CN115993137A

CN115993137A - Vehicle positioning evaluation method, device, electronic equipment and computer readable medium

Info

Publication number: CN115993137A
Application number: CN202310146776.3A
Authority: CN
Inventors: 苏秋双
Original assignee: HoloMatic Technology Beijing Co Ltd
Current assignee: Heduo Technology Guangzhou Co ltd
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2023-04-21
Anticipated expiration: 2043-02-22
Also published as: CN115993137B

Abstract

Embodiments of the present disclosure disclose a vehicle positioning evaluation method, apparatus, electronic device, and computer-readable medium. One embodiment of the method comprises the following steps: acquiring a first positioning information sequence and a second positioning information sequence of a vehicle; generating a track form mark; fitting the position coordinates included in the first positioning information sequence based on the track form mark to obtain a vehicle motion track line; for each first positioning information, the following steps are performed: generating a relative lateral error and a relative elevation error based on the position coordinates and the vehicle motion trajectory included in the first positioning information; selecting a first positioning information from the first positioning information sequence as reference positioning information; generating a relative attitude error; determining the relative lateral error, the relative elevation error and the relative attitude error as positioning error evaluation information; and sending each piece of positioning error evaluation information to the terminal. This embodiment can shorten the time consumption of vehicle positioning evaluation, and improve the efficiency of vehicle positioning evaluation.

Description

Vehicle positioning evaluation method, device, electronic equipment and computer readable medium

Technical Field

Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a vehicle positioning evaluation method, apparatus, electronic device, and computer readable medium.

Background

Vehicle positioning assessment is of great importance for safe driving of an autonomous vehicle. Currently, in evaluating vehicle positioning, the following methods are generally adopted: first, continuous positioning information output by a vehicle positioning algorithm is acquired during running of a vehicle. Then, each track point is measured by manual or simulation environment establishment mode, and the real running track of the vehicle is obtained through fitting in a two-dimensional space. And finally, evaluating the vehicle positioning according to the error evaluation result between the continuous positioning information and the real running track.

However, the inventors found that when the vehicle positioning evaluation is performed in the above manner, there are often the following technical problems:

firstly, because the real running environment of the vehicle can be obtained for vehicle positioning evaluation only by measuring in the field or constructing different simulation environments for different scenes in advance, the vehicle positioning evaluation takes longer time;

second, since the movement of the vehicle occurs in a three-dimensional space, and each track point is a three-dimensional space point, when the travel track of the vehicle is fitted to each track point in the two-dimensional space, the accuracy of the obtained travel track of the vehicle may be reduced.

The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.

Disclosure of Invention

The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a vehicle positioning evaluation method, apparatus, electronic device, and computer readable medium to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a vehicle positioning evaluation method, the method comprising: acquiring a first positioning information sequence and a second positioning information sequence of a vehicle, wherein each piece of first positioning information in the first positioning information sequence comprises a position coordinate and a first rotation matrix; generating a track form identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence; fitting each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line; for each first positioning information in the first positioning information sequence, the following steps are performed: generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line; selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information; generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence; determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information; and sending the obtained positioning error evaluation information to a terminal for display.

In a second aspect, some embodiments of the present disclosure provide a vehicle positioning evaluation apparatus, the apparatus comprising: an acquisition unit configured to acquire a first positioning information sequence and a second positioning information sequence of a vehicle, wherein each piece of first positioning information in the first positioning information sequence includes a position coordinate and a first rotation matrix; a generation unit configured to generate a track form identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence; the fitting processing unit is configured to perform fitting processing on each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line; an execution unit configured to execute, for each piece of first positioning information in the first positioning information sequence, the steps of: generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line; selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information; generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence; determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information; and a transmitting unit configured to transmit the respective obtained positioning error evaluation information to the terminal for display.

In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in any of the implementations of the first aspect.

The above embodiments of the present disclosure have the following advantageous effects: by the vehicle positioning evaluation method, time consumption of vehicle positioning evaluation can be shortened, and efficiency of vehicle positioning evaluation can be improved. Specifically, the reason why the vehicle positioning evaluation takes a long time is that: because the actual running track of the vehicle can be acquired for vehicle positioning evaluation only by in-situ measurement or constructing different simulation environments for different scenes in advance, the vehicle positioning evaluation takes a long time. Based on this, the vehicle positioning evaluation method of some embodiments of the present disclosure first acquires the first positioning information sequence and the second positioning information sequence of the vehicle. Wherein each first positioning information in the first positioning information sequence may include a position coordinate and a first rotation matrix. Therefore, the positioning result corresponding to the first positioning information sequence is conveniently compared with the positioning result corresponding to the actual running track of the vehicle, and the error between the positioning result and the positioning result is obtained. And generating a track form mark based on the position coordinates included in each piece of first positioning information in the first positioning information sequence. Therefore, whether the vehicle runs along a straight line or a circular arc curve can be determined, and the follow-up fitting is facilitated to obtain an actual running track corresponding to the straight line or the circular arc. And then, fitting each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line. Thus, the actual running track of the vehicle can be obtained. Then, for each first positioning information in the first positioning information sequence, the following steps are performed: generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line; selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information; generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence; and determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information. Therefore, the corresponding positioning result in the first positioning information sequence can be compared with the positioning result corresponding to the actual track of the vehicle for each track point in the running track of the vehicle, and the error between the two positioning results can be obtained. And finally, sending the obtained positioning error evaluation information to a terminal for display. Therefore, according to the vehicle positioning evaluation method of some embodiments of the present disclosure, the actual track of the vehicle can be obtained according to the first positioning information sequence corresponding to each track point without on-site measurement or constructing different simulation environments for different scenes in advance. Further, the positioning error of each track point can be obtained for vehicle positioning evaluation. Thus, the time consuming evaluation of the vehicle positioning can be shortened. Further, the efficiency of vehicle positioning evaluation can be improved.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a flow chart of some embodiments of a vehicle location assessment method according to the present disclosure;

FIG. 2 is a schematic structural view of some embodiments of a vehicle positioning evaluation method apparatus according to the present disclosure;

fig. 3 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

FIG. 1 illustrates a flow 100 of some embodiments of a vehicle location assessment method according to the present disclosure. The vehicle positioning evaluation method comprises the following steps:

Step 101, a first positioning information sequence and a second positioning information sequence of a vehicle are acquired.

In some embodiments, the execution subject (e.g., a vehicle end server) of the vehicle positioning evaluation method may acquire the first positioning information sequence and the second positioning information sequence of the vehicle through a wired connection manner or a wireless connection manner. Wherein each of the first positioning information in the first positioning information sequence may include, but is not limited to, a position coordinate, a first rotation matrix, and a first positioning time. The first positioning information in the first positioning information sequence may be output by a preset positioning algorithm. The preset positioning algorithm may be a preset algorithm for outputting positioning information of the vehicle in real time. The positioning information may include coordinates corresponding to the track point and a posture of the vehicle at the track point. The attitude may be an orientation of the vehicle body and a degree of inclination of the vehicle body. The first positioning information sequence may be an ordered set of first positioning information arranged according to a time sequence. The positioning algorithm corresponds to a preset positioning reference coordinate system. The predetermined positioning reference coordinate system may be, but is not limited to, one of the following coordinate systems: vehicle coordinate system and camera coordinate system. The position coordinates may be coordinates of a track point of the vehicle in the positioning reference coordinate system. The first rotation matrix may be a rotation matrix among pose matrices of the vehicle. The pose matrix may be used to characterize the transformation of the position coordinates between the world coordinate system and the positioning reference coordinate system. The first positioning time may be a time when the positioning algorithm outputs the position coordinates. The second positioning information sequence may be a sequence of pose matrices of consecutive frames output by the inertial navigation device. The second positioning information in the second positioning information sequence may include a second rotation matrix and a second positioning time. The second rotation matrix may be a rotation matrix in the pose matrix corresponding to the second positioning information. The second positioning time may be a time when the inertial navigation device outputs a corresponding pose matrix.

As an example, the above-described preset positioning algorithm may include, but is not limited to, one of the following: laser radar-based positioning algorithms, camera-based positioning algorithms.

Step 102, generating a track form identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence.

In some embodiments, the execution body may generate the track morphology identifier based on position coordinates included in each of the first positioning information in the first positioning information sequence. The track form mark can be a linear track form mark or an arc track form mark. The linear track morphological mark can represent that the driving vehicle runs in a straight line. The arc track morphology mark can represent that the driving vehicle runs along the arc track. The arc track may be a track having an arc shape. The track morphology identifier may be generated based on the position coordinates included in each of the first positioning information in the first positioning information sequence by:

the first step is to extract the feature of the position coordinates included in the first positioning information sequence to obtain a feature value set. Wherein, the characteristic values in the characteristic value set can represent the discrete degree of the coordinate in the direction of one coordinate axis. And performing feature extraction processing on position coordinates included in each piece of first positioning information in the first positioning information sequence through a preset feature extraction processing method to obtain a feature value set.

As an example, the above-mentioned preset feature extraction processing method may include, but is not limited to, at least one of the following: PCA (Principal Components Analysis, principal component analysis), SVD (Singular Value Decomposition ), KPCA (Kernel Principal Component Analysis, nuclear principal component analysis).

And secondly, arranging the characteristic values in the characteristic value set in a descending order to obtain a characteristic value sequence. And (3) carrying out descending order arrangement on each characteristic value in the characteristic value set through a preset ordering algorithm to obtain a characteristic value sequence.

As an example, the preset ranking algorithm may include, but is not limited to, at least one of: insert ordering and bubble ordering.

And thirdly, determining a preset linear track form identifier as a track form identifier in response to determining that the characteristic value sequence meets a first preset characteristic value condition. The first preset feature value condition may be that the last two feature values in the feature value sequence approach 0.

And fourthly, determining a preset circular arc track form identifier as a track form identifier in response to determining that the characteristic value sequence meets a second preset characteristic value condition. The second preset feature value condition may be that the last first feature value in the feature value sequence approaches 0, and the last second feature value does not approach 0.

And 103, fitting each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line.

In some embodiments, the executing body may perform fitting processing on each position coordinate included in the first positioning information sequence based on the track shape identifier in various manners, so as to obtain a vehicle motion track line. The vehicle motion track line can represent whether the running track of the vehicle is a straight line or a curve.

In some optional implementations of some embodiments, the executing body may perform a fitting process on each position coordinate included in the first positioning information sequence based on the track morphology identifier to obtain a vehicle motion track line:

and a first step of generating a first target coordinate system and a first transformation matrix based on each position coordinate included in the first positioning information sequence in response to determining that the track form identifier meets a first preset track condition. The first preset track condition may be that the track form identifier is a linear track form identifier. The first target coordinate system may be a three-dimensional rectangular coordinate system. The first transformation matrix may represent a transformation relationship between the coordinate point and a coordinate system in which the first target coordinate system and the position coordinate are located. The first target coordinate system and the first transformation matrix may be generated based on respective position coordinates included in the above-described first positioning information sequence in various ways.

In some optional implementations of some embodiments, the executing body may generate the first target coordinate system and the first transformation matrix based on respective position coordinates included in the first positioning information sequence by:

and step 1, performing projection processing on each position coordinate included in the first positioning information sequence to obtain a reference coordinate sequence. The reference coordinates in the reference coordinate sequence may be coordinates of projections of the track points of the vehicle on a plane formed by a horizontal axis and a vertical axis in the positioning reference coordinate system. For each position coordinate included in the first positioning information sequence, the position coordinate may be projected onto a plane consisting of a horizontal axis and a vertical axis in the positioning reference coordinate system to obtain a reference coordinate. Specifically, the coordinates of points satisfying the preset plane projection condition on the plane composed of the horizontal axis and the vertical axis in the above-described positioning reference coordinate system may be determined as the reference coordinates. The predetermined plane projection condition may be a horizontal axis coordinate value of the point, which is a horizontal axis coordinate value of the position coordinate, and a vertical axis coordinate value of the point, which is a vertical axis coordinate value of the position coordinate.

And 2, performing linear fitting processing on each reference coordinate in the reference coordinate sequence to obtain a first reference track line. The first reference trajectory may be a straight line on a plane formed by a horizontal axis and a vertical axis in the positioning reference coordinate system. The first reference trajectory line may represent a trajectory of the vehicle when the vehicle is traveling straight. And performing linear fitting processing on each reference coordinate in the reference coordinate sequence through a preset linear fitting method to obtain a first reference track line.

As an example, the above-mentioned preset straight line fitting method may include, but is not limited to, at least one of the following: unitary quadratic regression, least squares, gradient descent.

And step 3, determining the direction vector corresponding to the first reference track line as a first reference direction vector.

And 4, constructing a first target coordinate system based on the preset positioning reference coordinate system and the first reference direction vector. First, a three-dimensional vector satisfying a first preset vector condition in the positioning reference coordinate system is determined as a first transverse axis direction vector. The first predetermined vector condition may be that a coordinate value of a vector in a vertical axis direction is 0, passes through an origin of a positioning reference coordinate system, and is parallel to the first reference direction vector. And then, determining a three-dimensional vector meeting a second preset vector condition on a plane consisting of a transverse axis and a longitudinal axis in the positioning reference coordinate system as a first longitudinal axis direction vector. The second predetermined vector condition may be that a coordinate value of a vector in a vertical axis direction is 0, passes through an origin of the positioning reference coordinate system, and is perpendicular to the first reference direction vector. Finally, the origin of the positioning reference coordinate system is taken as the center, the direction corresponding to the first transverse axis direction vector is taken as the transverse axis, the direction corresponding to the first longitudinal axis direction vector is taken as the longitudinal axis, and the vertical axis of the positioning reference coordinate system is taken as the vertical axis, so that a first target coordinate system is constructed.

And 5, determining an intersection point between the first reference trajectory line and the longitudinal axis in the first target coordinate system as a first common point. According to the first reference trajectory line and the first vertical axis direction vector corresponding to the vertical axis in the first target coordinate system are both in the positioning reference coordinate system, and the coordinate values in the vertical axis direction are both 0, the intersection point between the first reference trajectory line and the straight line where the first vertical axis direction vector is located can be determined as the first common point.

And 6, generating a first transformation matrix based on the first target coordinate system and the positioning reference coordinate system. The first transformation matrix may be generated based on the first target coordinate system and the positioning reference coordinate system by a preset three-dimensional space coordinate transformation method.

As an example, the above-described preset three-dimensional space coordinate transformation method may be a rodrich formula method.

And a second step of projecting each position coordinate included in the first positioning information sequence to a plane consisting of a horizontal axis and a vertical axis in the first target coordinate system to generate a first projection coordinate, thereby obtaining a first projection coordinate sequence. The first projection coordinates in the first projection coordinate sequence may be coordinates of projections of the track point of the vehicle on a plane formed by a horizontal axis and a vertical axis in the first target coordinate system. The first projection coordinates in the first projection coordinate sequence may represent a track point when the vehicle is traveling straight. First, each position coordinate included in the first positioning information sequence may be transformed to the first target coordinate system according to an inverse matrix of the first transformation matrix by a coordinate system transformation method of the transformation matrix to generate a first transformed coordinate, thereby obtaining a first transformed coordinate sequence. The first transformed coordinates in the first transformed coordinate sequence may be coordinates of a track point of the vehicle in the first target coordinate system. Then, for each first transformed coordinate in the first transformed coordinate sequence, the first transformed coordinate may be projected onto a plane consisting of a horizontal axis and a vertical axis in the first target coordinate system to obtain a first projected coordinate. Specifically, the coordinates of a point satisfying the first preset projection condition on the plane consisting of the horizontal axis and the vertical axis in the above-described first target coordinate system may be determined as the first projection coordinates. The first preset projection condition may be a horizontal axis coordinate value of the point, which is a horizontal axis coordinate value of the first transformed coordinate, and a vertical axis coordinate value of the point, which is a vertical axis coordinate value of the first transformed coordinate.

And thirdly, performing straight line fitting processing on each first projection coordinate in the first projection coordinate sequence to obtain a vehicle motion track line. And performing linear fitting processing on each first projection coordinate in the first projection coordinate sequence by the preset linear fitting method to obtain a vehicle motion track line.

In other optional implementations of some embodiments, the executing body may perform a fitting process on each position coordinate included in the first positioning information sequence based on the track morphology identifier to obtain a vehicle motion track line:

and a first step of generating a second target coordinate system and a second transformation matrix based on each position coordinate included in the first positioning information sequence in response to determining that the track form identifier meets a second preset track condition. The second preset track condition may be that the track form identifier is an arc track form identifier. The second target coordinate system may be a three-dimensional rectangular coordinate system. The second transformation matrix may represent a transformation relationship between the coordinate point and a positioning reference coordinate system in which the second target coordinate system and the position coordinate are located. The second target coordinate system and the second transformation matrix may be generated based on the respective position coordinates included in the above-described first positioning information sequence in various ways.

In some optional implementations of some embodiments, the executing body may generate the second target coordinate system and the second transformation matrix based on respective position coordinates included in the first positioning information sequence by:

and step 1, performing plane fitting processing on each position coordinate included in the first positioning information sequence to obtain a target reference plane equation. Wherein the above target reference plane equation may characterize a circular arc plane. The arc plane may be a plane obtained by fitting an arc track formed by the running of the vehicle. And carrying out plane fitting processing on each position coordinate included in the first positioning information sequence by a preset plane fitting processing method to obtain a target reference plane equation.

As an example, the above-mentioned preset plane fitting processing method may include, but is not limited to, at least one of the following: least square method, random sampling consistency algorithm.

And 2, constructing a second target coordinate system based on the preset positioning reference coordinate system and the target reference plane equation. First, an origin of a preset positioning reference coordinate system is determined as a target origin. Next, a direction vector passing through the target origin and perpendicular to the normal line of the arc plane is determined as a plane normal line vector. Then, an equation corresponding to a plane passing through the target origin and having a line of the plane normal vector as a normal is determined as a target arc plane equation. The target arc plane equation may be a plane equation corresponding to a plane parallel to the arc plane. The target arc plane equation can be determined by a general equation method of the plane equation. And then, determining the angle of the included angle between the plane normal vector and the vector corresponding to the vertical axis in the positioning reference coordinate system as a target angle. And then, in response to determining that the target angle meets a preset included angle condition, determining the coordinates of any point on the arc plane except for the target origin as the transverse axis direction coordinates. The preset included angle condition may be that the target angle is smaller than a preset angle. The preset angle may be a preset angle. For example, the angle may be 180 degrees. Then, a vector from the target origin to a point corresponding to the horizontal axis direction coordinate is determined as a second horizontal axis direction vector, and a vector from the target origin to a point corresponding to the vertical axis direction coordinate is determined as a second vertical axis direction vector. Finally, a second target coordinate system is constructed with the target origin as the center, the direction corresponding to the second horizontal axis direction vector as the horizontal axis, the direction corresponding to the second vertical axis direction vector as the vertical axis, and the direction corresponding to the plane normal vector as the vertical axis.

And 3, generating a target height value based on the target reference plane equation and the second target coordinate system. The target height value may be used to represent a distance between a circular arc plane corresponding to the target reference plane equation and a plane parallel to the circular arc plane in the second target coordinate system in a vertical axis direction. For example, the target height value may be 0.1 meters or-0.1 meters. First, coordinates satisfying the equation corresponding to the vertical axis in the second target coordinate system and the target reference plane equation are determined as coordinates corresponding to the second common point. The second common point may be an intersection point between an arc plane corresponding to the target reference plane equation and a vertical axis in the second target coordinate system. Then, the vertical axis coordinate value in the coordinates corresponding to the second common point is determined as the target height value.

And 4, generating a second transformation matrix based on the second target coordinate system and the positioning reference coordinate system. The second transformation matrix may be generated based on the second target coordinate system and the positioning reference coordinate system by the preset three-dimensional space coordinate transformation method.

And a second step of projecting each position coordinate included in the first positioning information sequence to a plane consisting of a horizontal axis and a vertical axis in the second target coordinate system to generate a second projection coordinate, thereby obtaining a second projection coordinate sequence. The second projection coordinates in the second projection coordinate sequence may represent a track point in a circular arc track formed by the running of the vehicle. First, each position coordinate included in the first positioning information sequence is transformed into the second target coordinate system based on an inverse matrix of the second transformation matrix to generate a second transformed coordinate, thereby obtaining a second transformed coordinate sequence. The second transformed coordinates in the second transformed coordinate sequence may be coordinates of a track point of the vehicle in the second target coordinate system. The second transformed coordinate sequence may be obtained by a coordinate system transformation method of the transformation matrix. Then, for each second transformed coordinate in the second transformed coordinate sequence, the second transformed coordinate may be projected onto a plane consisting of a horizontal axis and a vertical axis in the second target coordinate system to obtain a second projected coordinate. Specifically, the coordinates of points satisfying the second preset projection condition on the plane composed of the horizontal axis and the vertical axis in the above-described second target coordinate system may be determined as the second projection coordinates. The second preset projection condition may be that a coordinate value of a horizontal axis in the second transformed coordinate is a coordinate value of a horizontal axis, and a coordinate value of a vertical axis in the second transformed coordinate is a coordinate value of a vertical axis.

And thirdly, performing curve fitting processing on each second projection coordinate in the second projection coordinate sequence to obtain a vehicle motion track line. And performing curve fitting processing on each second projection coordinate in the second projection coordinate sequence by a preset arc curve fitting processing method to obtain a vehicle motion track line.

As an example, the foregoing preset arc curve fitting processing method may include, but is not limited to, at least one of the following: bezier curve method, polynomial curve, least square method.

The above-mentioned steps of generating the vehicle movement track line and the related content thereof serve as an invention point of the embodiments of the present disclosure, and solve the second technical problem mentioned in the background art, namely "the accuracy of the vehicle running track is reduced". Factors that cause the accuracy of the vehicle running track to be lowered are often as follows: because the vehicle motion occurs in a three-dimensional space, and each track point is a three-dimensional space point, when the real running track of the vehicle is fitted to each track point in the two-dimensional space, the accuracy of the obtained running track of the vehicle is reduced. If the above factors are solved, the effect of improving the accuracy of the vehicle running track can be achieved. To achieve this, first, the shape of the travel track is determined based on the positioning result output by the positioning algorithm. The shape of the driving track can represent that the driving track of the vehicle is a straight line track or an arc track. Then, the target coordinate system may be established according to the spatial plane in the positioning reference coordinate system corresponding to the spatial straight line or circular arc track in the positioning reference coordinate system corresponding to the straight line track. For the linear track, a plane formed by a transverse axis and a vertical axis in the target coordinate system is parallel to a space plane where the linear track is located. For the circular arc track, a plane consisting of a transverse axis and a longitudinal axis in the target coordinate system is parallel to the circular arc plane. Thus, one three-dimensional trajectory line (straight line or circular arc curve) corresponding to each trajectory point represented by each position coordinate in the first positioning information sequence is parallel to a plane (straight line) composed of a horizontal axis and a vertical axis in the target coordinate system or parallel to a plane (circular arc curve) composed of a horizontal axis and a vertical axis in the target coordinate system, so that the three-dimensional trajectory line is projected into a two-dimensional plane in the target coordinate system to obtain an actual trajectory of the vehicle. Finally, the trajectory points may be projected into a plane in the target coordinate system that is parallel to the trajectory or plane in which the trajectory lies. For example, in a straight-line driving scene, a plane parallel to the straight-line trajectory may be a plane composed of a horizontal axis and a vertical axis in the target coordinate system; in the case of traveling along an arc, the plane parallel to the arc plane may be a plane composed of a horizontal axis and a vertical axis in the target coordinate system. Thus, the actual trajectory of the vehicle can be fitted in a two-dimensional plane. Therefore, by establishing a new three-dimensional coordinate system, and a plane which is formed by two coordinate axes and is parallel to the track or the space plane where the track is located exists in the new three-dimensional coordinate system, each track point can be reduced in dimension to the parallel plane which is formed by the two coordinate axes, so that the fitting of the actual running track of the vehicle in the three-dimensional space is realized, and the problem of the reduction of the accuracy of the fitting of the running track of the three-dimensional vehicle in the two-dimensional space is solved.

Step 104, for each first positioning information in the first positioning information sequence, performing the following steps:

in step 1041, a relative lateral error and a relative elevation error are generated based on the position coordinates and the vehicle motion trajectory line included in the first positioning information.

In some embodiments, the execution body may generate the relative lateral error and the relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line in various ways. The relative lateral error may be a distance between projections of the position coordinates output by the positioning algorithm and coordinates corresponding to the actual track points on a plane. The actual track point may be a point corresponding to an actual position of the vehicle. The relative elevation error may be a distance between the position coordinate output by the positioning algorithm and a coordinate corresponding to the actual track point in a vertical axis direction of the rectangular coordinate system.

In some optional implementations of some embodiments, the executing body may generate the relative lateral error and the relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line by:

The first step is to project the position coordinates included in the first positioning information to the first target coordinate system based on the first transformation matrix to obtain first transformed position coordinates. The first transformed position coordinates may represent a track point corresponding to the position coordinates. The first transformed position coordinates may be obtained by projecting the position coordinates included in the first positioning information to the first target coordinate system according to the first transformation matrix by a coordinate system transformation method of the transformation matrix.

And secondly, projecting the first transformation position coordinate to a plane consisting of a transverse axis and a vertical axis in the first target coordinate system so as to generate a first target positioning coordinate. The first target positioning coordinate may represent a track point obtained by the vehicle running in a straight line. The coordinates of points satisfying the third preset projection condition on the plane consisting of the horizontal axis and the vertical axis in the above-described first target coordinate system may be determined as first target positioning coordinates. The third preset projection condition may be a horizontal axis coordinate value of the point, which is a horizontal axis coordinate value of the first transformed position coordinate, and a vertical axis coordinate value of the point, which is a vertical axis coordinate value of the first transformed position coordinate.

And a third step of generating a first target distance coordinate based on the vehicle motion trajectory line, the first target positioning coordinate, and the first common point. Wherein the first target distance coordinate may represent an actual track point of the vehicle. First, an equation corresponding to a straight line passing through a point corresponding to the first target positioning coordinate and perpendicular to the vehicle motion trajectory line may be determined as a first target perpendicular line equation. Then, a coordinate corresponding to an intersection point between the vehicle motion trajectory line and a straight line corresponding to the first target perpendicular line equation is determined as a first intersection point coordinate. And finally, determining the sum of the coordinates of the first intersection point and the coordinates corresponding to the first common point as a first target distance coordinate.

Fourth, a first target vector is generated based on the first transformed position coordinates and the first target distance coordinates. The first target vector may be a three-dimensional vector in the first target coordinate system. A vector from the point corresponding to the first transformed position coordinate to the point corresponding to the first target distance coordinate may be determined as a first target vector.

And fifthly, determining the product of the first transformation matrix and the first target vector as a first positioning vector. The first positioning vector may be a vector from a point corresponding to the position coordinates to an actual track point of the vehicle. The actual track point may be a point corresponding to a position where the vehicle is actually located at the first positioning time corresponding to the position coordinates.

And a sixth step of determining the sum of the coordinates of the position coordinates and the coordinates corresponding to the first positioning vector as first target track coordinates. Wherein the first target track coordinate may represent an actual track point.

And a seventh step of generating a relative lateral error and a relative elevation error based on the position coordinates, the first target track coordinates and the positioning reference coordinate system. The relative lateral error and the relative elevation error may be generated by:

a first substep, projecting the position coordinates to a plane consisting of a horizontal axis and a vertical axis in a positioning reference coordinate system, so as to generate first plane projection coordinates.

And a second sub-step of projecting the first target track coordinate to a plane consisting of a transverse axis and a longitudinal axis in a positioning reference coordinate system to generate a first plane track coordinate.

And a third sub-step of determining a distance between the first plane projection coordinates and the first plane track coordinates as a relative lateral error. The distance between the first plane projection coordinate and the first plane track coordinate can be solved through a distance formula between the two points, and the solved distance is determined to be a relative transverse error.

And a fourth sub-step of determining the vertical axis value of the position coordinate as a first vertical axis projection value and determining the vertical axis value of the first target track coordinate as a first vertical axis track value.

And a fifth sub-step of determining an absolute value of a difference between the first vertical axis trajectory value and the first vertical axis projection value as a relative elevation error.

In yet other alternative implementations of some embodiments, the executing entity may generate the relative lateral error and the relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line by:

and a first step of projecting the position coordinates included in the first positioning information to the second target coordinate system based on the second transformation matrix to obtain second transformation position coordinates. The second transformed position coordinates may represent the track points corresponding to the position coordinates. The second transformed position coordinates may be obtained by projecting the position coordinates included in the first positioning information to the second target coordinate system according to the second transformation matrix by a coordinate system transformation method of the transformation matrix.

And secondly, projecting the second transformation position coordinates to a plane consisting of a horizontal axis and a vertical axis in the second target coordinate system so as to generate second target positioning coordinates. The second target positioning coordinate may be a coordinate of a projection of the trajectory point on a plane consisting of a horizontal axis and a vertical axis in the second target coordinate system. The second target positioning coordinates may represent a track point obtained by the vehicle performing the circular arc track traveling. The coordinates of points satisfying the fourth preset projection condition on the plane consisting of the horizontal axis and the vertical axis in the above-described second target coordinate system may be determined as second target positioning coordinates. The fourth preset projection condition may be a coordinate value of a point which is a coordinate value of a horizontal axis in the second transformed position coordinate and a coordinate value of a vertical axis in the second transformed position coordinate.

And a third step of generating a second target distance coordinate based on the vehicle motion trajectory line, the second target positioning coordinate, and the target height value. Wherein the second target distance coordinate may represent an actual track point of the vehicle. First, a second intersection point coordinate is determined by a coordinate corresponding to a track point with the smallest distance value between the second target positioning coordinates on the vehicle motion track line. The second intersection point coordinate can be solved by a preset method for solving the minimum value of the distance from the point to the curve. And then, taking the horizontal axis coordinate value of the second intersection point coordinate as the horizontal axis coordinate value of the second target distance coordinate, taking the vertical axis coordinate value of the second intersection point coordinate as the vertical axis coordinate value of the second target distance coordinate, and obtaining the second target distance coordinate.

As an example, the method of solving the minimum value of the point-to-curve distance preset above may include, but is not limited to, at least one of the following: distance formula method and hidden function derivation method.

And a fourth step of generating a second target vector based on the second transformed position coordinates and the second target distance coordinates. The second target vector may be a three-dimensional vector in the second target coordinate system. A vector from the point corresponding to the second transformed position coordinate to the point corresponding to the second target distance coordinate may be determined as a second target vector.

And fifthly, determining the product of the second transformation matrix and the second target vector as a second positioning vector. The second positioning vector may be a vector from a point corresponding to the position coordinates to an actual track point of the vehicle.

And sixthly, determining the sum of the coordinates of the position coordinates and the coordinates corresponding to the second positioning vector as second target track coordinates. Wherein the second target track coordinates may represent actual track points.

And a seventh step of generating a relative lateral error and a relative elevation error based on the position coordinates, the second target track coordinates and the positioning reference coordinate system. The relative lateral error and the relative elevation error may be generated by:

a first substep, projecting the position coordinates to a plane consisting of a horizontal axis and a vertical axis in a positioning reference coordinate system, so as to generate second plane projection coordinates.

And a second sub-step of projecting the second target track coordinate to a plane consisting of a transverse axis and a longitudinal axis in a positioning reference coordinate system to generate a second plane track coordinate.

And a third sub-step of determining a distance between the second planar projection coordinates and the second planar track coordinates as a relative lateral error. The distance between the second plane projection coordinate and the second plane track coordinate can be solved through a distance formula between the two points, and the distance is determined to be a relative transverse error.

And a fourth sub-step of determining the vertical axis value of the position coordinate as a second vertical axis projection value, and determining the vertical axis value of the second target track coordinate as a second vertical axis track value.

And a fifth sub-step of determining an absolute value of a difference between the second vertical axis trajectory value and the second vertical axis projection value as a relative elevation error.

Step 1042, selecting one first positioning information satisfying the preset distance condition from the first positioning information sequence as the reference positioning information.

In some embodiments, the execution body may select, from the first positioning information sequence, one piece of first positioning information satisfying a preset distance condition as the reference positioning information. Wherein, the reference positioning information can represent the track point of the vehicle. The predetermined distance condition may be that a distance between a position coordinate included in any one of the first positioning information sequences and a position coordinate included in the first positioning information is greater than a predetermined threshold. The preset threshold may be a value of a preset distance. For example, the preset threshold may be 10 meters.

Step 1043, generating a relative attitude error based on the first rotation matrix included in the first positioning information, the first rotation matrix included in the reference positioning information, and the second positioning information sequence.

In some embodiments, the executing body may generate the relative posture error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence by:

and determining a product of an inverse matrix of a first rotation matrix included in the first positioning information and a first rotation matrix included in the reference positioning information as a first posture change amount matrix.

And selecting one piece of second positioning information meeting the first preset time condition from the second positioning information sequence as first pose information, and selecting one piece of second positioning information meeting the second preset time condition from the second positioning information sequence as second pose information. The first preset time condition may be that a second positioning time included in the second positioning information is the same as a first positioning time included in the first positioning information. The second preset time condition may be that a second positioning time included in the second positioning information is the same as a first positioning time included in the reference positioning information.

And thirdly, determining the product of the inverse matrix of the first rotation matrix included in the first positioning information and the first rotation matrix included in the reference positioning information as a first attitude change amount matrix. The first gesture change matrix may be used to represent a change amount of the gesture of the vehicle within a distance range of a preset threshold value measured by the positioning algorithm.

And a fourth step of determining a product of an inverse matrix of a second rotation matrix included in the first pose information and the second rotation matrix included in the second pose information as a second pose variation matrix. The second gesture change amount matrix can be used for representing the actual change amount of the gesture of the vehicle in the distance range of the preset threshold value measured by the inertial navigation device.

And fifthly, determining the product of the inverse matrix of the first posture change amount matrix and the second posture change amount matrix as a relative posture error.

Step 1044, determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information.

In some embodiments, the execution body may determine the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information. The positioning error evaluation information can be used for representing the error between the positioning information of the vehicle output by the positioning algorithm and the positioning information of the vehicle at the actual track point.

And 105, transmitting the obtained positioning error evaluation information to the terminal for display.

In some embodiments, the executing entity may send the obtained respective positioning error assessment information to the terminal for display. The terminal can be a device with a display screen.

Alternatively, the execution body may execute the following steps:

first, a track error information record is generated based on each positioning error evaluation information, and the track error information record is stored in a preset track error information table. The track error information record may include a position integrated error and an attitude integrated error. The position integrated error may be an error in the position of a segment of the vehicle track. The attitude integrated error may be an average value of angle errors corresponding to respective vehicle body attitudes included in a section of vehicle track. The preset track error information table may be a preset database table. The track error information table may include track error information records. First, the mean square error of each relative lateral error included in each positioning error evaluation information described above is determined as a lateral position error. Next, the mean square error of each relative elevation error included in each positioning error evaluation information is determined as an elevation position error. Then, an average value of the lateral position error and the elevation position error is determined as a position integrated error. Then, for each relative attitude error included in the respective positioning error evaluation information, a preset attitude angle corresponding to the above-mentioned relative attitude error is determined as an angle error. The preset attitude angle may be a preset angle. Then, the average value of the above-mentioned individual angle errors is determined as an attitude integrated error. And finally, determining the position integrated error and the attitude integrated error as track error information records.

And a second step of selecting one track error information record meeting the first preset track error condition and the second preset track error condition from the track error information table as target track error information. The first preset track error condition may be that a position integrated error included in the track error information record is smaller than a first preset error threshold value, and an attitude integrated error is smaller than a second preset error threshold value. The first preset error threshold may be a preset distance threshold. For example, the first preset error threshold may be 0.5 meters. The second preset error threshold may be a preset angle threshold. For example, the second preset error threshold may be 3 degrees. The second preset track error condition may be that, in each track error information record that satisfies the first preset track error condition, a position integrated error in the track error information record is a minimum value in each position integrated error.

And thirdly, sending preset parameter information corresponding to the target track error information to a vehicle positioning server for updating the positioning algorithm. The preset parameter information may be information of parameters in a preset positioning algorithm. The vehicle positioning server may be a server that outputs a positioning result corresponding to the vehicle track according to the data collected by the sensor by the positioning algorithm. The preset parameter information corresponding to the target track error information may be sent to a vehicle positioning server, and the vehicle positioning server updates each parameter in the positioning algorithm according to the preset parameter information.

And step four, acquiring initial positioning information from the vehicle positioning server, and sending the initial positioning information and preset end position coordinates to a path planning server for planning a path. The initial positioning information may be a positioning result of the vehicle at the departure place, which is output by the updated positioning algorithm. The preset end position coordinates may be coordinates of a destination of the high-precision map output. The route planning server may be a server that outputs an estimated travel route of the vehicle based on a result of positioning the vehicle. The path planning server can plan the expected running path of the vehicle according to the initial positioning information and the preset end position coordinates through a preset path planning algorithm.

As an example, the preset path planning algorithm may include, but is not limited to, at least one of: a (a-Star) path planning algorithm and Lattice Planner planning algorithm.

The above embodiments of the present disclosure have the following advantageous effects: by the vehicle positioning evaluation method, time consumption of vehicle positioning evaluation can be shortened, and efficiency of vehicle positioning evaluation can be improved. Specifically, the reason why the vehicle positioning evaluation takes a long time is that: because the actual running track of the vehicle can be acquired for vehicle positioning evaluation only by in-situ measurement or constructing different simulation environments for different scenes in advance, the vehicle positioning evaluation takes a long time. Based on this, the vehicle positioning evaluation method of some embodiments of the present disclosure first acquires the first positioning information sequence and the second positioning information sequence of the vehicle. Wherein each first positioning information in the first positioning information sequence may include a position coordinate and a first rotation matrix. Therefore, the positioning result corresponding to the first positioning information sequence is conveniently compared with the positioning result corresponding to the actual running track of the vehicle, and the error between the positioning result and the positioning result is obtained. And generating a track form mark based on the position coordinates included in each piece of first positioning information in the first positioning information sequence. Therefore, whether the vehicle runs along a straight line or a circular arc curve can be determined, and the follow-up fitting is facilitated to obtain an actual running track corresponding to the straight line or the circular arc. And then, fitting each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line. Thus, the actual trajectory of the vehicle can be obtained. Then, for each first positioning information in the first positioning information sequence, the following steps are performed: generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line; selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information; generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence; and determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information. Therefore, the corresponding positioning result in the first positioning information sequence can be compared with the positioning result corresponding to the actual track of the vehicle for each track point in the running track of the vehicle, and the error between the two positioning results can be obtained. And finally, sending the obtained positioning error evaluation information to a terminal for display. Therefore, according to the vehicle positioning evaluation method of some embodiments of the present disclosure, the actual track of the vehicle can be obtained according to the first positioning information sequence corresponding to each track point without on-site measurement or constructing different simulation environments for different scenes in advance. Further, the positioning error of each track point can be obtained for vehicle positioning evaluation. Thus, the time consuming evaluation of the vehicle positioning can be shortened. Further, the efficiency of vehicle positioning evaluation can be improved.

With further reference to fig. 2, as an implementation of the method shown in the above figures, the present disclosure provides some embodiments of a vehicle positioning evaluation apparatus, which correspond to those method embodiments shown in fig. 1, and which are particularly applicable in various electronic devices.

As shown in fig. 2, the vehicle positioning evaluation method apparatus 200 of some embodiments includes: an acquisition unit 201, a generation unit 202, a fitting processing unit 203, an execution unit 204, and a transmission unit 205. Wherein the acquiring unit 201 is configured to acquire a first positioning information sequence and a second positioning information sequence of the vehicle, wherein each piece of first positioning information in the first positioning information sequence includes a position coordinate and a first rotation matrix; a generating unit 202 configured to generate a track form identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence; a fitting processing unit 203, configured to perform fitting processing on each position coordinate included in the first positioning information sequence based on the track form identifier, so as to obtain a vehicle motion track line; an execution unit 204 configured to, for each first positioning information in the first positioning information sequence, execute the steps of: generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line; selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information; generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence; determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information; and a transmitting unit 205 configured to transmit the respective obtained positioning error evaluation information to the terminal for display.

It will be appreciated that the elements described in the apparatus 200 correspond to the various steps in the method described with reference to fig. 1. Thus, the operations, features and resulting benefits described above for the method are equally applicable to the apparatus 200 and the units contained therein, and are not described in detail herein.

With further reference to fig. 3, a schematic structural diagram of an electronic device 300 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 3 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.

As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various suitable actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and information required for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.

In general, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 308 including, for example, magnetic tape, hard disk, etc.; and communication means 309. The communication means 309 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange information. While fig. 3 shows an electronic device 300 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 3 may represent one device or a plurality of devices as needed.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 309, or from storage device 308, or from ROM 302. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 301.

It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Whereas in some embodiments of the present disclosure, a computer-readable signal medium may comprise an information signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital information communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring a first positioning information sequence and a second positioning information sequence of a vehicle, wherein each piece of first positioning information in the first positioning information sequence comprises a position coordinate and a first rotation matrix; generating a track form identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence; fitting each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line; for each first positioning information in the first positioning information sequence, the following steps are performed: generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line; selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information; generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence; determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information; and sending the obtained positioning error evaluation information to a terminal for display.

Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes an acquisition unit, a generation unit, a fitting processing unit, an execution unit, and a transmission unit. The names of these units do not constitute a limitation of the unit itself in some cases, and for example, the acquisition unit may also be described as "acquiring a first positioning information sequence and a second positioning information sequence of the vehicle, wherein each of the above-described first positioning information sequences includes a position coordinate and a unit of a first rotation matrix".

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A vehicle positioning evaluation method, comprising:

acquiring a first positioning information sequence and a second positioning information sequence of a vehicle, wherein each piece of first positioning information in the first positioning information sequence comprises a position coordinate and a first rotation matrix;

generating a track form identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence;

fitting each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line;

for each first positioning information in the first positioning information sequence, performing the steps of:

generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line;

selecting one piece of first positioning information meeting a preset distance condition from the first positioning information sequence as reference positioning information;

generating a relative attitude error based on a first rotation matrix included in the first positioning information, a first rotation matrix included in the reference positioning information, and the second positioning information sequence;

determining the relative lateral error, the relative elevation error, and the relative attitude error as positioning error evaluation information;

And sending the obtained positioning error evaluation information to a terminal for display.

2. The method of claim 1, wherein the fitting the position coordinates included in the first positioning information sequence based on the track morphology identifier to obtain a vehicle motion track line includes:

generating a first target coordinate system and a first transformation matrix based on each position coordinate included in the first positioning information sequence in response to determining that the track form identifier meets a first preset track condition;

projecting each position coordinate included in the first positioning information sequence to a plane consisting of a transverse axis and a vertical axis in the first target coordinate system to generate a first projection coordinate, so as to obtain a first projection coordinate sequence;

and performing linear fitting processing on each first projection coordinate in the first projection coordinate sequence to obtain a vehicle motion track line.

3. The method of claim 2, wherein the generating a first target coordinate system and a first transformation matrix based on respective position coordinates included in the first positioning information sequence comprises:

performing projection processing on each position coordinate included in the first positioning information sequence to obtain a reference coordinate sequence;

Performing straight line fitting processing on each reference coordinate in the reference coordinate sequence to obtain a first reference track line;

determining a direction vector corresponding to the first reference track line as a first reference direction vector;

constructing a first target coordinate system based on a preset positioning reference coordinate system and the first reference direction vector;

determining an intersection between the first reference trajectory line and a longitudinal axis in the first target coordinate system as a first common point;

a first transformation matrix is generated based on the first target coordinate system and the positioning reference coordinate system.

4. The method of claim 3, wherein the generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line comprises:

based on the first transformation matrix, projecting the position coordinates included in the first positioning information to the first target coordinate system to obtain first transformation position coordinates;

projecting the first transformed position coordinates to a plane consisting of a horizontal axis and a vertical axis in the first target coordinate system to generate first target positioning coordinates;

generating a first target distance coordinate based on the vehicle motion trajectory, the first target location coordinate, and the first common point;

Generating a first target vector based on the first transformed location coordinate and the first target distance coordinate;

determining a product of the first transformation matrix and the first target vector as a first positioning vector;

determining the sum of the coordinates corresponding to the position coordinates and the first positioning vector as first target track coordinates;

based on the position coordinates, the first target trajectory coordinates and the positioning reference coordinate system, a relative lateral error and a relative elevation error are generated.

5. The method of claim 1, wherein the fitting the position coordinates included in the first positioning information sequence based on the track morphology identifier to obtain a vehicle motion track line includes:

generating a second target coordinate system and a second transformation matrix based on each position coordinate included in the first positioning information sequence in response to determining that the track form identifier meets a second preset track condition;

projecting each position coordinate included in the first positioning information sequence to a plane consisting of a transverse axis and a longitudinal axis in the second target coordinate system to generate a second projection coordinate, so as to obtain a second projection coordinate sequence;

And performing curve fitting processing on each second projection coordinate in the second projection coordinate sequence to obtain a vehicle motion track line.

6. The method of claim 5, wherein the generating a second target coordinate system and a second transformation matrix based on the respective position coordinates included in the first positioning information sequence comprises:

performing plane fitting processing on each position coordinate included in the first positioning information sequence to obtain a target reference plane equation;

constructing a second target coordinate system based on a preset positioning reference coordinate system and the target reference plane equation;

generating a target altitude value based on the target reference plane equation and the second target coordinate system;

a second transformation matrix is generated based on the second target coordinate system and the positioning reference coordinate system.

7. The method of claim 6, wherein the generating a relative lateral error and a relative elevation error based on the position coordinates included in the first positioning information and the vehicle motion trajectory line comprises:

based on the second transformation matrix, projecting the position coordinates included in the first positioning information to the second target coordinate system to obtain second transformation position coordinates;

Projecting the second transformed location coordinates to a plane of the second target coordinate system comprised of a lateral axis and a longitudinal axis to generate second target location coordinates;

generating a second target distance coordinate based on the vehicle motion trajectory, the second target positioning coordinate, and the target height value;

generating a second target vector based on the second transformed location coordinates and the second target distance coordinates;

determining a product of the second transformation matrix and the second target vector as a second positioning vector;

determining the sum of the coordinates corresponding to the position coordinates and the second positioning vector as second target track coordinates;

and generating a relative lateral error and a relative elevation error based on the position coordinates, the second target track coordinates and the positioning reference coordinate system.

8. A vehicle positioning evaluation device comprising:

an acquisition unit configured to acquire a first positioning information sequence and a second positioning information sequence of a vehicle, wherein each first positioning information in the first positioning information sequence includes a position coordinate and a first rotation matrix;

a generation unit configured to generate a track morphology identifier based on position coordinates included in each piece of first positioning information in the first positioning information sequence;

The fitting processing unit is configured to perform fitting processing on each position coordinate included in the first positioning information sequence based on the track form identifier to obtain a vehicle motion track line;

an execution unit configured to, for each first positioning information in the first positioning information sequence, execute the steps of:

and a transmitting unit configured to transmit the respective obtained positioning error evaluation information to the terminal for display.

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon,

When executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.

10. A computer readable medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-7.