CN116300934A - Vehicle driving method, device, equipment and medium based on differential positioning - Google Patents

Vehicle driving method, device, equipment and medium based on differential positioning Download PDF

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Publication number
CN116300934A
CN116300934A CN202310272219.6A CN202310272219A CN116300934A CN 116300934 A CN116300934 A CN 116300934A CN 202310272219 A CN202310272219 A CN 202310272219A CN 116300934 A CN116300934 A CN 116300934A
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China
Prior art keywords
vehicle
differential positioning
differential
positioning data
data
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CN202310272219.6A
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Chinese (zh)
Inventor
周佳伟
刘赤
谭石坚
高�玉
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Qingdao Vehicle Intelligence Pioneers Inc
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Qingdao Vehicle Intelligence Pioneers Inc
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Priority to CN202310272219.6A priority Critical patent/CN116300934A/en
Publication of CN116300934A publication Critical patent/CN116300934A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Abstract

The embodiment of the disclosure relates to a vehicle driving method, device, equipment and medium based on differential positioning, wherein the method comprises the following steps: acquiring differential positioning data; judging whether the differential positioning data is a fixed solution or not; if the differential positioning data are determined to be the fixed solutions, controlling the target vehicle to run based on the differential positioning data; if the differential positioning data is determined to be a non-fixed solution, satellite information is acquired, the differential positioning data is subjected to abnormality judgment based on the satellite information to obtain an abnormality judgment result, and the target vehicle is controlled to run according to the abnormality judgment result. According to the embodiment of the disclosure, the target vehicle has higher driving safety in the automatic driving process.

Description

Vehicle driving method, device, equipment and medium based on differential positioning
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to a vehicle driving method, device, equipment and medium based on differential positioning.
Background
In a scene of transportation by automatic running of vehicles, such as an open mine, the accuracy of vehicle positioning can be improved by a differential positioning technology so as to improve the safety of automatic running of vehicles.
In the related art, a vehicle domain controller of a vehicle directly controls the vehicle to automatically run according to positioning data after the positioning data is acquired. However, when there is a large error in positioning data, the running safety of the vehicle for automatic running is low.
Disclosure of Invention
In order to solve the technical problems described above or at least partially solve the technical problems described above, the present disclosure provides a vehicle driving method, device, equipment and medium based on differential positioning.
The embodiment of the disclosure provides a vehicle driving method based on differential positioning, which comprises the following steps:
acquiring differential positioning data;
judging whether the differential positioning data is a fixed solution or not;
if the differential positioning data are determined to be a fixed solution, controlling the target vehicle to run based on the differential positioning data;
and if the differential positioning data is determined to be a non-fixed solution, satellite information is acquired, the differential positioning data is subjected to abnormality judgment based on the satellite information to obtain an abnormality judgment result, and the target vehicle is controlled to run according to the abnormality judgment result.
The embodiment of the disclosure also provides a vehicle driving device based on differential positioning, which comprises:
The acquisition module is used for acquiring differential positioning data;
the first judging module is used for judging whether the differential positioning data is a fixed solution or not;
the first control module is used for controlling the target vehicle to run based on the differential positioning data if the differential positioning data are determined to be a fixed solution;
and the second control module is used for acquiring satellite information if the differential positioning data is determined to be a non-fixed solution, carrying out anomaly judgment on the differential positioning data based on the satellite information to obtain an anomaly judgment result, and controlling the target vehicle to run according to the anomaly judgment result.
The embodiment of the disclosure also provides an electronic device, which comprises: a processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the differential positioning-based vehicle driving method according to the embodiments of the present disclosure.
The present disclosure also provides a computer-readable storage medium storing a computer program for executing the differential positioning-based vehicle running method as provided by the embodiments of the present disclosure.
The embodiment of the disclosure also provides a chip, which is characterized in that the chip comprises at least one processor and a communication interface, the communication interface is coupled with the at least one processor, and the at least one processor is used for running a computer program or instructions to realize the differential positioning-based vehicle driving method for driving the vehicle according to the differential positioning.
The embodiment of the disclosure also provides a terminal, which is characterized in that the terminal comprises the vehicle running device based on differential positioning.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: the vehicle driving scheme based on differential positioning provided by the embodiment of the disclosure obtains differential positioning data; judging whether the differential positioning data is a fixed solution or not; if the differential positioning data are determined to be the fixed solutions, controlling the target vehicle to run based on the differential positioning data; if the differential positioning data is determined to be a non-fixed solution, satellite information is acquired, the differential positioning data is subjected to abnormality judgment based on the satellite information to obtain an abnormality judgment result, and the target vehicle is controlled to run according to the abnormality judgment result. By adopting the technical scheme, under the condition that the differential positioning data is a fixed solution, the accuracy of the differential positioning data is higher, and the vehicle is controlled to automatically run according to the differential positioning data, so that the target vehicle has higher running accuracy and safety; under the condition that the differential positioning data is an unfixed solution, the accuracy of the differential positioning data is lower, the satellite information is subjected to abnormal judgment, and the automatic running of the target vehicle is correspondingly controlled according to the abnormal judgment result, so that the automatic running control of the vehicle aiming at the abnormal judgment result is realized, and the target vehicle has higher running safety.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a vehicle driving method based on differential positioning according to an embodiment of the disclosure;
fig. 2 is a schematic flow chart of another vehicle driving method based on differential positioning according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a differential positioning system according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of another vehicle driving method based on differential positioning according to an embodiment of the disclosure;
fig. 5 is a schematic flow chart of another vehicle driving method based on differential positioning according to an embodiment of the disclosure;
fig. 6 is a schematic structural diagram of a vehicle driving device based on differential positioning according to an embodiment of the disclosure;
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure;
fig. 8 is a schematic structural diagram of a chip according to an embodiment of the disclosure;
fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
In order to solve the above-mentioned problems, embodiments of the present disclosure provide a vehicle driving method based on differential positioning, which is described below with reference to specific embodiments.
Fig. 1 is a schematic flow chart of a vehicle driving method based on differential positioning according to an embodiment of the disclosure, where the method may be performed by a vehicle driving device based on differential positioning, or a vehicle domain controller in a vehicle for controlling vehicle driving, where the vehicle driving device based on differential positioning may be implemented by using software and/or hardware, and may be generally integrated in an electronic device.
As shown in fig. 1, the method includes:
and step 101, obtaining differential positioning data.
The differential positioning data may be data determined based on a differential technology and used for positioning the vehicle, and the type of the differential positioning data is various, for example, the differential positioning data may be data generated by performing combined inertial navigation optimization on the differential data, specifically, data correction processing, inertial navigation processing, filtering processing and the like may be performed on the differential data, so as to obtain combined inertial navigation data, where the combined inertial navigation data is used as the differential positioning data. The differential data may be differential data generated by a reference station in a fifth generation mobile communication technology (5th Generation Mobile Communication Technology,5G).
In application scenes such as surface mines, communication signals of public networks of sites such as surface mines are weak due to shielding of obstacles such as mountain bodies and retaining walls. The data transmission through the public network can enable the target vehicle to not acquire the data in time, the functions of positioning, automatic running and the like of the target vehicle can not normally run, and the potential safety hazard in the automatic running process of the target vehicle is increased. In the embodiment of the disclosure, a special 5G private network can be built in advance to improve communication quality in sites such as surface mines, so that functions such as positioning and automatic driving of a target vehicle can be operated normally, and potential safety hazards of the target vehicle are reduced.
Through the 5G private network, communication between the reference station and the vehicle end is carried out, and a reference station receiver in the reference station can receive parameters such as pseudo-range, ephemeris, ionosphere, troposphere and the like of satellites. And calculating information such as the distance correction number, the state, the Doppler frequency shift, the signal to noise ratio and the like between the reference station and the satellite through a reference station server in the reference station, generating differential data based on the information, transmitting the differential data to a vehicle end through a 5G private network by the reference station, further optimizing the differential data by a mobile station receiver in the vehicle end to obtain differential positioning data, and transmitting the differential positioning data to a vehicle domain controller.
Alternatively, in the reference station server, the data may be received in a multithreaded field buffer manner, so that the reference station server can stably receive the data and generate differential data according to the received data under the condition of high access quantity. Similarly, in a vehicle domain server, the data may also be received in the form of the multithreaded field cache.
Step 102, determining whether the differential positioning data is a fixed solution.
The fixed solution may be a solution state in a carrier-phase differential (RTK) technique, and may represent that the integer ambiguity in carrier-phase observation positioning has been resolved.
In the embodiment of the disclosure, after obtaining the differential positioning data, the vehicle domain controller may analyze a positioning state of the differential positioning data, and determine whether the differential positioning data is a fixed solution according to an analysis result.
In some embodiments of the present disclosure, determining whether the differential positioning data is a fixed solution includes: if the error of the differential positioning data is smaller than or equal to the error threshold value, determining the differential positioning data as a fixed solution; otherwise, determining the differential positioning data as an unfixed solution.
The error may be a difference between the characterization differential positioning data and the true position, and the type of the error is various, and the embodiment is not limited, for example, the error may be covariance. The non-fixed solution may be other types of solutions in the RTK technique besides the fixed solution, and the non-fixed solution is not limited in this embodiment, for example, the non-fixed solution may be a floating point solution or the like. The error threshold may be an error minimum value corresponding to determining that the differential positioning data is a fixed solution, and the error threshold may be set according to a user requirement, etc., which is not limited in this embodiment.
In this embodiment, the vehicle domain controller may calculate a covariance of the differential positioning data, determine that the differential positioning data is in a fixed solution state if the covariance is less than or equal to an error threshold, and determine that the differential positioning data is in a non-fixed solution state if the covariance error is greater than the error threshold.
In the scheme, whether the differential data is a fixed solution is determined through the error threshold, the error threshold can be set according to the requirements of users and the like, and corresponding error thresholds can be set in different application scenes, so that the application scene of the differential positioning-based vehicle driving method is improved.
And 103, if the differential positioning data is determined to be a fixed solution, controlling the target vehicle to run based on the differential positioning data.
In the embodiment of the disclosure, if the differential positioning data is a fixed solution, it is indicated that the error of the differential positioning data is smaller and the positioning accuracy is higher, the vehicle domain controller may control the target vehicle to continue to automatically travel according to the differential positioning data.
In some embodiments of the present disclosure, controlling a target vehicle to travel based on differential positioning data includes: and sending a safe driving signal to the vehicle safety monitoring module so that the vehicle safety monitoring module controls the target vehicle to drive according to the differential positioning data based on the safe driving signal.
The safe driving signal may be a signal indicating that the vehicle positioning function is normal, and the type of the safe driving signal may be set according to the user requirement, etc., which is not limited in this embodiment, for example, the safe driving information may be a safe driving code. The vehicle safety monitoring module may be a function module for monitoring whether a positioning function state of the vehicle is normal, and the vehicle safety monitoring module may be used for determining a running mode of the vehicle according to the positioning function state of the vehicle.
In this embodiment, the vehicle domain controller may fill the safe driving signal into the positioning module safety detection processing unit of the vehicle safety monitoring module, and after the vehicle safety monitoring module receives the safe driving signal, it determines that the positioning function of the current vehicle is normal, and then controls the target vehicle to perform normal automatic driving according to the differential positioning data.
According to the scheme, the normal positioning of the target vehicle is determined through the safe driving signal, and the target vehicle is controlled to normally and automatically run based on the differential positioning data under the condition that the positioning of the target vehicle is normal, so that the safety of the automatic running of the target vehicle is improved.
And 104, if the differential positioning data is determined to be a non-fixed solution, acquiring satellite information, performing anomaly judgment on the differential positioning data based on the satellite information to obtain an anomaly judgment result, and controlling the target vehicle to run according to the anomaly judgment result.
The satellite information may be satellite feature information used in determining the differential positioning data, and the satellite information may be set according to an application scenario where the vehicle automatically travels, for example, the satellite information may include the number of satellites and/or satellite dispersion, or the satellite information may include the number of satellites and satellite dispersion. The abnormality determination result may be a result of positioning abnormality analysis on the target vehicle, the abnormality determination result may represent a mode of automatically driving the target vehicle to be controlled, and the abnormality determination result is not limited in this embodiment, and includes but is not limited to: abnormal positioning accuracy and/or running to be decelerated, etc.
In the embodiment of the disclosure, if the error of the differential positioning data is greater than the error threshold, determining that the differential positioning data is a non-stationary solution, indicating that the error of the current differential positioning data is greater and the positioning accuracy is lower, acquiring satellite data, analyzing the reason that the differential positioning data is the non-stationary solution according to the satellite data, further determining a corresponding abnormal judgment result, and controlling the target vehicle to run according to the abnormal judgment result.
In some embodiments of the present disclosure, the satellite information includes a number of satellites and/or a satellite dispersion, and acquiring the satellite information includes: and acquiring the satellite quantity and/or satellite dispersion of the satellite navigation system in a preset time period.
The number of satellites is also called as the number of searched satellites, and the number of satellites can represent the number of the satellites which can be searched. It will be appreciated that the greater the value of the number of satellites, the greater the number of satellites that are currently able to participate in the positioning of the target vehicle. The satellite dispersion is also called as a search satellite dispersion, and the satellite dispersion can represent the dispersion degree of the number of satellites which can be searched at different moments, and the type of the satellite dispersion is not limited in this embodiment, for example, the satellite dispersion can be a standard deviation of the number of a plurality of satellites, or a dispersion average of the number of a plurality of satellites, and the like. It will be appreciated that the smaller the satellite dispersion, the smaller the variation in the number of satellites over a preset period of time, i.e. the more stable the number of satellites that can participate in the target vehicle positioning.
A satellite navigation system, also known as a global satellite navigation system (Global Navigation Satellite System, GNSS), which may be understood as an air-based radio navigation positioning system, may comprise one or more constellations of satellites and augmentation systems required to support a specific operation. The preset time period may be a time period of a fixed time length set in advance, and the preset time period may be a time period after determining that the differential positioning data is a non-fixed solution. The length of the preset time period is not limited in this embodiment, and for example, the length of the preset time period may be 7 seconds or 8 seconds.
In this embodiment, the vehicle domain controller may determine a time after determining that the differential positioning data is the non-stationary solution as a start time of a preset time period, determine the preset time period according to the start time and a preset time period, record the number of satellites in the preset time period, and obtain a plurality of satellite numbers, and further calculate satellite dispersion according to the plurality of satellite numbers.
In some embodiments of the present disclosure, performing anomaly determination on differential positioning data based on satellite information to obtain an anomaly determination result includes:
If the number of satellites is smaller than or equal to the number threshold, or if the number of satellites is larger than the number threshold and the satellite dispersion is larger than the dispersion threshold, determining that the abnormal judgment result of the differential positioning data is abnormal in positioning precision; if the number of satellites is greater than the number threshold and the satellite dispersion is less than or equal to the dispersion threshold, determining that the abnormal judgment result of the differential positioning data is to be the running to be decelerated.
The number threshold may be a threshold for determining whether the number of satellites is too small, and the number threshold may be set according to a user requirement and/or an environment type of an environment in which the target vehicle is located, and the like, for example, if the environment type is a mountain area type or a mining area type, the number threshold may be an integer in [22, 25 ]; if the environment type is a high-rise shelter type, the number threshold may be an integer in [18,20 ]; if the environment type is an open area type, the number threshold is an integer in [30, 35 ]. The dispersion threshold may be a threshold for determining whether the satellite dispersion is excessive, and the dispersion threshold may be determined according to a user requirement and/or a specific calculation method of the satellite dispersion, etc., and the embodiment is not limited, and for example, the dispersion threshold may be 5.
The abnormal positioning precision can represent the abnormal positioning precision of the target vehicle, the positioning precision is lower, and the target vehicle needs to stop automatic running. The to-be-decelerated traveling may indicate that the target vehicle needs to reduce the vehicle speed, alternatively, the to-be-decelerated traveling may indicate that the target vehicle continuously reduces the vehicle speed until stopping, or the to-be-decelerated traveling may indicate that the target vehicle reduces the vehicle speed to a preset low vehicle speed and continuously travels at the preset low vehicle speed.
In this embodiment, the vehicle domain controller may determine whether the number of satellites is greater than the number threshold if the differential positioning data is determined to be a non-stationary solution, and if the number of satellites is greater than the number threshold, continue to determine whether the satellite dispersion is greater than the dispersion threshold; if the number of satellites is smaller than or equal to the number threshold value, the number of satellites for positioning the target vehicle is too small, and the probability of abnormality in positioning accuracy is high, and the abnormality judgment result of the differential positioning data is determined to be abnormal in positioning accuracy.
If the number of satellites is greater than the number threshold and the satellite dispersion is greater than the dispersion threshold, the number of satellites for locating the target vehicle is enough, but the fluctuation of the number of satellites is large, and the abnormal judgment result of the differential locating data is determined to be abnormal in locating precision. If the number of satellites is greater than the preset number and the satellite dispersion is less than or equal to the dispersion threshold, the number of satellites for positioning the target vehicle is enough, and the number of satellites is stable, and an abnormal judgment result of the differential positioning data is determined to be to-be-decelerated driving.
In some embodiments of the present disclosure, controlling the target vehicle to travel according to the abnormality determination result includes:
when the abnormality judgment result is that the positioning accuracy is abnormal, sending a positioning accuracy abnormality signal to the vehicle safety monitoring module so that the vehicle safety monitoring module controls the target vehicle to slow down until the vehicle is stopped based on the positioning accuracy abnormality signal; and when the abnormal judgment result is that the vehicle is to run at a reduced speed, a speed reduction running signal is sent to the vehicle safety monitoring module, so that the vehicle safety monitoring module controls the target vehicle to run at a reduced speed based on the speed reduction running signal.
The positioning accuracy abnormal signal may be a signal indicating that the positioning accuracy of the target vehicle is abnormal, and the type of the positioning accuracy abnormal signal may be set according to a user requirement, etc., which is not limited in this embodiment, for example, the positioning accuracy abnormal information may be a positioning accuracy abnormal code. The signal to be decelerated may represent that the target vehicle needs to reduce the vehicle speed, and control the running of the target vehicle based on the new differential positioning data obtained in real time, where the type of the signal to be decelerated may be set according to the user requirement, etc., and the embodiment is not limited, and for example, the signal to be decelerated may be a deceleration running code.
In this embodiment, when the abnormality determination result is that the positioning accuracy is abnormal, the positioning accuracy of the target vehicle is low, and there is a high risk of continuing to automatically travel based on the differential positioning data, the vehicle domain controller fills the positioning accuracy abnormality information into the vehicle safety monitoring module, and the vehicle safety monitoring module controls the target vehicle to reduce the vehicle speed until the vehicle speed is zero after receiving the positioning accuracy abnormality information, and then manually performs fault diagnosis and repair. Optionally, because the risk of abnormal positioning accuracy is high, the vehicle needs to be immediately decelerated and stopped, and the vehicle domain controller does not perform running control on the target vehicle based on the subsequently acquired real-time differential positioning data.
Under the condition that the abnormal judgment result is to be in deceleration driving, the inaccurate positioning of the target vehicle may be caused by external factors such as a specific environment where the target vehicle is located, and the like, the vehicle domain controller can reduce the vehicle speed and acquire new differential positioning data in real time, so that the target vehicle can drive through the specific environment at a lower vehicle speed, and the target vehicle is controlled to automatically drive according to the new differential positioning data. Specifically, the vehicle domain controller fills the deceleration running signal into the vehicle safety monitoring module, and the vehicle safety monitoring module controls the target vehicle to run at a reduced speed after receiving the deceleration running signal, and continues to acquire new differential positioning data in real time, and controls the target vehicle to run based on the new differential positioning data. Optionally, if the new differential positioning data is a fixed solution, sending a safe driving signal to the vehicle safety monitoring module; if the new differential positioning data is a non-fixed solution and the number of satellites is smaller than or equal to the number threshold, or the number of satellites is larger than the number threshold and the satellite dispersion is larger than the dispersion threshold, transmitting a positioning accuracy abnormal signal value vehicle safety monitoring module; and if the new differential positioning data is a non-fixed solution, the number of satellites is greater than a quantity threshold value, and the satellite dispersion is less than or equal to a dispersion threshold value, transmitting a deceleration driving signal value to the vehicle safety monitoring module.
In the scheme, under the condition of abnormal positioning accuracy, the target vehicle is stopped, and the probability of accident of the vehicle is reduced. Under the condition of decelerating and running, the speed of the target vehicle is reduced, the safety of the target vehicle is improved, new differential positioning data can be obtained in real time, and a foundation is provided for the target vehicle to resume normal automatic running.
The vehicle driving method based on differential positioning provided by the embodiment of the disclosure comprises the following steps: acquiring differential positioning data; judging whether the differential positioning data is a fixed solution or not; if the differential positioning data are determined to be the fixed solutions, controlling the target vehicle to run based on the differential positioning data; if the differential positioning data is determined to be a non-fixed solution, satellite information is acquired, the differential positioning data is subjected to abnormality judgment based on the satellite information to obtain an abnormality judgment result, and the target vehicle is controlled to run according to the abnormality judgment result. By adopting the technical scheme, under the condition that the differential positioning data is a fixed solution, the accuracy of the differential positioning data is higher, and the vehicle is controlled to automatically run according to the differential positioning data, so that the target vehicle has higher running accuracy and safety; under the condition that the differential positioning data is an unfixed solution, the accuracy of the differential positioning data is lower, the satellite information is subjected to abnormal judgment, and the automatic running of the target vehicle is correspondingly controlled according to the abnormal judgment result, so that the automatic running control of the vehicle aiming at the abnormal judgment result is realized, and the target vehicle has higher running safety.
Fig. 2 is a schematic flow chart of another vehicle driving method based on differential positioning according to an embodiment of the disclosure, as shown in fig. 2, in some embodiments of the disclosure, before obtaining differential positioning data, the method further includes:
in step 201, it is detected whether the hardware port is malfunctioning.
The hardware ports may include, among other things, differential positioning data transmitting ports and/or differential positioning data receiving ports of the vehicle domain controller.
In this embodiment, there are various methods for detecting whether the hardware port is faulty, and this embodiment is not limited, for example, a hardware watchdog of the hardware port may be preset in the vehicle domain controller, and it is determined whether the vehicle domain controller can poll and open the hardware port with a preset period, and if yes, a software watchdog feeding operation is performed. If not, judging whether the duration of the continuous software feeding operation exceeds the first preset duration, if so, determining that the hardware port has faults such as virtual connection or disconnection, and the like, filling the hardware port fault code into the vehicle safety monitoring module by the vehicle domain controller, and controlling the target vehicle to stop after the vehicle safety monitoring module receives the hardware port fault code. The first preset duration may be set according to a user requirement and/or an application scenario, which is not limited in this embodiment.
Step 202, if it is determined that the hardware port has no fault, it is determined whether the age timeout occurs in the received differential data.
And 203, if it is determined that the differential data does not have the age timeout, transmitting the differential data to the differential positioning device, so that the differential positioning device determines the differential positioning data based on the differential data.
The differential positioning device may be a device for improving accuracy of differential data, and the differential positioning device may be a mobile station receiver at a vehicle end.
In this embodiment, if the time interval of each dongle is within the first preset duration, it is determined that the hardware port has no fault, a first timestamp corresponding to the latest received differential data and a second timestamp corresponding to the last differential data of the latest received differential data are determined, whether the time interval between the first timestamp and the second timestamp is greater than the second preset duration is determined, if yes, it is determined that the age is overtime, and transmission of the differential data fails. The vehicle domain controller fills the differential fault code into the vehicle safety monitoring module, and after the vehicle safety monitoring receives the differential fault code, the vehicle safety monitoring controls the target vehicle to stop, and the subsequent fault repair and diagnosis are carried out manually. The second preset duration may be set according to a user requirement and/or an application scenario, etc., and the embodiment is not limited, and the size relationship between the first preset duration and the second preset duration may also be set according to a user requirement and/or an application scenario, etc., for example, the first preset duration may be set smaller than the second preset duration.
If the time interval between the first time stamp and the second time stamp is smaller than or equal to the second preset time length, determining that the age timeout does not occur, sending differential data to differential positioning equipment by the vehicle domain controller, and performing data correction processing, inertial navigation processing, filtering processing and the like on the differential data by the differential positioning equipment to obtain differential positioning data.
According to the scheme, automatic hardware port fault diagnosis is realized, and whether the differential data is overtime or not is judged under the condition that the hardware port has no fault, so that the influence of the fault of the hardware port on the judgment of the overtime of the age is avoided, and the accuracy of judging the overtime of the age is improved.
The embodiment of the disclosure provides a differential positioning system, which is characterized by comprising a 5G private network, a reference station and a vehicle end which are in communication connection through the 5G private network;
the vehicle end comprises a vehicle domain controller, a differential positioning device and a vehicle end 5G front-end device, wherein the differential positioning device and the vehicle end 5G front-end device are connected with the vehicle domain controller, and the vehicle domain controller is used for executing the vehicle driving method based on differential positioning.
The 5G private network can be a 5G network covering a target area, for example, the 5G private network can be a 5G network covering an open pit area and constructed by utilizing a network slicing technology, and the real-time performance of differential data transmission can be improved through the 5G private network, so that information leakage caused by using a public network is avoided, and the network safety is improved.
Fig. 3 is a schematic diagram of a differential positioning system according to an embodiment of the disclosure, where, as shown in fig. 3, the differential positioning system includes a 5G private network, a reference station, and a vehicle end.
The reference station may include a reference station receiver, a reference station server, a reference station 5G pre-equipment (Customer Premise Equipment, CPE). The reference station receiver is used for receiving global positioning system (Global Positioning System, GPS) data, beidou satellite data and the like, and parameters such as pseudo-range, ephemeris, ionosphere, troposphere and the like between the reference station and the satellite can be acquired through the reference station receiver. The reference station server is used for calculating the distance correction number, state information and the like between the reference station and the satellite according to the data received by the reference station receiver, and can be used as a server of a differential data network in a differential positioning system, and the reference station server can broadcast the distance correction number to a 5G private network through the reference station 5G-CPE.
Optionally, in the differential positioning system, a custom coding protocol may be used to perform data frame packaging and data frame transmission on the differential data. The custom encoding protocol includes, but is not limited to: one or more of a frame header, a timestamp, a message length, a message text, reserved bits, check bits. The message text is differential data generated by the reference station server. And, the reference station server can broadcast the differential data adopting the custom coding protocol to the 5G private network through the reference station 5G-CPE. The reference station 5G-CPE is responsible for wireless communication between the reference station server and a 5G independent networking (SA) core network.
The 5G private network comprises a 5G-SA core network and a 5G slicing base station, and the network slicing technology can be utilized to meet the requirements of the differential positioning system on the multiple aspects of network speed, quality, delay, reliability, safety, expansibility and the like. Under the condition that the automatic running area is changed, the deployment of the 5G slice base station can be adjusted according to the new automatic running area so as to realize the coverage of the area with poor network quality. By using the coverage scheme, the influence on the automatic running normal operation in the original network coverage area is small when the network coverage is adjusted.
The vehicle end comprises a vehicle domain controller, a differential positioning device and a vehicle end 5G-CPE. Wherein the differential positioning device is also called mobile station receiver. The vehicle domain controller is used for carrying out differential age monitoring and fault diagnosis, and can be used as a client of a differential data network in the differential positioning system; and receiving the differential data by the vehicle-side 5G-CPE, analyzing the differential data by the vehicle-side 5G-CPE according to a network transmission protocol, and transmitting the differential data to a mobile station receiver. The network transmission protocol may be a custom encoding protocol. A mobile station receiver is used for combined inertial navigation processing of the differential data, the mobile station receiver being configured with a satellite receiving antenna.
Next, a vehicle running method based on differential positioning in the embodiment of the present disclosure will be further described by way of a specific example. Fig. 4 is a flowchart of still another vehicle driving method based on differential positioning according to an embodiment of the disclosure, where the mobile station receiver may include a pseudo range differential processing unit and an inertial navigation processing unit, as shown in fig. 4, and in the vehicle driving method based on differential positioning, the determining, by the differential positioning device, differential positioning data based on differential data may include:
the pseudo-range differential processing unit acquires the decimeter-level positioning information of the vehicle by using the GNSS receiver, corrects the decimeter-level positioning information by using RTK differential data, eliminates various error items such as satellite clock error, satellite orbit error, ionosphere and troposphere error, receiver comprehensive error and the like, and acquires the centimeter-level positioning information of the vehicle.
The frequency of the pseudo-range differential processing unit for outputting the centimeter-level positioning information is 10HZ, the frequency cannot meet the requirement of the target vehicle on the positioning information output frequency, and in order to improve the centimeter-level positioning information frequency, an inertial navigation processing unit is arranged in the embodiment, and the positioning information output frequency of the inertial navigation processing unit is 100HZ. The inertial navigation processing unit comprises an inertial measurement unit (Inertial Measurement Unit, IMU) and an encoder, and the position, the speed and other data of the inertial navigation processing unit are obtained by fusing IMU data and encoder data through an extended Kalman filter (ExtendedKalmanFilter, EKF).
Because the frequency of the data such as the position and the speed output by the pseudo-range difference processing unit is inconsistent with the frequency of the data such as the position and the speed output by the inertial navigation processing unit, the mobile station receiver is provided with a Kalman filter to fuse the data such as the position and the speed of the pseudo-range difference processing unit and the inertial navigation processing unit. Specifically, the fusion formula is as follows:
pose state prediction
Figure BDA0004135133070000141
The values of (2) are: />
Figure BDA0004135133070000142
Wherein, if t is a time, < >>
Figure BDA0004135133070000143
For the pose state prediction of the inertial navigation processing unit at the moment t, A is the state transition matrix of a Kalman filter, and +.>
Figure BDA0004135133070000144
The pose state at the time t-1 after fusion.
Pose state prediction covariance
Figure BDA0004135133070000145
The values of (2) are: />
Figure BDA0004135133070000146
Wherein (1)>
Figure BDA0004135133070000147
Covariance of pose state prediction at t moment, A is state transition matrix of Kalman filter, P t-1 And Q is a noise matrix formed by acceleration noise, angular velocity noise and zero offset of the IMU, wherein the covariance is the pose state at the time t-1 after fusion.
The value of the gain factor K is:
Figure BDA0004135133070000151
wherein K is the gain coefficient of the Kalman filter,>
Figure BDA0004135133070000152
and (3) predicting covariance of the pose state at the moment t, wherein H is a Kalman filter measurement parameter matrix, and R is measurement noise of a pseudo-range differential processing unit.
Pose state
Figure BDA0004135133070000153
The values of (2) are: / >
Figure BDA0004135133070000154
Wherein (1)>
Figure BDA0004135133070000155
For the pose state at t time after fusion,,, is>
Figure BDA0004135133070000156
Predicting the pose state of an inertial navigation processing unit at the moment t, wherein K is the gain coefficient of a Kalman filter and Z is the gain coefficient of the Kalman filter t And H is a Kalman filter measurement parameter matrix for the position and direction measurement values of the pseudo-range differential processing unit.
Pose state covariance P t The values of (2) are:
Figure BDA0004135133070000157
wherein P is t The covariance of the pose state at the time t after fusion is obtained, I is a unit matrix, K is a gain coefficient of a Kalman filter, H is a measurement parameter matrix of the Kalman filter, and the I is a measurement parameter matrix of the Kalman filter>
Figure BDA0004135133070000158
And predicting covariance for the pose state at the moment t.
Meanwhile, as the position information of the inertial navigation processing unit increases along with the time, the position error is larger and larger, and the position information obtained by the Kalman filter can be used for correcting the position estimation of the inertial navigation processing unit. The kalman filter outputs differential positioning data.
Next, a vehicle running method based on differential positioning in the embodiment of the present disclosure will be further described by way of a specific example. Fig. 5 is a schematic flow chart of another vehicle driving method based on differential positioning according to an embodiment of the disclosure, and as shown in fig. 5, the vehicle driving method based on differential positioning includes:
Step 501, it is determined whether the hardware port is opened normally. If yes, go to step 502, otherwise, go to step 503.
The target vehicle works in the high dust and high vibration scenes of the mining area for a long time, faults such as virtual connection and disconnection of the hardware ports are easy to occur, and hardware port fault monitoring is carried out, so that the situation that the hardware ports are not found to have faults by the differential positioning system is prevented, and automatic driving accidents of the vehicle caused by the faults of the hardware ports are avoided. The hardware port monitor includes a differential positioning data transmitting port and a differential positioning data receiving port of the vehicle domain controller. Specifically, a hardware port watchdog is set, and the hardware port is periodically polled to judge whether the hardware port is normally opened or not.
Step 502, a software feeding operation is performed.
Step 503, filling the corresponding hardware port fault code into the vehicle safety monitoring module. Specifically, if the software dog feeding operation is not performed for more than the first preset time period, it is determined that the hardware port is abnormally opened, and the reason for the abnormal opening may be that the hardware port is in a virtual connection or disconnection. And after the vehicle safety monitoring module receives the hardware port fault code, the vehicle is controlled to be safely decelerated to a stop through the line control module. In this embodiment, the definition of the fault code may be confirmed based on a system fault code table.
Step 504, determining whether the time stamp interval is greater than a second preset duration. If yes, go to step 505, otherwise go to step 506
And if the software feeding operation is normally executed, sending differential data and reading differential positioning data. Before differential data is sent, the differential data age is monitored and analyzed, and the monitoring and analysis are mainly realized through a time stamp in custom coding. And calculating the time stamp interval of the adjacent two differential data, and judging whether the time stamp interval is larger than a second preset duration.
Step 505, filling the differential fault code into the vehicle safety monitoring module. The differential fault code has overtime of the characteristic age, the differential data transmission fails, and the vehicle safety monitoring module controls the target vehicle to safely decelerate to a stop and manually carry out subsequent fault diagnosis and repair.
Step 506, reading the differential positioning data, and analyzing the positioning state of the differential positioning data.
Step 507, it is determined whether the differential positioning data is in a fixed solution state. If yes, go to step 508, otherwise, go to step 509.
Step 508, filling the vehicle safety monitoring module with the safety driving code. The target vehicle normally runs automatically.
Step 509, determining whether the star search is abnormally fluctuated. If yes, go to step 510, otherwise, go to step 511.
If the differential data is not in the fixed solution state, namely the differential positioning data is in the non-fixed solution state, continuously judging whether abnormal fluctuation occurs in satellite information in the satellite searching process under the condition.
And 510, filling the precision exception code into the vehicle safety monitoring module. The target vehicle is decelerated to a stop, and then fault diagnosis and repair are performed manually.
Step 511, filling the deceleration driving code into the vehicle safety monitoring module.
Specifically, a search star dispersion M of the GNSS search star number in a preset time period is calculated, and a number threshold N and a dispersion threshold Q are set. If the number of the GNSS satellites is smaller than or equal to the number threshold N, or the number of the GNSS satellites is larger than the number threshold N, and the dispersion of the satellites is larger than the dispersion threshold Q, determining abnormal fluctuation of the satellites; and if the number of the GNSS satellites is larger than the number threshold N and the satellite searching dispersion M is smaller than or equal to the dispersion threshold Q value, determining that the satellites searching have no abnormal fluctuation.
In the scheme, the 5G private network is built to cover the mining area based on the network slicing technology, so that the signal blind area of the mining area is reduced, the instantaneity of differential data transmission is improved, meanwhile, the data leakage in the differential data transmission process through the public network is avoided, and the data security is improved. And the data is received by adopting the multithreading field cache at the reference station server and the vehicle domain controller, so that the differential data is transmitted more stably and reliably. And the positioning accuracy is monitored in real time by using age monitoring and fault diagnosis, so that a foundation is provided for the safe and automatic running of the target vehicle.
Fig. 6 is a schematic structural diagram of a vehicle driving device based on differential positioning according to an embodiment of the disclosure, where the device may be implemented by software and/or hardware, and may be generally integrated in an electronic device. As shown in fig. 6, the apparatus includes:
an acquisition module 601, configured to acquire differential positioning data;
a first determining module 602, configured to determine whether the differential positioning data is a fixed solution;
the first control module 603 is configured to control the target vehicle to run based on the differential positioning data if the differential positioning data is determined to be a fixed solution;
and the second control module 604 is configured to obtain satellite information if the differential positioning data is determined to be a non-stationary solution, perform anomaly determination on the differential positioning data based on the satellite information to obtain an anomaly determination result, and control the target vehicle to travel according to the anomaly determination result.
Optionally, a first judging module 602 is configured to:
if the error of the differential positioning data is smaller than or equal to an error threshold value, determining the differential positioning data as a fixed solution; otherwise, determining the differential positioning data as an unfixed solution.
Optionally, the first control module 603 is configured to:
and sending a safe driving signal to a vehicle safety monitoring module so that the vehicle safety monitoring module controls the target vehicle to drive according to the differential positioning data based on the safe driving signal.
Optionally, the satellite information includes a satellite number and/or a satellite dispersion, and the second control module 604 is configured to: and acquiring the number of satellites and/or the satellite dispersion of a satellite navigation system in a preset time period.
Optionally, the second control module 604 is configured to:
if the number of satellites is smaller than or equal to a number threshold, or the number of satellites is larger than the number threshold and the satellite dispersion is larger than a dispersion threshold, determining that the abnormal judgment result of the differential positioning data is abnormal in positioning precision;
if the number of satellites is larger than the number threshold and the satellite dispersion is smaller than or equal to the dispersion threshold, determining that the abnormal judgment result of the differential positioning data is to be in decelerating running.
Optionally, the second control module 604 includes:
when the abnormality judgment result is that the positioning accuracy is abnormal, sending a positioning accuracy abnormality signal to a vehicle safety monitoring module so that the vehicle safety monitoring module controls the target vehicle to slow down until stopping based on the positioning accuracy abnormality signal;
and when the abnormal judgment result is that the vehicle is to run at a reduced speed, a speed reduction running signal is sent to the vehicle safety monitoring module, so that the vehicle safety monitoring module controls the target vehicle to run at a reduced speed based on the speed reduction running signal.
The apparatus optionally further comprises:
the detection module is used for detecting whether the hardware port fails or not before the differential positioning data are acquired;
the second judging module is used for judging whether the received differential data have age overtime or not if the hardware port is determined to be fault-free;
and the sending module is used for sending the differential data to the differential positioning equipment if the differential data is determined not to have age timeout, so that the differential positioning equipment determines the differential positioning data based on the differential data.
The vehicle running device based on differential positioning provided by the embodiment of the disclosure can execute the vehicle running method based on differential positioning provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
The embodiment of the disclosure provides a differential positioning system, which is characterized by comprising a 5G private network, and a reference station and a vehicle end which are in communication connection through the 5G private network;
the vehicle end comprises a vehicle domain controller, differential positioning equipment and vehicle end 5G front-end equipment, wherein the differential positioning equipment and the vehicle end 5G front-end equipment are connected with the vehicle domain controller, and the vehicle domain controller comprises any vehicle running device based on differential positioning.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, an electronic device 700 includes one or more processors 701 and memory 702.
The processor 701 may be a Central Processing Unit (CPU) or other form of processing unit having differential positioning based vehicle travel capabilities and/or instruction execution capabilities, and may control other components in the electronic device 700 to perform desired functions.
Memory 702 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 701 to implement the differential positioning based vehicle driving method and/or other desired functions of the embodiments of the present disclosure described above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 700 may further include: input device 703 and output device 704, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
In addition, the input device 703 may also include, for example, a keyboard, a mouse, and the like.
The output device 704 may output various information to the outside, including the determined distance information, direction information, and the like. The output device 704 may include, for example, a display, speakers, a printer, and a communication network and remote output apparatus connected thereto, etc.
Of course, only some of the components of the electronic device 700 that are relevant to the present disclosure are shown in fig. 7 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 700 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the present disclosure may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the differential positioning based vehicle driving method provided by the embodiments of the present disclosure.
The computer program product may write program code for performing the operations of embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like 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 computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Further, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the differential positioning-based vehicle driving method provided by the embodiments of the present disclosure.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is 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 (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Fig. 8 is a schematic structural diagram of a chip according to an embodiment of the disclosure, and as shown in fig. 8, a chip 800 includes one or more (including two) processors 810 and a communication interface 830. The communication interface 830 is coupled to the at least one processor 810, and the at least one processor 810 is configured to execute computer programs or instructions to implement the differential positioning based vehicle driving method as described in embodiment one.
Preferably, the memory 840 stores the following elements: executable modules or data structures, or a subset thereof, or an extended set thereof.
In an embodiment of the present disclosure, memory 840 may include read only memory and random access memory, and provide instructions and data to processor 810. A portion of memory 840 may also include non-volatile random access memory (non-volatile random access memory, NVRAM).
In the disclosed embodiment, memory 840, communication interface 830, and memory 840 are coupled together by bus system 820. The bus system 820 may include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. For ease of description, the various buses are labeled as bus system 820 in FIG. 8.
The methods described in the embodiments of the present disclosure above may be applied to the processor 810 or implemented by the processor 810. The processor 810 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 810. The processor 810 may be a general purpose processor (e.g., a microprocessor or a conventional processor), a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), an off-the-shelf programmable gate array (field-programmable gate array, FPGA) or other programmable logic device, discrete gates, transistor logic, or discrete hardware components, and the processor 810 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the disclosure.
Fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present disclosure, and as shown in fig. 9, a terminal 900 includes a vehicle running device 910 based on differential positioning according to the foregoing embodiment.
The terminal 900 may perform the method described in the above embodiment by the vehicle running apparatus 910 based on differential positioning. It is to be understood that the implementation manner of the terminal 900 for controlling the vehicle running device 910 based on differential positioning may be set according to the actual application scenario, and the embodiment of the present disclosure is not specifically limited.
The terminal 900 includes, but is not limited to: the method provided by the disclosure is implemented by other sensors such as a vehicle, a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar or a vehicle-mounted camera, and the vehicle can pass through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera. Vehicles in this application include passenger and commercial vehicles, common vehicle types for commercial vehicles include, but are not limited to: pick-up cards, micro-cards, light cards, micro-guests, self-unloading vehicles, trucks, tractors, trailers, special vehicles, mining vehicles and the like. Mining vehicles include, but are not limited to, mining trucks, wide body vehicles, articulated vehicles, diggers, electric shovels, bulldozers, and the like. The type of the intelligent vehicle is not further limited, and any vehicle type is within the protection scope of the application.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A vehicle driving method based on differential positioning, characterized by comprising:
acquiring differential positioning data;
judging whether the differential positioning data is a fixed solution or not;
if the differential positioning data are determined to be a fixed solution, controlling the target vehicle to run based on the differential positioning data;
and if the differential positioning data is determined to be a non-fixed solution, satellite information is acquired, the differential positioning data is subjected to abnormality judgment based on the satellite information to obtain an abnormality judgment result, and the target vehicle is controlled to run according to the abnormality judgment result.
2. The method of claim 1, wherein controlling the target vehicle to travel based on the differential positioning data comprises:
And sending a safe driving signal to a vehicle safety monitoring module so that the vehicle safety monitoring module controls the target vehicle to drive according to the differential positioning data based on the safe driving signal.
3. The method of claim 1, wherein the satellite information includes a number of satellites and/or a satellite dispersion, and wherein the acquiring the satellite information includes:
and acquiring the number of satellites and/or the satellite dispersion of a satellite navigation system in a preset time period.
4. The method of claim 3, wherein performing anomaly determination on the differential positioning data based on the satellite information to obtain an anomaly determination result comprises:
if the number of satellites is smaller than or equal to a number threshold, or the number of satellites is larger than the number threshold and the satellite dispersion is larger than a dispersion threshold, determining that the abnormal judgment result of the differential positioning data is abnormal in positioning precision;
if the number of satellites is larger than the number threshold and the satellite dispersion is smaller than or equal to the dispersion threshold, determining that the abnormal judgment result of the differential positioning data is to be in decelerating running.
5. The method according to claim 4, characterized in that controlling the target vehicle to travel according to the abnormality determination result includes:
When the abnormality judgment result is that the positioning accuracy is abnormal, sending a positioning accuracy abnormality signal to a vehicle safety monitoring module so that the vehicle safety monitoring module controls the target vehicle to slow down until stopping based on the positioning accuracy abnormality signal;
and when the abnormal judgment result is that the vehicle is to run at a reduced speed, a speed reduction running signal is sent to the vehicle safety monitoring module, so that the vehicle safety monitoring module controls the target vehicle to run at a reduced speed based on the speed reduction running signal.
6. The method of claim 1, wherein prior to obtaining differential positioning data, the method further comprises:
detecting whether a hardware port fails;
if the hardware port is determined to be fault-free, judging whether the received differential data have age overtime or not;
and if the differential data is determined not to have age timeout, transmitting the differential data to differential positioning equipment so that the differential positioning equipment determines the differential positioning data based on the differential data.
7. The differential positioning system is characterized by comprising a 5G private network, a reference station and a vehicle end which are in communication connection through the 5G private network;
the vehicle end comprises a vehicle domain controller, a differential positioning device and a vehicle end 5G front-end device, wherein the differential positioning device and the vehicle end 5G front-end device are connected with the vehicle domain controller, and the vehicle domain controller is used for executing the vehicle driving method based on differential positioning according to any one of the claims 1-6.
8. A vehicle travel device based on differential positioning, characterized by comprising:
the acquisition module is used for acquiring differential positioning data;
the first judging module is used for judging whether the differential positioning data is a fixed solution or not;
the first control module is used for controlling the target vehicle to run based on the differential positioning data if the differential positioning data are determined to be a fixed solution;
and the second control module is used for acquiring satellite information if the differential positioning data is determined to be a non-fixed solution, carrying out anomaly judgment on the differential positioning data based on the satellite information to obtain an anomaly judgment result, and controlling the target vehicle to run according to the anomaly judgment result.
9. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the differential positioning-based vehicle driving method according to any one of the preceding claims 1-6.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the differential localization-based vehicle driving method according to any one of the preceding claims 1-6.
CN202310272219.6A 2023-03-20 2023-03-20 Vehicle driving method, device, equipment and medium based on differential positioning Pending CN116300934A (en)

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