CN117130001A - Positioning method, positioning device, electronic equipment and storage medium - Google Patents
Positioning method, positioning device, electronic equipment and storage medium Download PDFInfo
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The application relates to a positioning method, a positioning device, electronic equipment and a storage medium, which are applied to the technical field of unmanned driving, wherein the positioning method comprises the following steps: detecting first position coordinates of each point in the road edge; calculating the position offset of the second position coordinate and the actual position coordinate of the first position coordinate under the world coordinate system; converting the position offset into a vehicle body coordinate system where the unmanned vehicle is located, and determining the overall offset according to the position offset of each point; determining the uncertainty of the offset according to the size of the overall offset; detecting a first vehicle position coordinate of the unmanned vehicle and determining a position uncertainty of the first vehicle position coordinate; determining a first corrected position coordinate according to a second vehicle position coordinate, position uncertainty, overall offset and offset uncertainty of the first vehicle position coordinate under a vehicle body coordinate system; and converting the first corrected position coordinate into a world coordinate system to obtain a second corrected position coordinate. The application can improve the positioning accuracy.
Description
Technical Field
The present application relates to the field of unmanned technologies, and in particular, to a positioning method, a positioning device, an electronic device, and a storage medium.
Background
The rapid development of the passive driving technology brings convenience to the travel of human beings. Currently, unmanned vehicles provide positioning information through a combined navigation and laser radar point cloud matching mode, and are required to work in areas without shielding by a GPS (Global Positioning System ) or scenes with abundant structural features and convenience in point cloud matching. In a scene without GPS signals, the laser radar on the unmanned vehicle is required to be matched with a high-precision point cloud map which is built in advance to provide positioning information. In areas with insufficient structural features, such as open squares or long and narrow roads with two similar sides, point cloud matching is easy to fail, and the positioning accuracy of the unmanned vehicle is low.
Disclosure of Invention
In order to solve the technical problems, the application provides a positioning method, a positioning device, electronic equipment and a storage medium.
According to a first aspect of the present application, there is provided a positioning method comprising:
detecting the road edge of a road where an unmanned vehicle is located, and obtaining first position coordinates of each point in the road edge under a coordinate system where detection equipment is located;
converting the first position coordinate of each point into a world coordinate system to obtain a second position coordinate of each point;
Acquiring actual position coordinates of each point in a point cloud map, and calculating the position offset of the second position coordinates and the actual position coordinates of each point; the actual position coordinates are position coordinates under a world coordinate system;
converting the position offset of each point into a vehicle body coordinate system where the unmanned vehicle is located, and determining the overall offset according to the position offset of each point in the vehicle body coordinate system; wherein an overall offset in a traveling direction of the unmanned vehicle under the vehicle body coordinate system is 0;
determining the offset uncertainty of the overall offset under the vehicle body coordinate system according to the size of the overall offset; wherein an offset uncertainty along a traveling direction of the unmanned vehicle under the vehicle body coordinate system is infinity;
detecting a first vehicle position coordinate of the unmanned vehicle in a world coordinate system, and determining a position uncertainty of the first vehicle position coordinate;
converting the first vehicle position coordinate to a vehicle body coordinate system to obtain a second vehicle position coordinate, and determining a first corrected position coordinate of the unmanned vehicle in the vehicle body coordinate system according to the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty;
And converting the first corrected position coordinate into a world coordinate system to obtain a second corrected position coordinate of the unmanned vehicle.
Optionally, the determining the first corrected position coordinate of the unmanned vehicle under the vehicle body coordinate system according to the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty includes:
determining target position coordinates according to the second vehicle position coordinates and the position uncertainty;
determining a target offset according to the overall offset and the offset uncertainty;
and determining a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system according to the target position coordinate and the target offset.
Optionally, the determining the target position coordinate according to the second vehicle position coordinate and the position uncertainty includes:
substituting the position uncertainty into a first preset function to obtain a first function value, wherein the first function value and the position uncertainty are in negative correlation;
and determining the product of the second vehicle position coordinate and the first function value as target position coordinate.
Optionally, the determining the target offset according to the overall offset and the offset uncertainty includes:
substituting the offset uncertainty into a second preset function to obtain a second function value, wherein the second function value and the offset uncertainty are in negative correlation;
and determining the product of the integral offset and the second function value as a target offset.
Optionally, the determining, according to the target position coordinate and the target offset, a first corrected position coordinate of the unmanned vehicle in a vehicle body coordinate system includes:
determining the sum of the target position coordinate and the target offset as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system; or,
substituting the position uncertainty and the offset uncertainty into a third preset function to obtain a third function value; wherein the third function value is inversely related to the position uncertainty and the offset uncertainty;
and determining the product of the sum of the target position coordinate and the target offset and the third function value as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system.
Optionally, the determining the overall offset according to the position offset of each point in the vehicle body coordinate system includes:
determining an average value of the position offset of each point under a vehicle body coordinate system as an overall offset; or,
setting a weighted value for the position offset of each point under a vehicle body coordinate system according to the distance between each point and the unmanned vehicle; wherein the weighted value of the position offset of each point is inversely related to the distance between each point and the unmanned vehicle;
and according to the weighted value, carrying out weighted average on the position offset of each point under the vehicle body coordinate system, and determining the obtained weighted average as the whole offset.
Optionally, the detection device is a camera;
the method for detecting the road edge of the road where the unmanned vehicle is located, to obtain the first position coordinates of each point in the road edge under the coordinate system where the detection equipment is located, comprises the following steps:
shooting the road edge of the road where the unmanned vehicle is located to obtain a road edge image;
obtaining a first position coordinate of each point in the road edge under a camera coordinate system according to the position coordinates of each pixel point in the road edge image;
Or the detection equipment is a laser radar;
the method for detecting the road edge of the road where the unmanned vehicle is located, to obtain the first position coordinates of each point in the road edge under the coordinate system where the detection equipment is located, comprises the following steps:
and carrying out laser radar point cloud detection on the road edge of the road where the unmanned vehicle is located, and obtaining first position coordinates of each point in the road edge under a laser radar coordinate system.
According to a second aspect of the present application, there is provided a positioning device comprising:
the edge position coordinate determining module is used for detecting the edge of the road where the unmanned vehicle is located to obtain first position coordinates of each point in the edge of the road under the coordinate system where the detecting equipment is located;
the first coordinate conversion module is used for converting the first position coordinate of each point into a world coordinate system to obtain the second position coordinate of each point;
the position offset determining module is used for acquiring the actual position coordinates of each point in the point cloud map and calculating the position offset of the second position coordinates and the actual position coordinates of each point; the actual position coordinates are position coordinates under a world coordinate system;
The second coordinate conversion module is used for converting the position offset of each point into a vehicle body coordinate system where the unmanned vehicle is located;
the integral offset determining module is used for determining the integral offset according to the position offset of each point under the vehicle body coordinate system; wherein an overall offset in a traveling direction of the unmanned vehicle under the vehicle body coordinate system is 0;
the offset uncertainty determining module is used for determining the offset uncertainty of the integral offset under the vehicle body coordinate system according to the size of the integral offset; wherein an offset uncertainty along a traveling direction of the unmanned vehicle under the vehicle body coordinate system is infinity;
a position uncertainty determination module for detecting a first vehicle position coordinate of the unmanned vehicle in a world coordinate system and determining a position uncertainty of the first vehicle position coordinate;
the third coordinate conversion module is used for converting the first vehicle position coordinate into a vehicle body coordinate system to obtain a second vehicle position coordinate;
the corrected position coordinate determining module is used for determining a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system according to the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty;
And the fourth coordinate conversion module is used for converting the first corrected position coordinate into a world coordinate system to obtain a second corrected position coordinate of the unmanned vehicle.
Optionally, the corrected position coordinate determining module is specifically configured to determine a target position coordinate according to the second vehicle position coordinate and the position uncertainty; determining a target offset according to the overall offset and the offset uncertainty; and determining a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system according to the target position coordinate and the target offset.
Optionally, the corrected position coordinate determining module is specifically configured to determine the target position coordinate according to the second vehicle position coordinate and the position uncertainty by:
substituting the position uncertainty into a first preset function to obtain a first function value, wherein the first function value and the position uncertainty are in negative correlation;
and determining the product of the second vehicle position coordinate and the first function value as target position coordinate.
Optionally, the corrected position coordinate determining module is specifically configured to determine a target offset according to the overall offset and the offset uncertainty by:
Substituting the offset uncertainty into a second preset function to obtain a second function value, wherein the second function value and the offset uncertainty are in negative correlation;
and determining the product of the integral offset and the second function value as a target offset.
Optionally, the corrected position coordinate determining module is specifically configured to determine, according to the target position coordinate and the target offset, a first corrected position coordinate of the unmanned vehicle in a vehicle body coordinate system by:
determining the sum of the target position coordinate and the target offset as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system; or,
substituting the position uncertainty and the offset uncertainty into a third preset function to obtain a third function value; wherein the third function value is inversely related to the position uncertainty and the offset uncertainty;
and determining the product of the sum of the target position coordinate and the target offset and the third function value as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system.
Optionally, the overall offset determining module is specifically configured to determine an average value of the position offsets of the points in the vehicle body coordinate system as an overall offset; or,
Setting a weighted value for the position offset of each point under a vehicle body coordinate system according to the distance between each point and the unmanned vehicle; wherein the weighted value of the position offset of each point is inversely related to the distance between each point and the unmanned vehicle; and according to the weighted value, carrying out weighted average on the position offset of each point under the vehicle body coordinate system, and determining the obtained weighted average as the whole offset.
Optionally, the detection device is a camera;
the edge position coordinate determining module is specifically used for shooting the edge of the road where the unmanned vehicle is located to obtain a road edge image; obtaining a first position coordinate of each point in the road edge under a camera coordinate system according to the position coordinates of each pixel point in the road edge image;
or the detection equipment is a laser radar;
the edge position coordinate determining module is specifically configured to perform laser radar point cloud detection on a road edge of a road where the unmanned vehicle is located, so as to obtain a first position coordinate of each point in the road edge under a laser radar coordinate system.
According to a third aspect of the present application, there is provided an electronic device comprising: a processor for executing a computer program stored in a memory, which when executed by the processor implements the method according to the first aspect.
According to a fourth aspect of the present application, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect.
According to a fifth aspect of the present application, there is provided a computer program product for, when run on a computer, causing the computer to perform the method of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
when the unmanned vehicle is positioned, the position offset is obtained by detecting the position coordinates of the road edge of the road where the unmanned vehicle is located and comparing the position coordinates with the actual position coordinates of the road edge in the point cloud map. If the offset uncertainty of the position offset is set in the world coordinate system, the position offset in the unconstrained direction (i.e., the traveling direction of the vehicle) is set to 0, the uncertainty of the position offset is set to a very large value to approximate infinity, and the position coordinates of the unmanned vehicle are corrected by the position offset and the offset uncertainty. Because the position offset and the offset uncertainty have components in two dimensions under the world coordinate system, the larger the offset uncertainty is, the larger the error is brought in the correction process. In the embodiment of the application, the position offset and the offset uncertainty can be modeled under the vehicle body coordinate system, and the position offset in the running direction of the vehicle (namely, the longitudinal direction) is ignored because the running direction of the vehicle is unconstrained, namely, the position offset is 0, and even if the corresponding offset uncertainty is infinity, the position offset and the offset uncertainty only have transverse 1-dimensional components under the vehicle body coordinate system, so that only the transverse position coordinate is corrected. After correction under the vehicle body coordinate system, the correction is converted into the world coordinate system, so that errors in the correction process can be reduced, the positioning accuracy of the unmanned vehicle is improved, and the method is applicable to areas with poor GPS signals and insufficient structural characteristics.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a positioning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of determining a position offset according to an embodiment of the present application;
FIG. 3 is a schematic diagram of position offset and uncertainty of position offset in world coordinate system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of uncertainty in the set position offset in world coordinate system in accordance with an embodiment of the present application;
FIG. 5 is a schematic diagram of the position offsets in the world coordinate system and the vehicle body coordinate system, respectively, according to the embodiment of the present application;
FIG. 6 is a schematic diagram of the uncertainty of the position offset and the position offset under the vehicle body coordinate system according to the embodiment of the present application;
FIG. 7 is a schematic diagram of uncertainty in setting position offsets under a vehicle body coordinate system in an embodiment of the present application;
FIG. 8 is a schematic view of a positioning device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the application will be more clearly understood, a further description of the application will be made. It should be noted that, without conflict, the embodiments of the present application 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 application, but the present application 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 application.
The positioning method, the device, the electronic equipment and the storage medium are suitable for unmanned vehicles, can be used in areas (such as ground libraries, tunnels, hu-gong and the like) with poor GPS signals and not abundant structural features in the point cloud map, and improve the positioning accuracy of the unmanned vehicles. For example, the cleaning accuracy of the unmanned cleaning vehicle, especially the accuracy of the roadside and the wall edge can be improved for the unmanned cleaning vehicle.
Referring to fig. 1, fig. 1 is a flowchart of a positioning method according to an embodiment of the present application, which may include the following steps:
step S102, detecting the road edge of the road where the unmanned vehicle is located, and obtaining the first position coordinates of each point in the road edge under the coordinate system where the detection equipment is located.
The unmanned vehicle may include a detection device for detecting a road edge of a road where the unmanned vehicle is located, for example, the detection device may be a camera or a laser radar. The detection equipment used is different, and the method for detecting the road edge is also different.
In one scenario, the detection device is a camera, and may capture a road edge of a road on which the unmanned vehicle is located, to obtain a road edge image. And obtaining a first position coordinate of each point in the road edge under the camera coordinate system according to the position coordinates of each pixel point in the road edge image. In still another scenario, the detection device is a laser radar, and laser radar point cloud detection is performed on a road edge of a road where the unmanned vehicle is located, so as to obtain first position coordinates of each point in the road edge under a laser radar coordinate system.
Step S104, converting the first position coordinates of each point into a world coordinate system to obtain the second position coordinates of each point.
In the case that the detection device is a camera, the first position coordinates of each point in the road edge can be projected under the vehicle body coordinate system according to the internal parameters (such as the focal length, distortion and other parameters of the camera) and the external parameters (the installation position and orientation of the camera relative to the unmanned vehicle) of the camera, so as to obtain the position coordinates of the road edge under the vehicle body coordinate system. And then, converting the position coordinate under the vehicle body coordinate system into the world coordinate system according to the position coordinate and the posture information of the unmanned vehicle to obtain a second position coordinate.
Under the condition that the detection equipment is a laser radar, according to the external parameters of the laser radar (the installation position and the orientation of the laser radar relative to the unmanned vehicle), the first position coordinates of each point in the road edge under the laser radar coordinate system are projected to the vehicle body coordinate system, and the position coordinates of the road edge under the vehicle body coordinate system are obtained. And then, converting the position coordinate under the vehicle body coordinate system into the world coordinate system according to the position coordinate and the posture information of the unmanned vehicle to obtain a second position coordinate.
The position coordinates of the unmanned vehicle refer to position coordinates before correction, that is, first vehicle position coordinates of the unmanned vehicle in the world coordinate system detected in step S112 described below. A method of determining position coordinates and posture information of the unmanned vehicle will be described in step S112 described below.
And S106, acquiring the actual position coordinates of each point in the point cloud map, and calculating the position offset of the second position coordinates and the actual position coordinates of each point.
A point cloud map is a pre-established map containing a collection of data points representing 3D shapes or objects in space. The actual position coordinates of each point may be obtained from the point cloud map, and may be considered as accurate position coordinates, and the actual position coordinates are position coordinates in the world coordinate system. Therefore, the first position coordinate is converted to the second position coordinate under the world coordinate system by the method, and the position offset is obtained by calculating the difference between the second position coordinate and the actual position coordinate of each point.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating determining a position offset according to an embodiment of the application. It can be seen that there is a certain deviation, i.e. a position offset, between the detected road edge and the actual road edge.
Step S108, converting the position offset of each point into a vehicle body coordinate system where the unmanned vehicle is located, and determining the overall offset according to the position offset of each point in the vehicle body coordinate system; wherein the overall offset in the traveling direction of the unmanned vehicle in the vehicle body coordinate system is 0.
In embodiments of the present application, the position of the unmanned vehicle may be determined by an observation value (actually detected position coordinates, which are generally inaccurate) and a correction amount. The location of the unmanned vehicle includes two key pieces of information: correction amount and uncertainty of correction amount. The final positioning result is proportional to the correction amount and inversely proportional to the uncertainty of the correction amount. Since the reference coordinate system of the positioning information is the world coordinate system, description of the correction amount and the uncertainty thereof is performed under the world coordinate system in the related art. The correction is achieved without any observation of the running direction of the vehicle, and only the correction amount of the running direction of the vehicle is set to 0, and the uncertainty of the correction amount of the running direction of the vehicle is set to infinity. In actual cases, the uncertainty of the correction amount of the traveling direction of the vehicle is set to a very large value to be approximated. In the world coordinate system, the larger the uncertainty of the correction amount is, the larger the error is brought in the correction process.
Referring to fig. 3, fig. 3 is a schematic diagram of a position offset and uncertainty of the position offset in a world coordinate system according to an embodiment of the present application. Wherein the dashed double-headed arrow indicates the positional shift amount, and since each point has a corresponding positional shift amount, the positional shift amounts of the plurality of points may constitute an elliptical area indicating a shift amount uncertainty, and the larger the ellipse, the larger the shift amount uncertainty.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating uncertainty in setting the position offset in the world coordinate system according to an embodiment of the present application. The uncertainty of the correction amount of the traveling direction of the vehicle is set to infinity, and the uncertainty of the correction amounts of the x-axis and the y-axis is also infinity in the world coordinate system, and thus, a large error is brought in the correction process.
In order to avoid the above problems, in the embodiment of the present application, the expression of the coordinates of the vehicle body in the world coordinate system may be introducedThe correction amount and the uncertainty of the correction amount are modeled in the vehicle body coordinate system. The correction amount is converted into the vehicle body coordinate system, and the position coordinates and +.>While being the value to be calculated.
In the embodiment of the application, since each point has a corresponding position offset, the overall offset can be determined based on the position offset of each point in the vehicle body coordinate system, and the overall offset can be used as the correction amount.
In some embodiments, an average value of the positional offsets of the respective points in the vehicle body coordinate system may be determined as the overall offset. Or, a weighted value may be set for the position offset of each point in the vehicle body coordinate system according to the distance between each point and the unmanned vehicle; wherein the weighted value of the position offset of each point is inversely related to the distance between each point and the unmanned vehicle, i.e. the greater the distance, the smaller the weighted value. And then, according to the weighted value, carrying out weighted average on the position offset of each point under the vehicle body coordinate system, and determining the obtained weighted average as the whole offset. Alternatively, the maximum value of the positional offsets of all points may be determined as the overall offset, and the present application is not limited to the method for determining the overall offset.
Referring to fig. 5, fig. 5 is a schematic diagram of the position offset in the world coordinate system and the vehicle body coordinate system, respectively, according to the embodiment of the present application. It can be seen that the positional deviation amount of 2 dimensions in the world coordinate system is converted into the positional deviation amount of 1 dimension after being converted into the vehicle body coordinate system, that is, the overall positional deviation amount in the traveling direction of the unmanned vehicle in the vehicle body coordinate system is 0.
Step S110, determining the uncertainty of the overall offset under the vehicle body coordinate system according to the overall offset; wherein, the uncertainty of the offset along the running direction of the unmanned vehicle under the vehicle body coordinate system is infinity.
In the car body coordinate system O b Below, X b Uncertainty of position offset of direction is infinity, Y b Uncertainty of the position offset of the direction can be determined according to the magnitude of the overall offset, and the greater the overall offset is, the uncertainty of the offsetThe larger. Alternatively, the offset uncertainty may be determined based on empirical values. After scene transition to only one dimension (i.e. Y b Direction) the uncertainty of the correction amount can be modeled correctly.
Referring to fig. 6, fig. 6 is a schematic diagram of the uncertainty of the position offset and the position offset under the vehicle body coordinate system in the embodiment of the present application. Similar to FIG. 3, the dashed double-headed arrow indicates the amount of positional shift, which is at X b The direction has no component, and since each point has a corresponding position offset, the position offsets of the points can form an elliptical region that represents the offset uncertainty, with a larger ellipse representing a larger offset uncertainty.
Fig. 7 is a schematic diagram of uncertainty in setting the position offset in the vehicle body coordinate system in the embodiment of the present application. X is X b The positional offset of the direction is 0, and the uncertainty of the offset is infinity. Y is Y b The position offset in the direction is the integral offset, and the uncertainty of the offset can be determined according to the integral offset or can be set empirically.
Step S112, detecting a first vehicle position coordinate of the unmanned vehicle in the world coordinate system, and determining a position uncertainty of the first vehicle position coordinate.
It should be noted that, the positioning of the unmanned vehicle may be a continuous process of recursion, correction, recursion and correction, and the method for detecting the first vehicle position coordinate of the unmanned vehicle in the world coordinate system may be: the method comprises the steps of acquiring a position coordinate of an unmanned vehicle at a previous moment, measuring linear acceleration, rotation angular velocity and the like of the unmanned vehicle through an Inertial Measurement Unit (IMU), obtaining a position and an attitude of relative motion of the unmanned vehicle through integration of the linear acceleration and the rotation angular velocity, and estimating a first vehicle position coordinate of the unmanned vehicle under a world coordinate system according to the position coordinate at the previous moment and the position and the attitude of the relative motion.
The position uncertainty of the first vehicle position coordinate is related to the length of the recursion time, and the longer the recursion time is, the greater the position coordinate uncertainty is. For example, if the position coordinates of the unmanned vehicle are obtained by recursion at all times, the corresponding position uncertainty may be relatively large.
Step S114, converting the first vehicle position coordinate into a vehicle body coordinate system to obtain a second vehicle position coordinate, and determining a first corrected position coordinate of the unmanned vehicle in the vehicle body coordinate system according to the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty.
Since the position coordinates of the unmanned vehicle are corrected in the vehicle body coordinate system and the detected first vehicle position coordinates are the position coordinates in the world coordinate system, the first vehicle position coordinates are converted into the vehicle body coordinate system to obtain the second vehicle position coordinates, and the second vehicle position coordinates are corrected. The direction of travel of the vehicle is unconstrained, and therefore X is a function of the second vehicle position coordinates b The directional component being uncorrected, i.e. X being the first corrected position coordinate obtained after correction b The position coordinates of the direction are still X of the second position coordinates b Position coordinates of the direction.
Thus, the second vehicle position coordinate is corrected, that is, Y of the second vehicle position coordinate b The component of the direction is corrected. The correction mode is as follows: the second vehicle position coordinate is corrected by the position uncertainty, the overall offset, and the offset uncertainty.
In some embodiments, the target location coordinates may be determined based on the second vehicle location coordinates and the location uncertainty. And determining the target offset according to the overall offset and the offset uncertainty. That is, the second position coordinates are first corrected by the position uncertainty. The overall offset is corrected by the offset uncertainty. And then, determining a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system according to the target position coordinate and the target offset.
Alternatively, the position uncertainty may be substituted into the first preset function to obtain a first function value, where the first function value is inversely related to the position uncertainty, that is, the greater the position uncertainty is, the smaller the first function value is, and the specific form of the first preset function is not limited herein. The product of the second vehicle position coordinates and the first function value, which may be a value around 1, is then determined as the target position coordinates.
Similarly, the offset uncertainty is substituted into a second preset function to obtain a second function value, wherein the second function value is in negative correlation with the offset uncertainty, i.e. the larger the offset uncertainty is, the smaller the second function value is, and the specific form of the second preset function is not limited. And determining the product of the integral offset and the second function value as a target offset.
Finally, the sum of the target position coordinates and the target offset can be directly determined as the first corrected position coordinates of the unmanned vehicle in the vehicle body coordinate system. Alternatively, the position uncertainty and the offset uncertainty may be substituted into a third preset function to obtain a third function value; the third function value and the position uncertainty and the offset uncertainty are in negative correlation. And determining the product of the sum of the target position coordinate and the target offset and the third function value as a first corrected position coordinate of the unmanned vehicle under the vehicle body coordinate system.
Besides the correction method, a correction function may be constructed in advance, and the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty may be directly substituted into the correction function to obtain the first corrected position coordinate. The general concept of the correction function is: the correction result is obtained by adding the correction amount to the vehicle position coordinates before correction. The position uncertainty and the offset uncertainty are used for adjusting the second vehicle position coordinate and the overall offset, and the position uncertainty can be used for independently adjusting the second vehicle position coordinate, or the position uncertainty and the offset uncertainty can be used for simultaneously adjusting the second vehicle position coordinate, and the adjusted position coordinate is used as the vehicle position coordinate before correction. The offset uncertainty may be used to adjust the overall offset alone, or both the position uncertainty and the offset uncertainty may be used to adjust the overall offset at the same time, with the offset after adjustment being used as a correction amount. The application is not limited to the specific form of the correction function.
Step S116, converting the first corrected position coordinates into a world coordinate system to obtain second corrected position coordinates of the unmanned vehicle.
The first corrected position coordinates are position coordinates in the vehicle body coordinate system, so that the final corrected position coordinates can be obtained after conversion to the world coordinate system.
According to the positioning method provided by the embodiment of the application, the position offset and the offset uncertainty can be modeled under the vehicle body coordinate system, and the position offset in the running direction of the vehicle (namely the longitudinal direction) is ignored because the running direction of the vehicle is unconstrained, namely the position offset is 0, even if the corresponding offset uncertainty is infinity, the position offset and the offset uncertainty only have transverse 1-dimensional components under the vehicle body coordinate system, and therefore only the transverse position coordinate is corrected. After correction under the vehicle body coordinate system, the correction is converted into the world coordinate system, so that errors in the correction process can be reduced, the positioning accuracy of the unmanned vehicle is improved, and the method is applicable to areas with poor GPS signals and insufficient structural characteristics.
Corresponding to the above method embodiment, the embodiment of the present application further provides a positioning device, referring to fig. 8, the positioning device 800 includes:
The edge position coordinate determining module 802 is configured to detect a road edge of a road where the unmanned vehicle is located, and obtain a first position coordinate of each point in the road edge under a coordinate system where the detecting device is located;
a first coordinate conversion module 804, configured to convert the first position coordinate of each point to a world coordinate system, to obtain a second position coordinate of each point;
the position offset determining module 806 is configured to obtain an actual position coordinate of each point in the point cloud map, and calculate a position offset between the second position coordinate and the actual position coordinate of each point; the actual position coordinates are position coordinates in a world coordinate system;
a second coordinate conversion module 808, configured to convert the position offset of each point to a vehicle body coordinate system where the unmanned vehicle is located;
the overall offset determining module 810 is configured to determine an overall offset according to the position offsets of the points in the vehicle body coordinate system; the overall offset in the traveling direction of the unmanned vehicle in the vehicle body coordinate system is 0.
An offset uncertainty determination module 812, configured to determine an offset uncertainty of the overall offset in the vehicle body coordinate system according to the magnitude of the overall offset; wherein, the uncertainty of the offset along the running direction of the unmanned vehicle under the vehicle body coordinate system is infinity;
A position uncertainty determination module 814 for detecting a first vehicle position coordinate of the unmanned vehicle in the world coordinate system and determining a position uncertainty of the first vehicle position coordinate;
a third coordinate conversion module 816, configured to convert the first vehicle position coordinate into a vehicle body coordinate system, to obtain a second vehicle position coordinate;
a corrected position coordinate determination module 818 configured to determine a first corrected position coordinate of the unmanned vehicle in a body coordinate system based on the second vehicle position coordinate, the position uncertainty, the overall offset, and the offset uncertainty;
the fourth coordinate conversion module 820 is configured to convert the first corrected position coordinate into a world coordinate system to obtain a second corrected position coordinate of the unmanned vehicle.
Optionally, the corrected position coordinate determination module 818 is specifically configured to determine the target position coordinate based on the second vehicle position coordinate and the position uncertainty; determining a target offset according to the overall offset and the offset uncertainty; and determining a first corrected position coordinate of the unmanned vehicle under the vehicle body coordinate system according to the target position coordinate and the target offset.
Optionally, the corrected position coordinate determining module is specifically configured to determine the target position coordinate according to the second vehicle position coordinate and the position uncertainty by:
Substituting the position uncertainty into a first preset function to obtain a first function value, wherein the first function value and the position uncertainty are in negative correlation;
the product of the second vehicle position coordinates and the first function value is determined as the target position coordinates.
Optionally, the corrected position coordinate determining module 818 is specifically configured to determine the target offset according to the overall offset and the offset uncertainty by:
substituting the offset uncertainty into a second preset function to obtain a second function value, wherein the second function value and the offset uncertainty are in negative correlation;
and determining the product of the integral offset and the second function value as a target offset.
Optionally, the corrected position coordinate determining module 818 is specifically configured to determine, according to the target position coordinate and the target offset, a first corrected position coordinate of the unmanned vehicle in the vehicle body coordinate system by:
determining the sum of the target position coordinate and the target offset as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system; or,
substituting the position uncertainty and the offset uncertainty into a third preset function to obtain a third function value; wherein the third function value and the position uncertainty and the offset uncertainty are all in negative correlation;
And determining the product of the sum of the target position coordinate and the target offset and the third function value as a first corrected position coordinate of the unmanned vehicle under the vehicle body coordinate system.
Alternatively, the overall offset determining module 810 is specifically configured to determine an average value of the positional offsets of the points in the vehicle body coordinate system as an overall offset; or,
setting a weighted value for the position offset of each point under a vehicle body coordinate system according to the distance between each point and the unmanned vehicle; wherein the weighted value of the position offset of each point is inversely related to the distance between each point and the unmanned vehicle; and carrying out weighted average on the position offset of each point under the vehicle body coordinate system according to the weighted value, and determining the obtained weighted average as the whole offset.
Optionally, the detection device is a camera;
the edge position coordinate determining module 802 is specifically configured to shoot a road edge of a road where the unmanned vehicle is located, so as to obtain a road edge image; obtaining a first position coordinate of each point in the road edge under a camera coordinate system according to the position coordinates of each pixel point in the road edge image;
alternatively, the detection device is a lidar;
The edge position coordinate determining module 802 is specifically configured to perform laser radar point cloud detection on a road edge of a road where the unmanned vehicle is located, so as to obtain a first position coordinate of each point in the road edge under a laser radar coordinate system.
Specific details of each module or unit in the above apparatus have been described in the corresponding method, and thus are not described herein.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
In an exemplary embodiment of the present application, there is also provided an electronic apparatus including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the positioning method described above in this example embodiment.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. It should be noted that, the electronic device 900 shown in fig. 9 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 9, the electronic device 900 includes a Central Processing Unit (CPU) 901 that can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for system operation are also stored. The central processing unit 901, the ROM 902, and the RAM 903 are connected to each other by a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
The following components are connected to the I/O interface 905: an input section 906 including a keyboard, a mouse, and the like; an output portion 907 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 908 including a hard disk or the like; and a communication section 909 including a network interface card such as a Local Area Network (LAN) card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as needed. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on the drive 910 so that a computer program read out therefrom is installed into the storage section 908 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application 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 flowcharts. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 909 and/or installed from the removable medium 911. When the computer program is executed by the central processing unit 901, various functions defined in the apparatus of the present application are performed.
In an embodiment of the present application, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-mentioned positioning method.
The computer readable storage medium according to the present application may 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, a read-only memory, 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 the context of this document, 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. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio frequency, and the like, or any suitable combination of the foregoing.
In an embodiment of the present application, there is also provided a computer program product, which when run on a computer causes the computer to perform the above-mentioned positioning method.
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 only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. 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 application. Thus, the present application 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 positioning method, comprising:
detecting the road edge of a road where an unmanned vehicle is located, and obtaining first position coordinates of each point in the road edge under a coordinate system where detection equipment is located;
converting the first position coordinate of each point into a world coordinate system to obtain a second position coordinate of each point;
acquiring actual position coordinates of each point in a point cloud map, and calculating the position offset of the second position coordinates and the actual position coordinates of each point; the actual position coordinates are position coordinates under a world coordinate system;
converting the position offset of each point into a vehicle body coordinate system where the unmanned vehicle is located, and determining the overall offset according to the position offset of each point in the vehicle body coordinate system; wherein an overall offset in a traveling direction of the unmanned vehicle under the vehicle body coordinate system is 0;
determining the offset uncertainty of the overall offset under the vehicle body coordinate system according to the size of the overall offset; wherein an offset uncertainty along a traveling direction of the unmanned vehicle under the vehicle body coordinate system is infinity;
Detecting a first vehicle position coordinate of the unmanned vehicle in a world coordinate system, and determining a position uncertainty of the first vehicle position coordinate;
converting the first vehicle position coordinate to a vehicle body coordinate system to obtain a second vehicle position coordinate, and determining a first corrected position coordinate of the unmanned vehicle in the vehicle body coordinate system according to the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty;
and converting the first corrected position coordinate into a world coordinate system to obtain a second corrected position coordinate of the unmanned vehicle.
2. The method of claim 1, wherein said determining a first corrected position coordinate of the unmanned vehicle in a body coordinate system based on the second vehicle position coordinate, the position uncertainty, the overall offset, and the offset uncertainty comprises:
determining target position coordinates according to the second vehicle position coordinates and the position uncertainty;
determining a target offset according to the overall offset and the offset uncertainty;
and determining a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system according to the target position coordinate and the target offset.
3. The method of claim 2, wherein the determining target location coordinates from the second vehicle location coordinates and the location uncertainty comprises:
substituting the position uncertainty into a first preset function to obtain a first function value, wherein the first function value and the position uncertainty are in negative correlation;
and determining the product of the second vehicle position coordinate and the first function value as target position coordinate.
4. The method of claim 2, wherein said determining a target offset from said overall offset and said offset uncertainty comprises:
substituting the offset uncertainty into a second preset function to obtain a second function value, wherein the second function value and the offset uncertainty are in negative correlation;
and determining the product of the integral offset and the second function value as a target offset.
5. The method of claim 2, wherein determining a first corrected position coordinate of the unmanned vehicle in a body coordinate system based on the target position coordinate and the target offset comprises:
Determining the sum of the target position coordinate and the target offset as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system; or,
substituting the position uncertainty and the offset uncertainty into a third preset function to obtain a third function value; wherein the third function value is inversely related to the position uncertainty and the offset uncertainty;
and determining the product of the sum of the target position coordinate and the target offset and the third function value as a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system.
6. The method of claim 1, wherein determining the overall offset based on the positional offsets of the respective points in the vehicle body coordinate system comprises:
determining an average value of the position offset of each point under a vehicle body coordinate system as an overall offset; or,
setting a weighted value for the position offset of each point under a vehicle body coordinate system according to the distance between each point and the unmanned vehicle; wherein the weighted value of the position offset of each point is inversely related to the distance between each point and the unmanned vehicle;
And according to the weighted value, carrying out weighted average on the position offset of each point under the vehicle body coordinate system, and determining the obtained weighted average as the whole offset.
7. The method of claim 1, wherein the detection device is a camera;
the method for detecting the road edge of the road where the unmanned vehicle is located, to obtain the first position coordinates of each point in the road edge under the coordinate system where the detection equipment is located, comprises the following steps:
shooting the road edge of the road where the unmanned vehicle is located to obtain a road edge image;
obtaining a first position coordinate of each point in the road edge under a camera coordinate system according to the position coordinates of each pixel point in the road edge image;
or the detection equipment is a laser radar;
the method for detecting the road edge of the road where the unmanned vehicle is located, to obtain the first position coordinates of each point in the road edge under the coordinate system where the detection equipment is located, comprises the following steps:
and carrying out laser radar point cloud detection on the road edge of the road where the unmanned vehicle is located, and obtaining first position coordinates of each point in the road edge under a laser radar coordinate system.
8. A positioning device, the device comprising:
the first position coordinate determining module is used for detecting the road edge of the road where the unmanned vehicle is located and obtaining first position coordinates of each point in the road edge under the coordinate system where the detecting equipment is located;
the first coordinate conversion module is used for converting the first position coordinate of each point into a world coordinate system to obtain the second position coordinate of each point;
the position offset determining module is used for acquiring the actual position coordinates of each point in the point cloud map and calculating the position offset of the second position coordinates and the actual position coordinates of each point; the actual position coordinates are position coordinates under a world coordinate system;
the second coordinate conversion module is used for converting the position offset of each point into a vehicle body coordinate system where the unmanned vehicle is located;
the integral offset determining module is used for determining the integral offset according to the position offset of each point under the vehicle body coordinate system; wherein an overall offset in a traveling direction of the unmanned vehicle under the vehicle body coordinate system is 0;
the offset uncertainty determining module is used for determining the offset uncertainty of the integral offset under the vehicle body coordinate system according to the size of the integral offset; wherein an offset uncertainty along a traveling direction of the unmanned vehicle under the vehicle body coordinate system is infinity;
A position uncertainty determination module for detecting a first vehicle position coordinate of the unmanned vehicle in a world coordinate system and determining a position uncertainty of the first vehicle position coordinate;
the third coordinate conversion module is used for converting the first vehicle position coordinate into a vehicle body coordinate system to obtain a second vehicle position coordinate;
the corrected position coordinate determining module is used for determining a first corrected position coordinate of the unmanned vehicle under a vehicle body coordinate system according to the second vehicle position coordinate, the position uncertainty, the overall offset and the offset uncertainty;
and the fourth coordinate conversion module is used for converting the first corrected position coordinate into a world coordinate system to obtain a second corrected position coordinate of the unmanned vehicle.
9. An electronic device, comprising: a processor for executing a computer program stored in a memory, which when executed by the processor implements the method of any of claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1-7.
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| CN202311034071.9A CN117130001A (en) | 2023-08-16 | 2023-08-16 | Positioning method, positioning device, electronic equipment and storage medium |
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