positioning information of the reference vehicle and the distance between the reference vehicle and the slave vehicle thereof.
7. An apparatus for locating vehicles in a fleet of vehicles, comprising:
the acquisition module is used for acquiring the distance between different vehicles in a fleet and the sensing distance range of a first positioning sensor deployed on the vehicles;
the determining module is used for determining a reference vehicle for starting the first positioning sensor in the fleet and a slave vehicle corresponding to the reference vehicle based on the distance between different vehicles and the sensing distance range of the first positioning sensor;
the control module is used for controlling the determined reference vehicle to start the first positioning sensor; the measurement of the first positioning sensor can be used to determine positioning information of the reference vehicle and the slave vehicle.
8. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is run, the machine-readable instructions when executed by the processor performing the steps of the method of locating a vehicle in a fleet of vehicles according to any one of claims 1 to 5.
9. A computer-readable storage medium, having stored thereon a computer program for performing, when being executed by a processor, the steps of the method for locating vehicles in a platoon according to any one of the claims 1 to 5.
10. A computer program product comprising computer instructions, characterized in that said computer instructions, when executed by a processor, implement the steps of a method for positioning vehicles in a platoon according to any one of claims 1 to 5.
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