CN115856979B - 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, electronic equipment and 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 an 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 the 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. According to the method and the device, the error change mode is identified through the positioning error between the satellite positioning data and the laser radar positioning data, whether the satellite positioning is deception or not is identified according to the error change mode, fusion positioning is avoided by adopting the satellite positioning data with gradual change errors, and the positioning stability of the automatic driving vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of autopilot technologies, and in particular, to a positioning method and apparatus for an autopilot vehicle, an electronic device, and a storage medium.
Background
Currently, fully-automatic driving vehicles such as ROBOTAXI (automatic driving taxis), ROBOBUS (automatic driving buses), automatic sweeper and the like are landed and operated in specific scenes of a plurality of cities. With the continuous development of the automatic driving technology, the landing scene is not limited to a simple park site and an open road with less vehicles and people, and more companies expand the landing scene to a luxurious urban area and a non-urban road with complex road conditions, so that the requirement on positioning of the automatic driving vehicles is higher and higher.
The conventional integrated navigation positioning device cannot meet the positioning requirement of the automatic driving vehicle, and a positioning scheme based on multi-sensor fusion has become a mainstream technology of positioning the automatic driving vehicle. The current general algorithm is to use an EKF (Extended Kalman Filter ) to fuse the predicted value obtained based on the IMU (Inertial Measurement Unit ) with the observed value obtained based on the GNSS (Global Navigation Satellite System, global satellite navigation system)/RTK (Real-time Kinematic), laser positioning and visual positioning, and the fusion confidence of each observed value is provided by the positioning confidence of the sub-positioning module under the condition that the abnormal value of the GNSS/RTK mutation is removed by the chi-square detection.
However, in a road section where the GNSS/RTK error is slowly increasing, the longer the time and the greater the positioning error, the lane departure will occur in a short time (e.g. within 1 minute), causing the take over, mainly because the confidence level is still high when the GNSS error is slowly increasing, the error increasing speed will be slow when weighted with other observations, but the increasing trend is still unchanged, i.e. there is a GNSS "deception" situation, and if not recognized and handled in time, the positioning stability of the autonomous vehicle will be greatly affected.
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 of an autopilot vehicle, where the method includes:
under the condition that satellite positioning signals are not invalid, acquiring satellite positioning data and laser radar positioning data of an 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 the 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 the error change pattern according to the positioning error between the satellite positioning data and the laser radar positioning data includes:
determining whether a satellite positioning state and a 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 in a stable state, determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data.
Optionally, the positioning errors between the satellite positioning data and the laser radar positioning data are a plurality of positioning errors within a preset time window, and determining whether the satellite positioning state and the laser radar positioning state are both stable according to the positioning errors between the satellite positioning data and the laser radar positioning data includes:
Comparing the positioning errors with preset error thresholds respectively;
if the positioning errors are smaller than the preset error threshold, or the positioning errors which are not more than the preset number in the positioning errors are larger than the preset error threshold, determining that the satellite positioning state and the laser radar positioning state are both stable;
otherwise, determining that the satellite positioning state and the laser radar positioning state are not in a stable state.
Optionally, the positioning errors between the satellite positioning data and the laser radar positioning data are a plurality of positioning errors within a preset time window, and determining the error change mode according to the positioning errors between the satellite positioning data and the laser radar positioning data includes:
performing straight line fitting on a 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 mode 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 change pattern includes a random change pattern and an incremental change pattern, and determining the positioning strategy of the automatic driving vehicle according to the error change 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.
Optionally, 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 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 the positioning strategy of the automatic driving vehicle according to a verification result.
In a second aspect, embodiments of the present application further provide a positioning device for an autonomous vehicle, where the device includes:
the acquisition unit is used for 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;
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;
the second determining unit is used for determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data;
and the positioning unit is used for determining the 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 the positioning result of the automatic driving vehicle.
In a third aspect, embodiments of the present application further provide an electronic device, including:
A processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform any of the methods described hereinbefore.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the methods described above.
The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect: according to the positioning method of the automatic driving vehicle, satellite positioning data and laser radar positioning data of the automatic driving vehicle are obtained under the condition that satellite positioning signals are not invalid; 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 the positioning error between the satellite positioning data and the laser radar positioning data; and finally, determining the 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 the positioning result of the automatic driving vehicle. According to the positioning method of the automatic driving vehicle, the error change mode is identified through the positioning error between the satellite positioning data and the laser radar positioning data, whether the satellite positioning is deception or not is identified according to the error change mode, fusion positioning by adopting the satellite positioning data with gradual change errors is avoided, 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a flow chart of a positioning method of an automatic driving vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram showing a comparison effect before and after correction of positioning errors in an embodiment of the present application;
FIG. 3 is a schematic structural view of a positioning device for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
The embodiment of the application provides a positioning method of an automatic driving vehicle, as shown in fig. 1, and provides a flow chart of the positioning method of the automatic driving vehicle in the embodiment of the application, where the method at least includes the following steps S110 to S140:
step S110, acquiring satellite positioning data and laser radar positioning data of the autonomous vehicle if the satellite positioning signal is not invalid.
When positioning an autopilot vehicle, it is necessary to determine whether the current satellite positioning signal is invalid, for example, if the current satellite positioning signal is in a differential state, it is indicated that the satellite positioning signal is not invalid, that is, a normal positioning result considered by satellite positioning can be output, but the positioning result does not necessarily have an error, and further identification and judgment are required, so that satellite positioning data and laser radar positioning data of the autopilot vehicle are acquired when the satellite positioning signal is not invalid, where the satellite positioning data and the laser radar positioning data refer to data after time synchronization.
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.
The satellite positioning data comprises the satellite positioning position, and the laser radar positioning data comprises the laser radar positioning position, so that the satellite positioning position and the laser radar positioning position are compared, and the positioning error between the satellite positioning data and the laser radar positioning data can be calculated.
And step S130, determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data.
When the GNSS/RTK positioning has 'spoofing', the positioning error generated by the GNSS/RTK positioning is usually a gradual error, namely the error is gradually increased, and when the laser radar positioning has abnormality, the positioning error generated by the laser radar positioning is usually a 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 characteristic of the positioning error of the laser radar.
And step 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, the situation that whether the GNSS/RTK positioning of the current automatic driving vehicle is deceptive or not and whether the laser radar positioning is abnormal or not can be identified, and then the positioning strategy which can be adopted currently 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 can be carried out.
According to the positioning method of the automatic driving vehicle, the error change mode is identified through the positioning error between the satellite positioning data and the laser radar positioning data, whether the satellite positioning is deception or not is identified according to the error change mode, fusion positioning by adopting the satellite positioning data with gradual change errors is avoided, and the positioning stability of the automatic driving vehicle is improved.
In one embodiment of the present application, the determining the error change pattern from the positioning error between the satellite positioning data and the lidar positioning data includes: determining whether a satellite positioning state and a 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 in a stable state, determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data.
In determining the error change mode 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 both stable 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 both stable, the error change mode is not required to be identified, and if the satellite positioning state and the laser radar positioning state are not both stable, the error change mode is required to be further identified, so that whether the GNSS/RTK positioning state is abnormal or the laser radar positioning state is abnormal is judged.
In an embodiment of the present application, the positioning errors between the satellite positioning data and the laser radar positioning data are a plurality of positioning errors within a preset time window, and determining whether the satellite positioning state and the laser radar positioning state are both stable according to the positioning errors between the satellite positioning data and the laser radar positioning data includes: comparing the positioning errors with preset error thresholds respectively; if the positioning errors are smaller than the preset error threshold, or the positioning errors which are not more than the preset number in the positioning errors are larger than the preset error threshold, determining that the satellite positioning state and the laser radar positioning state are both stable; otherwise, determining that the satellite positioning state and the laser radar positioning state are not in a stable state.
In order to improve the accuracy of identification and judgment, the method for presetting the time window records a plurality of satellite positioning data and corresponding laser radar data, positioning errors between the plurality of satellite positioning data and the laser radar positioning data can be calculated based on the plurality of satellite positioning data and the corresponding laser radar data respectively, and the size of the preset time window can be flexibly set according to actual requirements, such as being set 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 value for measuring the rationality of the positioning errors between the satellite positioning data and the laser radar positioning data can be determined first, for example, the laser radar positioning error distribution is counted through offline data, after calibration and time synchronization are performed, the errors are horizontal distance errors (obtained through Euclidean distance calculation) and completely depend on the matching quality of laser point cloud, and the average value of the error distribution is set as mu_LIDAR, and the standard deviation is set as sigma. In the actual operation stage, after the filter is initialized, the GNSS/RTK can output a positioning error mu_GNSS of the GNSS/RTK, and an error rationality judgment threshold value Thre can be determined according to the positioning error mu_GNSS of the GNSS/RTK and the positioning error mu_LIDAR of the laser radar, wherein the Thre can be expressed 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 can be.
Based on the predetermined preset error threshold value Thre, a plurality of positioning errors corresponding to the preset time window can be compared with the preset error threshold value Thre respectively, and if all positioning errors are smaller than the preset error threshold value Thre, or only a small number of positioning errors, such as 1 positioning error, 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 indicated to be within a reasonable range, so that the current satellite positioning state and the laser radar positioning state can be considered to be stable. If the above judgment condition is not satisfied, it is indicated that there may be abnormality in satellite positioning or laser radar positioning, and further identification and judgment are required.
In one embodiment of the present application, the positioning errors between the satellite positioning data and the lidar positioning data are a plurality of positioning errors within a preset time window, and determining the error variation pattern according to the positioning errors between the satellite positioning data and the lidar positioning data includes: performing straight line fitting on a 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 determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data, a plurality of positioning errors in a preset time window can be subjected to linear fitting 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 one 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 positioning error so that the total residual error is smaller than the preset total residual error maximum value, which indicates that the variation mode of the positioning error is a random variation mode, so that the positioning state of the laser radar can be judged to be unstable, and the same mode can be used for judging for a plurality of times in a subsequent preset time window to further confirm. If the positioning state of the laser radar is not stable, the problem of laser radar positioning, such as laser looseness, insufficient map precision and the like, can be fed back.
The residual error in the embodiment of the present application may be set as the distance between two-dimensional points (time, error) and the fitted straight line, where the total residual error is the sum of the distances between all two-dimensional points in a preset time window and the fitted straight line, and the preset total residual error maximum value is the number of 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 error is smaller than the preset total residual error maximum value, and the change mode of the positioning error is an incremental change mode, so that gradual change errors of the GNSS/RTK can be judged, namely 'cheating' of the GNSS/RTK positioning exists. Then from the next moment, the positioning strategy based on the laser radar can be used to replace the positioning strategy based on the GNSS/RTK, the positioning result of the laser radar is used as an observation value updating filter, and meanwhile, the observation value updating filter 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 change pattern includes a random change pattern and an incremental change pattern, and the determining the positioning strategy of the autonomous vehicle according to the error change 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 as a random change mode, the current laser radar positioning state is an unstable state, the adopted positioning strategy can be a fusion positioning strategy based on GNSS/RTK implementation, and if the error change mode is identified as an incremental change mode, the current GNSS/RTK is indicated to have 'cheating', the adopted positioning strategy can be a positioning strategy based on the laser radar implementation.
That is, according to the embodiment of the application, based on the recognition of the error change mode of the positioning error, different positioning strategies can be adjusted in real time, so that the filter can always utilize a more accurate observed value for fusion positioning, and the stability of a fusion positioning result is improved.
In one embodiment of the present application, if the error change pattern is an incremental change pattern, determining that the 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 the 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 the incremental change mode according to the straight line fitting result, the situation of 'cheating' of the GNSS can be further verified, for example, wheel speed data after time synchronization can be obtained, then a first vehicle running track is calculated by utilizing 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 overlap ratio is higher, the laser radar positioning state is stable, and further 'cheating' of the GNSS is laterally verified.
In some embodiments of the present application, while using a laser radar-based positioning strategy 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, update of the GNSS/RTK observations is synchronously recovered.
In some embodiments of the present application, in a road area with a lane line, a lane line positioning result based on visual recognition may be used as another auxiliary determination method for determining whether the laser radar positioning result is good or bad, for example, a lateral distance in the laser radar positioning data may be compared with a lateral deviation in the lane line positioning result, and if the two are consistent or different from each other 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 according to the embodiments of the present application, as shown in fig. 2, a schematic diagram of the comparison effect before and after the positioning error correction in the embodiments of the present application is provided. In fig. 2, the diagonal line between 100 seconds and 200 seconds in the "original error change trend" result is the result after the error straight line is fitted, the other time periods are the original errors, and the "corrected error change trend" result is the error obtained after the positioning method of the automatic driving vehicle in the embodiment of the present application is used. The horizontal axis is a time stamp, the unit is 0.01 second, the vertical axis is an error, and the unit is meters, so that after the gradual error trend of the GNSS/RTK is judged to be 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 application further provides a positioning device 300 for an autopilot vehicle, as shown in fig. 3, and a schematic structural diagram of the positioning device for an autopilot vehicle in the embodiment of the application is provided, where the device 300 includes: an acquisition unit 310, a first determination unit 320, a second determination unit 330, and a positioning unit 340, wherein:
An acquiring unit 310, configured to acquire satellite positioning data and laser radar positioning data of an autonomous vehicle in a case where the satellite positioning signal is not invalid;
a first determining unit 320, configured to determine 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;
a second determining unit 330 for determining an error change 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 automatic driving vehicle according to the error change mode, and perform positioning according to the positioning strategy of the automatic driving vehicle, so as to obtain a positioning result of the automatic driving vehicle.
In one embodiment of the present application, the second determining unit 330 is specifically configured to: determining whether a satellite positioning state and a 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 in a stable state, determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data.
In one embodiment of the present application, the positioning errors between the satellite positioning data and the lidar positioning data are 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, or the positioning errors which are not more than the preset number in the positioning errors are larger than the preset error threshold, determining that the satellite positioning state and the laser radar positioning state are both stable; otherwise, determining that the satellite positioning state and the laser radar positioning state are not in a stable state.
In one embodiment of the present application, the positioning errors between the satellite positioning data and the lidar positioning data are a plurality of positioning errors within a preset time window, and the second determining unit 330 is specifically configured to: performing straight line fitting on a 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 one 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 one 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 one 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 the positioning strategy of the automatic driving vehicle according to a verification result.
It can be understood that the above-mentioned positioning device for an automatic driving vehicle can implement each step of the positioning method for an automatic driving vehicle provided in the foregoing embodiment, and the relevant explanation about the positioning method for an automatic driving vehicle is applicable to the positioning device for an automatic driving vehicle, which is 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 the hardware level, the electronic device includes a processor, and optionally 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 (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, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the positioning device of the automatic driving vehicle on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:
under the condition that satellite positioning signals are not invalid, acquiring satellite positioning data and laser radar positioning data of an 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 the 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 shown in fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks 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 a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic device may further execute the method executed by the positioning device of the autonomous vehicle in fig. 1, and implement the function of the positioning device of the autonomous vehicle in the embodiment shown in fig. 1, which is not described herein.
The 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 that includes a plurality of application programs, enable the electronic device to perform a method performed by a positioning apparatus for an autonomous vehicle in the embodiment shown in fig. 1, and specifically configured to perform:
under the condition that satellite positioning signals are not invalid, acquiring satellite positioning data and laser radar positioning data of an 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 the 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.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that 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 foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (9)
1. A method of positioning an autonomous vehicle, wherein the method comprises:
under the condition that satellite positioning signals are not invalid, acquiring satellite positioning data and laser radar positioning data of an 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 the positioning error between the satellite positioning data and the laser radar positioning data;
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 error change pattern includes a random change pattern and an incremental change pattern, and the determining a positioning strategy of the autonomous vehicle according to the error change 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.
2. The method of claim 1, wherein said determining an error change pattern from a positioning error between the satellite positioning data and the lidar positioning data comprises:
determining whether a satellite positioning state and a 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 in a stable state, determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data.
3. The method of claim 2, wherein the positioning errors between the satellite positioning data and the lidar positioning data are 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 based on the positioning errors 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, or the positioning errors which are not more than the preset number in the positioning errors are larger than the preset error threshold, determining that the satellite positioning state and the laser radar positioning state are both stable;
otherwise, determining that the satellite positioning state and the laser radar positioning state are not in a stable state.
4. The method of claim 1, wherein the positioning errors between the satellite positioning data and the lidar positioning data are a plurality of positioning errors within a preset time window, the determining an error change pattern based on the positioning errors between the satellite positioning data and the lidar positioning data comprising:
Performing straight line fitting on a 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 said error change pattern from a straight line fit result 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 1, wherein the determining that satellite positioning status is unstable and determining that positioning strategy of the autonomous vehicle is a lidar-based 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 the positioning strategy of the automatic driving vehicle according to a verification result.
7. A positioning device for an autonomous vehicle, wherein the device comprises:
the acquisition unit is used for 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;
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;
the second determining unit is used for determining an error change mode according to the positioning error between the satellite positioning data and the laser radar positioning data;
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;
the error change modes comprise a random change mode and an incremental change mode, and the positioning unit is specifically used for:
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.
8. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 6.
9. A computer readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-6.
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| CN114137592A (en) * | 2021-11-30 | 2022-03-04 | 上海于万科技有限公司 | Switching method and system for fusion positioning of multi-source sensor |
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