CN115930984A

CN115930984A - Method, system, electronic device and computer readable storage medium for vehicle positioning

Info

Publication number: CN115930984A
Application number: CN202211602375.6A
Authority: CN
Inventors: 胡涛; 吴琼; 丁钊; 徐瑞雪
Original assignee: Anhui Jianghuai Automobile Group Corp
Current assignee: Anhui Jianghuai Automobile Group Corp
Priority date: 2022-12-08
Filing date: 2022-12-08
Publication date: 2023-04-07

Abstract

The invention discloses a vehicle positioning method, a vehicle positioning system, electronic equipment and a computer readable storage medium. The method comprises the following steps: obtaining positioning information according to the IMU real-time acceleration of the vehicle movement and whether a laser radar NDT algorithm and a GPS are abnormal; in a time interval, according to the positioning information, for the coordinates obtained by the GPS positioning information and the NDT positioning information, the coordinates at the previous moment are integrated, and the acceleration of the GPS positioning coordinate and the acceleration of the NDT positioning coordinate are calculated; comparing the acceleration of the GPS positioning coordinate and the acceleration of the NDT positioning coordinate with the real-time acceleration of the IMU respectively to obtain a GPS difference norm and an NDT difference norm; and obtaining a calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate and the NDT positioning coordinate. When the automobile is subjected to the situation that the GPS and the laser radar NDT algorithm are invalid for a short time, the invention can still ensure the short-time accurate positioning.

Description

Method, system, electronic device and computer readable storage medium for vehicle positioning

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to a method, a system, an electronic device, and a computer-readable storage medium for vehicle positioning.

Background

The realization of automatic driving of the automobile is an important direction for the current research of the automobile industry, and the accurate positioning of the automobile is the basis and the safety guarantee for realizing the automatic driving of the automobile. In the actual engineering of vehicle positioning, a GPS positioning system can be used for acquiring the positioning data of the vehicle; the method comprises the steps of obtaining positioning data of a vehicle by applying a laser radar NDT algorithm (the NDT algorithm is a technology for carrying out high-precision positioning by utilizing an existing high-precision map and laser radar real-time measurement data to carry out point cloud matching); by acquiring the steering angle and the lateral longitudinal acceleration of the vehicle by an Inertial Measurement Unit (IMU), the physical quantities measured by the IMU over a small time interval can be considered accurate.

When the vehicle is in a place such as a tunnel where the vehicle is shielded, the satellite signal is hardly received, which results in a loss of the GPS signal, and the GPS positioning is inaccurate. Meanwhile, although the accuracy of laser radar positioning is high, the use scene needs to be mapped in advance by using a laser radar NDT algorithm, the scene can be changed in various ways after time passes, and the pre-established map may deviate from the actual situation during positioning. Meanwhile, under the environment with similar characteristic values or the current environment is shielded by a sudden obstacle, the NDT algorithm is difficult to perform characteristic matching, and the abnormal condition of lost positioning occurs. In such cases, the positioning resulting from the NDT algorithm is not trusted. Therefore, in some special situations, the reliability of the positioning obtained by a single sensor cannot be guaranteed.

The technical scheme of the prior art I is as follows:

at present, the technical scheme of fusion positioning of the automobile by using a GPS and a laser radar NDT algorithm is available, and the technical scheme still adopts a certain judgment condition to judge and screen position coordinates obtained by two positioning modes at a certain time, and adopts a positioning mode with higher reliability to determine the position coordinates of the automobile.

The first prior art has the following defects:

(1) The two positioning modes are not selected by adopting inertial navigation measurement parameters. In a shorter time interval, the determination reliability of the inertial navigation measurement parameters on the vehicle position is quite high, and the selection accuracy of the two positioning modes by utilizing the inertial navigation measurement parameters is higher;

(2) The problem of how to determine the position of the automobile when the automobile meets certain special conditions (both the GPS and the laser radar NDT algorithm are invalid) is not solved.

Therefore, how to provide a method, a system, an electronic device and a computer-readable storage medium for vehicle positioning is a technical problem to be solved in the art.

Disclosure of Invention

The invention aims to provide a vehicle positioning method, a vehicle positioning system, an electronic device and a computer readable storage medium.

The invention discloses a vehicle positioning method in a first aspect, which comprises the following steps:

s1, obtaining positioning information according to IMU real-time acceleration of vehicle motion and whether a laser radar NDT algorithm and a GPS are abnormal;

s2, in a time interval, according to the positioning information, integrating the coordinates of the last moment with the coordinates obtained by the GPS positioning information and the NDT positioning information, and calculating to obtain the acceleration of the GPS positioning coordinate and the NDT positioning coordinate;

s3, comparing the acceleration of the GPS positioning coordinate and the acceleration of the NDT positioning coordinate with the real-time acceleration of the IMU respectively to obtain a GPS difference norm and an NDT difference norm;

and S4, obtaining a calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate and the NDT positioning coordinate.

According to the method of the first aspect of the present invention, in step S1, the method for obtaining the positioning information according to the IMU real-time acceleration of the vehicle motion and whether the lidar NDT algorithm and the GPS are abnormal or not includes:

when the NDT positioning is abnormal and the GPS positioning is not abnormal, returning positioning data fused by the GPS and the IMU as positioning information;

when the NDT positioning is not abnormal and the GPS positioning is abnormal, the NDT positioning data is returned to be used as positioning information;

when the NDT and the GPS are abnormal, estimating positioning data at the moment as positioning information by combining the IMU real-time acceleration and the positioning data of the NDT or the GPS at the previous moment;

and when the NDT and the GPS are not abnormal, the IMU real-time acceleration is utilized to decide the positioning information.

According to the method of the first aspect of the present invention, in the step S1, the method for determining whether the laser radar NDT algorithm and the GPS are abnormal includes:

if the NDT algorithm is not changed with the positioning data returned by the GPS at the previous moment, the positioning is considered to be abnormal;

and then obtaining the iteration times of laser radar point cloud matching when the NDT algorithm is positioned, and if the maximum matching times are reached, determining that the NDT algorithm is abnormal in mismatch.

According to the method of the first aspect of the present invention, in step S4, the method for obtaining the calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate, and the NDT positioning coordinate includes:

and when the NDT difference norm and the GPS difference norm are both smaller than a preset threshold, returning the NDT positioning coordinate as a calibration coordinate.

According to the method of the first aspect of the present invention, in step S4, the method for obtaining the calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate, and the NDT positioning coordinate further includes:

and when the NDT difference norm is smaller than a preset threshold and the GPS difference norm is larger than the preset threshold, returning the NDT positioning coordinate as a calibration coordinate.

and when the NDT difference norm is larger than a preset threshold and the GPS difference norm is smaller than the preset threshold, returning the GPS positioning coordinate as a calibration coordinate.

and when the NDT difference norm and the GPS difference norm are both greater than a preset threshold, returning positioning data fused by the NDT algorithm and the IMU as a calibration coordinate.

The second aspect of the invention discloses a system for positioning a vehicle; the system comprises:

the first processing module is configured to obtain positioning information according to the IMU real-time acceleration of vehicle motion and whether a laser radar NDT algorithm and a GPS are abnormal;

the second processing module is configured to calculate the acceleration of the GPS positioning coordinate and the NDT positioning coordinate by integrating the coordinates of the last moment for the coordinates obtained by the GPS positioning information and the NDT positioning information according to the positioning information in a time interval;

the third processing module is configured to compare the acceleration of the GPS positioning coordinate and the acceleration of the NDT positioning coordinate with the IMU real-time acceleration respectively to obtain a GPS difference norm and an NDT difference norm;

and the fourth processing module is configured to obtain a calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate and the NDT positioning coordinate.

According to the system of the second aspect of the present invention, the first processing module is configured to obtain the positioning information according to the IMU real-time acceleration of the vehicle motion and whether the lidar NDT algorithm and the GPS are abnormal or not, and the step of obtaining the positioning information comprises:

when both NDT and GPS positioning are abnormal, estimating positioning data at the moment as positioning information by combining IMU real-time acceleration and positioning data of NDT or GPS at the previous moment;

According to the system of the second aspect of the present invention, the first processing module configured to determine whether the lidar NDT algorithm and the GPS are abnormal comprises:

According to the system of the second aspect of the present invention, the fourth processing module is configured to, obtaining the calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate, and the NDT positioning coordinate includes:

According to the system of the second aspect of the present invention, the fourth processing module is configured to obtain the calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinates, and the NDT positioning coordinates, further includes:

and when the NDT difference norm and the GPS difference norm are both larger than a preset threshold, returning positioning data fused with the NDT algorithm and the IMU as a calibration coordinate.

A third aspect of the invention discloses an electronic device. The electronic device comprises a memory storing a computer program and a processor implementing the steps of a method of vehicle positioning according to any one of the first aspect of the present disclosure when the processor executes the computer program.

A fourth aspect of the invention discloses a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of a method of vehicle localization of any one of the first aspect of the present disclosure.

According to the technical content disclosed by the invention, the following beneficial effects are achieved:

(1) Compared with single sensor positioning, the reliability of fusion positioning is greatly enhanced;

(2) The two positioning modes of the GPS and the laser radar NDT algorithm are judged and selected by using the inertial measurement parameters, and compared with the traditional fusion positioning mode, the reliability is enhanced; meanwhile, due to the participation of the inertial navigation system, when the automobile temporarily encounters the condition that the GPS and the laser radar NDT algorithm are invalid in positioning, the short-time accurate positioning can still be ensured.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a flow chart of a method of vehicle localization provided in accordance with an embodiment;

FIG. 2 is a logic flow diagram of a method of vehicle localization provided in accordance with an embodiment;

FIG. 3 is a block diagram of a vehicle positioning system according to an embodiment of the present invention;

fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Example 1:

the invention discloses a vehicle positioning method. Fig. 1 is a flowchart of a method for vehicle positioning according to an embodiment of the present invention, as shown in fig. 1 and 2, the method including:

s2, in a time interval, according to the positioning information, integrating the coordinates obtained by the GPS positioning information and the NDT positioning information with the coordinates of the previous moment, and calculating to obtain the acceleration of the GPS positioning coordinate and the NDT positioning coordinate;

In some embodiments, in step S1, the method for obtaining the positioning information according to the real-time acceleration of the IMU in the vehicle motion and whether the lidar NDT algorithm and the GPS are abnormal includes:

The method for judging whether the laser radar NDT algorithm and the GPS are abnormal or not comprises the following steps:

In some embodiments, in step S4, the method for obtaining the calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate, and the NDT positioning coordinate includes:

In conclusion, compared with single-sensor positioning, the scheme provided by the invention greatly enhances the reliability of fusion positioning; the two positioning modes of the GPS and the laser radar NDT algorithm are judged and selected by using the inertial measurement parameters, and compared with the traditional fusion positioning mode, the reliability is enhanced; meanwhile, due to the participation of the inertial navigation system, when the automobile temporarily encounters the condition that the GPS and the laser radar NDT algorithm are invalid in positioning, the short-time accurate positioning can still be ensured.

Example 2:

the invention discloses a vehicle positioning system. FIG. 3 is a block diagram of a vehicle positioning system according to an embodiment of the present invention; as shown in fig. 3, the system 100 includes:

the first processing module 101 is configured to obtain positioning information according to the IMU real-time acceleration of the vehicle motion and whether the laser radar NDT algorithm and the GPS are abnormal;

the second processing module 102 is configured to calculate, according to the positioning information and coordinates obtained by the GPS positioning information and the NDT positioning information, an acceleration of the GPS positioning coordinate and the NDT positioning coordinate by integrating coordinates at a previous moment;

a third processing module 103, configured to compare the acceleration of the GPS positioning coordinate and the acceleration of the NDT positioning coordinate with the real-time acceleration of the IMU, respectively, to obtain a GPS difference norm and an NDT difference norm;

a fourth processing module 104, configured to obtain a calibration coordinate according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinate, and the NDT positioning coordinate.

According to the system of the second aspect of the present invention, the first processing module 101 is configured to obtain the positioning information according to the IMU real-time acceleration of the vehicle motion and whether the lidar NDT algorithm and the GPS are abnormal, including:

when the NDT positioning is not abnormal and the GPS positioning is abnormal, returning the NDT positioning data as positioning information;

According to the system of the second aspect of the present invention, the first processing module 101, configured to determine whether the lidar NDT algorithm and the GPS are abnormal, includes:

and then obtaining the iteration times of laser radar point cloud matching during NDT algorithm positioning, and if the maximum matching times are reached, considering that the NDT algorithm is abnormal in mismatch.

According to the system of the second aspect of the present invention, the fourth processing module 104 is configured to obtain the calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinates and the NDT positioning coordinates by:

According to the system of the second aspect of the present invention, the fourth processing module 104 is configured to obtain the calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinates and the NDT positioning coordinates, further includes:

Example 3:

the invention discloses an electronic device. The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the steps of the method for positioning the vehicle according to any one of the embodiments 1 of the present disclosure.

Fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device includes a processor, a memory, a communication interface, a display screen, and an input device, which are connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The communication interface of the electronic device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, near Field Communication (NFC) or other technologies. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.

It will be understood by those skilled in the art that the structure shown in fig. 4 is only a partial block diagram related to the technical solution of the present disclosure, and does not constitute a limitation to the electronic device to which the solution of the present disclosure is applied, and a specific electronic device may include more or less components than those shown in the drawings, or combine some components, or have different arrangements of components.

Example 4:

the invention discloses a computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps in a method of vehicle positioning of any one of embodiment 1 of the present invention.

It should be noted that the technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present description should be considered. The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Embodiments of the subject matter and the functional operations described in this specification can be implemented in: digital electronic circuitry, tangibly embodied computer software or firmware, computer hardware comprising the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions, encoded on a tangible, non-transitory program carrier for execution by, or to control the operation of, data processing apparatus. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode and transmit information to suitable receiver apparatus for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

Computers suitable for the execution of a computer program include, for example, general and/or special purpose microprocessors, or any other type of central processing unit. Generally, a central processing unit will receive instructions and data from a read-only memory and/or a random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer does not necessarily have such a device. Moreover, a computer may be embedded in another device, e.g., a mobile telephone, a Personal Digital Assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device such as a Universal Serial Bus (USB) flash drive, to name a few.

Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., an internal hard disk or a removable disk), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. In other instances, features described in connection with one embodiment may be implemented as discrete components or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Further, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A method of vehicle localization, the method comprising:

2. The method of claim 1, wherein in the step S1, the method of obtaining the positioning information according to the IMU real-time acceleration of the vehicle motion and the abnormality of the lidar NDT algorithm and the GPS comprises:

3. The method of claim 2, wherein in the step S1, the method for determining whether the NDT algorithm and the GPS are abnormal comprises:

if the NDT algorithm is not changed compared with the positioning data returned by the GPS at the previous moment, the positioning is considered to be abnormal;

4. The method of claim 1, wherein in step S4, the step of obtaining calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS positioning coordinates and the NDT positioning coordinates comprises:

5. The method of claim 4, wherein in step S4, the step of obtaining calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS location coordinates and the NDT location coordinates further comprises:

6. The method of claim 5, wherein in step S4, the step of obtaining calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS location coordinates and the NDT location coordinates further comprises:

7. The method of claim 6, wherein in step S4, the step of obtaining calibration coordinates according to the GPS difference norm, the NDT difference norm, the GPS location coordinates and the NDT location coordinates further comprises:

8. A system for vehicle localization, the system comprising:

the first processing module is configured to obtain positioning information according to the IMU real-time acceleration of the vehicle motion and whether a laser radar NDT algorithm and a GPS are abnormal;

9. An electronic device, comprising a memory storing a computer program and a processor implementing the steps of a method of vehicle localization according to any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method of vehicle localization according to any one of claims 1 to 7.