CN115856979A - Positioning method and device for automatic driving vehicle, electronic equipment and storage medium - Google Patents
Positioning method and device for automatic driving vehicle, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a positioning method and device for an automatic driving vehicle, an electronic device and a storage medium, wherein the method comprises the following steps: when the satellite positioning signal is not invalid, acquiring satellite positioning data and laser radar positioning data of the automatic driving vehicle; determining a positioning error between the satellite positioning data and the laser radar positioning data according to the satellite positioning data and the laser radar positioning data; determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data; and determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy to obtain a positioning result of the automatic driving vehicle. This application passes through the positioning error identification error change mode between satellite positioning data and the laser radar positioning data, whether has the deception according to error change mode identification satellite positioning, avoids taking the satellite positioning data that has gradual change error to fuse the location, improves the positioning stability of autopilot vehicle.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for positioning an automatic driving vehicle, an electronic device, and a storage medium.
Background
At present, fully automatic driving vehicles such as ROBOTAXI (automatic taxi), ROBOBUS (automatic bus), automatic sweeper and the like have been landed and operated in specific scenes of a plurality of cities. With the continuous development of the automatic driving technology, the landing scene is no longer limited to a simple park area and an open road section with few cars and few people, more and more companies expand the landing scene to a luxurious urban area and a non-urban road with complex road conditions, and therefore the requirement for positioning the automatic driving vehicle is higher and higher.
The traditional combined navigation positioning equipment cannot meet the positioning requirement of the automatic driving vehicle, and a positioning scheme based on multi-sensor fusion becomes a mainstream technology for positioning the automatic driving vehicle. In a currently common algorithm, an EKF (Extended Kalman Filter) is used to fuse a predicted value obtained based on an IMU (Inertial Measurement Unit) and observed values obtained based on a GNSS (Global Navigation System)/RTK (Real-time Kinematic), laser positioning and visual positioning, and when a GNSS/RTK mutation abnormal value is detected and removed by a chi-square, a fusion confidence of each observed value is provided by a position confidence of a sub-positioning module.
However, in a road section with slowly-increased GNSS/RTK errors, the longer the time is, the larger the positioning error is, the lane departure can occur in a short time (such as 1 minute), and the taking over is caused, mainly because when the GNSS errors are slowly increased, the confidence coefficient is still high, when the weighting is performed with other observations, the error increase speed is slow, but the increase trend is still unchanged, that is, the GNSS "spoofing" condition exists, and if the positioning stability of the autonomous vehicle is not identified and processed in time, the positioning stability of the autonomous vehicle is greatly influenced.
Disclosure of Invention
The embodiment of the application provides a positioning method and device of an automatic driving vehicle, electronic equipment and a storage medium, so as to improve the positioning stability of the automatic driving vehicle.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a positioning method for an autonomous vehicle, where the method includes:
under the condition that the satellite positioning signal is not invalid, acquiring satellite positioning data and laser radar positioning data of the automatic driving vehicle;
determining a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data;
and determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
Optionally, the determining an error variation pattern according to the positioning error between the satellite positioning data and the lidar positioning data comprises:
determining whether the satellite positioning state and the laser radar positioning state are both stable states according to the positioning error between the satellite positioning data and the laser radar positioning data;
and under the condition that the satellite positioning state and the laser radar positioning state are not both in a stable state, determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data.
Optionally, the positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and determining whether the satellite positioning state and the lidar positioning state are both stable states according to the positioning error between the satellite positioning data and the lidar positioning data includes:
comparing the positioning errors with preset error thresholds respectively;
if the positioning errors are smaller than the preset error threshold value, or the positioning errors which do not exceed a preset number in the positioning errors are larger than the preset error threshold value, determining that the satellite positioning state and the laser radar positioning state are both stable states;
otherwise, determining that the satellite positioning state and the laser radar positioning state are not both stable states.
Optionally, a positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and determining an error change pattern according to the positioning error between the satellite positioning data and the lidar positioning data includes:
performing linear fitting on the plurality of positioning errors according to the time sequence of the preset time window;
and determining the error change mode according to the straight line fitting result.
Optionally, the determining the error change pattern according to the straight line fitting result includes:
if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error cannot be fitted, determining that the error change mode is a random change mode;
and if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error can be fitted, determining that the error change mode is an incremental change mode.
Optionally, the error variation pattern comprises a random variation pattern and an incremental variation pattern, and the determining the location strategy of the autonomous vehicle according to the error variation pattern comprises:
if the error change mode is a random change mode, determining that the laser radar positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on satellite positioning;
and if the error change mode is an incremental change mode, determining that the satellite positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on a laser radar.
Optionally, if the error change mode is an incremental change mode, determining that a satellite positioning state is an unstable state, and determining that the positioning strategy of the autonomous vehicle is a positioning strategy implemented based on a laser radar includes:
acquiring wheel speed data corresponding to the laser radar positioning data;
determining a first vehicle running track according to the wheel speed data, and determining a second vehicle running track according to the laser radar positioning data;
and verifying the satellite positioning state according to the first vehicle running track and the second vehicle running track, and determining a positioning strategy of the automatic driving vehicle according to a verification result.
In a second aspect, an embodiment of the present application further provides a positioning device for an autonomous vehicle, where the device includes:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring satellite positioning data and laser radar positioning data of an automatic driving vehicle under the condition that a satellite positioning signal is not invalid;
a first determining unit, configured to determine a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
a second determining unit, configured to determine an error change pattern according to a positioning error between the satellite positioning data and the lidar positioning data;
and the positioning unit is used for determining a positioning strategy of the automatic driving vehicle according to the error change mode and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: according to the positioning method of the automatic driving vehicle, under the condition that a satellite positioning signal is not invalid, satellite positioning data and laser radar positioning data of the automatic driving vehicle are obtained; then, determining a positioning error between the satellite positioning data and the laser radar positioning data according to the satellite positioning data and the laser radar positioning data; then determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data; and finally, determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle. According to the positioning method of the automatic driving vehicle, whether deception exists in satellite positioning is identified according to the error change mode through the positioning error identification error change mode between the satellite positioning data and the laser radar positioning data, the satellite positioning data with gradual change errors is avoided being adopted for fusion positioning, and the positioning stability of the automatic driving vehicle is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart illustrating a method for locating an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a comparison between positioning errors before and after correction according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a positioning device of an autonomous vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the present application provides a method for positioning an autonomous vehicle, as shown in fig. 1, which provides a schematic flow chart of the method for positioning an autonomous vehicle in the embodiment of the present application, and the method at least includes the following steps S110 to S140:
and step S110, acquiring satellite positioning data and laser radar positioning data of the automatic driving vehicle under the condition that the satellite positioning signal is not invalid.
When positioning an autonomous vehicle, it is necessary to determine whether a current satellite positioning signal fails, for example, if the current satellite positioning signal is in a differential state, it indicates that the satellite positioning signal does not fail, that is, a normal positioning result considered by satellite positioning can be output, but the positioning result does not necessarily represent that there is no error, and further identification and determination are necessary.
And step S120, determining a positioning error between the satellite positioning data and the laser radar positioning data according to the satellite positioning data and the laser radar positioning data.
Satellite positioning data has contained satellite positioning's position, and laser radar positioning data has contained laser radar positioning's position, consequently compares satellite positioning's position and laser radar positioning's position, can calculate the positioning error between satellite positioning data and the laser radar positioning data.
Step S130, determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data.
When the GNSS/RTK positioning has the deception condition, the positioning error generated by the GNSS/RTK positioning is usually gradual error, namely the error is increased gradually, and when the laser radar positioning has the abnormal condition, the positioning error generated by the laser radar positioning is usually randomly changed error, so that the error change mode can be further determined according to the positioning error between the satellite positioning data and the laser radar positioning data based on the positioning error of the GNSS/RTK and the change characteristics of the positioning error of the laser radar.
And S140, determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
After determining the error change mode of the positioning error between the satellite positioning data and the laser radar positioning data of the current automatic driving vehicle, whether the situation of 'cheating' exists in the GNSS/RTK positioning of the current automatic driving vehicle and whether the laser radar positioning is abnormal can be identified, and then the current positioning strategy which can be adopted can be determined according to the positioning states of the GNSS/RTK and the laser radar, so that the fusion positioning of the automatic driving vehicle is carried out.
According to the positioning method of the automatic driving vehicle, whether deception exists in satellite positioning is identified according to the error change mode through the positioning error identification error change mode between the satellite positioning data and the laser radar positioning data, the satellite positioning data with gradual change errors is avoided being adopted for fusion positioning, and the positioning stability of the automatic driving vehicle is improved.
In one embodiment of the present application, the determining an error variation pattern from a positioning error between the satellite positioning data and the lidar positioning data comprises: determining whether the satellite positioning state and the laser radar positioning state are both stable states according to the positioning error between the satellite positioning data and the laser radar positioning data; and under the condition that the satellite positioning state and the laser radar positioning state are not both in a stable state, determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data.
The error change mode is determined according to the positioning error between the satellite positioning data and the laser radar positioning data, whether the satellite positioning state and the laser radar positioning state are stable states or not can be determined according to the positioning error between the satellite positioning data and the laser radar positioning data, if the satellite positioning state and the laser radar positioning state are stable states, the error change mode does not need to be further identified, if the satellite positioning state and the laser radar positioning state are not stable states, and therefore the GNSS/RTK positioning state is judged to be abnormal, or the laser radar positioning state is judged to be abnormal.
In an embodiment of this application, positioning error between satellite positioning data with laser radar positioning data is a plurality of positioning error in predetermineeing the time window, according to satellite positioning data with positioning error between the laser radar positioning data confirms whether satellite positioning state and laser radar positioning state are steady state and includes: comparing the plurality of positioning errors with a preset error threshold value respectively; if the positioning errors are smaller than the preset error threshold value, or the positioning errors which do not exceed a preset number in the positioning errors are larger than the preset error threshold value, determining that the satellite positioning state and the laser radar positioning state are both stable states; otherwise, determining that the satellite positioning state and the laser radar positioning state are not both stable states.
In order to improve discernment and judge the accuracy, a plurality of satellite positioning data of mode record and the laser radar data that correspond of this application preset time window, can calculate respectively based on a plurality of satellite positioning data and the laser radar data that correspond and obtain the positioning error between a plurality of satellite positioning data and the laser radar positioning data, the size of presetting the time window can be set for according to actual demand is nimble, if set up to 3s.
When determining the satellite positioning state and the laser radar positioning state according to a plurality of positioning errors corresponding to a preset time window, a threshold for measuring the rationality of the positioning errors between the satellite positioning data and the laser radar positioning data may be determined, for example, the laser radar positioning error distribution is counted by offline data, after calibration and time synchronization are performed, the error is a horizontal distance error (obtained by calculation of euclidean distance), and it should be completely determined whether the matching of the laser point cloud is good or bad, the mean value of the error distribution is μ _ LIDAR, and the standard deviation is σ. In an actual operation stage, after the filter is initialized, the GNSS/RTK may output a positioning error μ _ GNSS of the GNSS/RTK, and an error rationality determination threshold value Thre may be determined according to the positioning error μ _ GNSS of the GNSS/RTK and the positioning error μ _ LIDAR of the laser radar, and thread may be represented as follows:
Thre = μ_LIDAR + μ_GNSS + th
the th is a buffer value set by the user according to the vehicle type, for example, the larger the vehicle type size is, the smaller the corresponding buffer value may be.
Based on the predetermined preset error threshold value Thre, a plurality of positioning errors corresponding to the preset time window can be respectively compared with the preset error threshold value Thre, if all the positioning errors are smaller than the preset error threshold value Thre, or if only a small number of the positioning errors are larger than the preset error threshold value Thre, the positioning errors between the satellite positioning data and the laser radar positioning data in the current preset time window are all in a reasonable range, and therefore the current satellite positioning state and the laser radar positioning state can be considered to be stable states. If the judgment condition is not met, the satellite positioning or the laser radar positioning is possibly abnormal, and further identification and judgment are needed.
In an embodiment of the present application, a positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and determining an error change pattern according to the positioning error between the satellite positioning data and the lidar positioning data includes: performing linear fitting on the plurality of positioning errors according to the time sequence of the preset time window; and determining the error change mode according to the straight line fitting result.
When an error change mode is determined according to positioning errors between satellite positioning data and laser radar positioning data, linear fitting can be performed on a plurality of positioning errors in a preset time window according to a time sequence in the preset time window, an X variable of the linear fitting is the time sequence in the preset time window, such as 1,2,3.
In an embodiment of the present application, the determining the error variation pattern according to the straight line fitting result includes: if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error cannot be fitted, determining that the error change mode is a random change mode; and if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error can be fitted, determining that the error change mode is an incremental change mode.
The straight line fitting result obtained in the foregoing embodiment mainly has two cases, one is that a straight line cannot be fitted according to time and a positioning error, so that a total residual error is smaller than a preset total residual error maximum value, which indicates that a change mode of the positioning error is a random change mode, and therefore, it can be determined that the positioning state of the laser radar is unstable, and certainly, it can be determined in the same manner in a subsequent preset time window for many times to further confirm. If the positioning state of the laser radar is confirmed to be unstable, the laser radar can be fed back to have problems in positioning, such as laser looseness, insufficient map precision and the like.
The residual error of the embodiment of the application can be set as the distance between the two-dimensional point (time and error) and the fitting straight line, the total residual error is the sum of the distances between all the two-dimensional points in the preset time window and the fitting straight line, and the maximum value of the preset total residual error is Thre which is the number of the two-dimensional points in the preset time window.
Another straight line fitting result is that a straight line can be fitted according to time and positioning errors, so that the total residual is smaller than a preset total residual maximum value, which indicates that the change mode of the positioning errors is an incremental change mode, and therefore, the GNSS/RTK can be judged to have gradual change errors, namely, the GNSS/RTK positioning is judged to have 'deception'. Then, from the next moment, a positioning strategy based on the laser radar can be used to replace a positioning strategy based on GNSS/RTK, the positioning result of the laser radar is used as an observed value to update the filter, and the observed value is fed back to other modules at the downstream, and the positioning error at the moment is the positioning error of the laser radar.
In one embodiment of the present application, the error variation pattern includes a random variation pattern and an incremental variation pattern, and the determining the location strategy of the autonomous vehicle according to the error variation pattern includes: if the error change mode is a random change mode, determining that the laser radar positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on satellite positioning; and if the error change mode is an incremental change mode, determining that the satellite positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on a laser radar.
If the error change mode is identified to be a random change mode, which indicates that the current laser radar positioning state is an unstable state, the adopted positioning strategy can be a fusion positioning strategy realized based on the GNSS/RTK, and if the error change mode is identified to be an incremental change mode, which indicates that the current GNSS/RTK has 'spoofing', the adopted positioning strategy can be a positioning strategy realized based on the laser radar.
That is, this application embodiment can adjust different positioning strategies in real time based on the discernment to the error variation pattern of positioning error, guarantees that the wave filter can utilize comparatively accurate observed value to fuse the location all the time, and then has improved the stability of fusing the location result.
In an embodiment of the application, the determining that the satellite positioning state is an unstable state and the determining that the positioning strategy of the autonomous vehicle is a positioning strategy implemented based on a laser radar if the error variation mode is an incremental variation mode includes: acquiring wheel speed data corresponding to the laser radar positioning data; determining a first vehicle running track according to the wheel speed data, and determining a second vehicle running track according to the laser radar positioning data; and verifying the satellite positioning state according to the first vehicle running track and the second vehicle running track, and determining a positioning strategy of the automatic driving vehicle according to a verification result.
Under the condition that the error change mode of the positioning error is identified to be the incremental change mode according to the straight line fitting result, whether the GNSS is really deceived or not can be further verified, for example, wheel speed data after time synchronization can be obtained, then a first vehicle running track is calculated by using a four-wheel speed model, a second vehicle running track is determined according to the laser radar positioning data, the two vehicle running tracks are matched, if the track coincidence degree is higher, the positioning state of the laser radar is stable, and then the GNSS is laterally proved to have deceived.
In some embodiments of the present application, while a lidar-based positioning strategy is used instead of a GNSS/RTK-based positioning strategy, the same positioning state determination method as in the previous embodiments may be used to determine whether the GNSS/RTK positioning signals are recovered, and if so, to synchronously recover the updates of the GNSS/RTK observations.
In some embodiments of the present application, in a road area with a lane line, another auxiliary determination method that a lane line positioning result based on visual recognition is good or bad as a laser radar positioning result may also be used, for example, a lateral distance in laser radar positioning data may be compared with a lateral deviation in the lane line positioning result, and if the two are consistent or differ by less than a certain range, it may be determined that the positioning state of the laser radar is a stable state.
In order to verify the positioning effect of the positioning method of the autonomous vehicle in the embodiments of the present application, as shown in fig. 2, a schematic diagram of the comparison effect before and after the correction of the positioning error in the embodiments of the present application is provided. In fig. 2, the slope of 100 seconds to 200 seconds in the "original error variation tendency" result is the result after fitting the error straight line, and the other time periods are the original errors, and the "corrected error variation tendency" result is the error obtained after using the positioning method for an autonomous vehicle according to the embodiment of the present application. The horizontal axis is a time stamp, the unit is 0.01 second, the vertical axis is an error, and the unit is meter, so that after the gradient error trend of the GNSS/RTK is judged about 125 seconds, the GNSS/RTK is switched to laser radar positioning, the maximum value of the integral fusion positioning error is limited within an acceptable range, the maximum error is slowly reduced, and no jump is generated.
The embodiment of the present application further provides a positioning device 300 for an autonomous vehicle, as shown in fig. 3, which provides a schematic structural diagram of the positioning device for an autonomous vehicle in the embodiment of the present application, where the device 300 includes: an obtaining unit 310, a first determining unit 320, a second determining unit 330, and a positioning unit 340, wherein:
an obtaining unit 310, configured to obtain satellite positioning data and laser radar positioning data of an autonomous vehicle when a satellite positioning signal is not invalid;
a first determining unit 320, configured to determine a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
a second determining unit 330, configured to determine an error variation pattern according to a positioning error between the satellite positioning data and the lidar positioning data;
and the positioning unit 340 is configured to determine a positioning strategy of the autonomous vehicle according to the error change pattern, and perform positioning according to the positioning strategy of the autonomous vehicle to obtain a positioning result of the autonomous vehicle.
In an embodiment of the present application, the second determining unit 330 is specifically configured to: determining whether the satellite positioning state and the laser radar positioning state are both stable states according to the positioning error between the satellite positioning data and the laser radar positioning data; and under the condition that the satellite positioning state and the laser radar positioning state are not both in a stable state, determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data.
In an embodiment of the present application, a positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and the second determining unit 330 is specifically configured to: comparing the positioning errors with preset error thresholds respectively; if the positioning errors are smaller than the preset error threshold value, or the positioning errors which do not exceed a preset number in the positioning errors are larger than the preset error threshold value, determining that the satellite positioning state and the laser radar positioning state are both stable states; otherwise, determining that the satellite positioning state and the laser radar positioning state are not both stable states.
In an embodiment of the present application, a positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and the second determining unit 330 is specifically configured to: performing linear fitting on the plurality of positioning errors according to the time sequence of the preset time window; and determining the error change mode according to the straight line fitting result.
In an embodiment of the present application, the second determining unit 330 is specifically configured to: if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error cannot be fitted, determining that the error change mode is a random change mode; and if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error can be fitted, determining that the error change mode is an incremental change mode.
In an embodiment of the present application, the error variation pattern includes a random variation pattern and an incremental variation pattern, and the positioning unit 340 is specifically configured to: if the error change mode is a random change mode, determining that the laser radar positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on satellite positioning; and if the error change mode is an incremental change mode, determining that the satellite positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on a laser radar.
In an embodiment of the present application, the positioning unit 340 is specifically configured to: acquiring wheel speed data corresponding to the laser radar positioning data; determining a first vehicle running track according to the wheel speed data, and determining a second vehicle running track according to the laser radar positioning data; and verifying the satellite positioning state according to the first vehicle running track and the second vehicle running track, and determining a positioning strategy of the automatic driving vehicle according to a verification result.
It can be understood that the positioning device for an autonomous vehicle can implement the steps of the positioning method for an autonomous vehicle provided in the foregoing embodiments, and the explanations regarding the positioning method for an autonomous vehicle are applicable to the positioning device for an autonomous vehicle, and are not repeated herein.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 4, 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. 4, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs the computer program to form the positioning device of the automatic driving vehicle 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:
under the condition that the satellite positioning signal is not invalid, acquiring satellite positioning data and laser radar positioning data of the automatic driving vehicle;
determining a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data;
and determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
The method performed by the positioning device of the autonomous vehicle disclosed in the embodiment of fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or 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 modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and combines hardware thereof to complete the steps of the method.
The electronic device may further execute the method executed by the positioning apparatus of the autonomous vehicle in fig. 1, and implement the functions of the positioning apparatus of the autonomous vehicle in the embodiment shown in fig. 1, which are not described herein again in this application embodiment.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform the method performed by the positioning apparatus of an autonomous vehicle in the embodiment shown in fig. 1, and are specifically configured to perform:
under the condition that the satellite positioning signal is not invalid, acquiring satellite positioning data and laser radar positioning data of the automatic driving vehicle;
determining a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data;
and determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of locating an autonomous vehicle, wherein the method comprises:
under the condition that the satellite positioning signal is not invalid, acquiring satellite positioning data and laser radar positioning data of the automatic driving vehicle;
determining a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data;
and determining a positioning strategy of the automatic driving vehicle according to the error change mode, and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
2. The method of claim 1, wherein the determining an error variation pattern from the positioning error between the satellite positioning data and the lidar positioning data comprises:
determining whether the satellite positioning state and the laser radar positioning state are both stable states according to the positioning error between the satellite positioning data and the laser radar positioning data;
and under the condition that the satellite positioning state and the laser radar positioning state are not both in a stable state, determining an error change mode according to a positioning error between the satellite positioning data and the laser radar positioning data.
3. The method of claim 2, wherein the positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and the determining whether the satellite positioning state and the lidar positioning state are both stable states according to the positioning error between the satellite positioning data and the lidar positioning data comprises:
comparing the positioning errors with preset error thresholds respectively;
if the positioning errors are smaller than the preset error threshold value, or the positioning errors which do not exceed a preset number in the positioning errors are larger than the preset error threshold value, determining that the satellite positioning state and the laser radar positioning state are both stable states;
otherwise, determining that the satellite positioning state and the laser radar positioning state are not both stable states.
4. The method of claim 1, wherein the positioning error between the satellite positioning data and the lidar positioning data is a plurality of positioning errors within a preset time window, and wherein determining an error variation pattern from the positioning error between the satellite positioning data and the lidar positioning data comprises:
performing linear fitting on the plurality of positioning errors according to the time sequence of the preset time window;
and determining the error change mode according to the straight line fitting result.
5. The method of claim 4, wherein said determining the error variation pattern from the line fitting results comprises:
if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error cannot be fitted, determining that the error change mode is a random change mode;
and if the straight line fitting result is that a straight line which enables the total residual error to be smaller than the maximum value of the preset total residual error can be fitted, determining that the error change mode is an incremental change mode.
6. The method of claim 2, wherein the error variation pattern comprises a random variation pattern and an incremental variation pattern, and wherein determining the location strategy for the autonomous vehicle based on the error variation pattern comprises:
if the error change mode is a random change mode, determining that the laser radar positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on satellite positioning;
and if the error change mode is an incremental change mode, determining that the satellite positioning state is an unstable state, and determining that the positioning strategy of the automatic driving vehicle is a positioning strategy realized based on a laser radar.
7. The method of claim 6, wherein determining that a satellite positioning state is an unstable state and determining that the positioning strategy of the autonomous vehicle is a lidar-based implemented positioning strategy if the error change pattern is an incremental change pattern comprises:
acquiring wheel speed data corresponding to the laser radar positioning data;
determining a first vehicle running track according to the wheel speed data, and determining a second vehicle running track according to the laser radar positioning data;
and verifying the satellite positioning state according to the first vehicle running track and the second vehicle running track, and determining a positioning strategy of the automatic driving vehicle according to a verification result.
8. A positioning device for an autonomous vehicle, wherein the device comprises:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring satellite positioning data and laser radar positioning data of an automatic driving vehicle under the condition that a satellite positioning signal is not invalid;
a first determining unit, configured to determine a positioning error between the satellite positioning data and the lidar positioning data according to the satellite positioning data and the lidar positioning data;
a second determining unit, configured to determine an error change pattern according to a positioning error between the satellite positioning data and the lidar positioning data;
and the positioning unit is used for determining a positioning strategy of the automatic driving vehicle according to the error change mode and positioning according to the positioning strategy of the automatic driving vehicle to obtain a positioning result of the automatic driving vehicle.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of applications, cause the electronic device to perform the method of any of claims 1-7.
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