CN117452384A

CN117452384A - Positioning method and device of Internet of vehicles equipment, storage medium and electronic equipment

Info

Publication number: CN117452384A
Application number: CN202311390184.2A
Authority: CN
Inventors: 朱东福
Original assignee: Guangzhou Xiaoma Zhixing Technology Co ltd
Current assignee: Guangzhou Xiaoma Zhixing Technology Co ltd
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-01-26

Abstract

The application provides a positioning method and device of internet of vehicles equipment, a storage medium and electronic equipment, wherein the method comprises the following steps: acquiring a historical registration result, wherein the historical registration result is a point cloud registration result of the laser radar of the vehicle networking equipment at a historical moment; acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the internet of vehicles equipment at the current time and the gesture of the internet of vehicles equipment; comparing the historical registration result with the current registration result to obtain a comparison result; and under the condition that the comparison result represents that the historical registration result is the same as the current registration result, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged. According to the method, whether the installation position of the Internet of vehicles equipment is deviated or not is detected by comparing the registration results among multiple times of power-up with the multiple times of registration results in the process of one time of power-up.

Description

Positioning method and device of Internet of vehicles equipment, storage medium and electronic equipment

Technical Field

The application relates to the field of positioning of internet of vehicles equipment, in particular to a positioning method of internet of vehicles equipment, a positioning device of the internet of vehicles equipment, a computer readable storage medium and electronic equipment.

Background

The existing method for positioning the vehicle networking equipment according to the radar is to judge the accuracy of the point cloud matching result of the current laser radar by using the ratio of the matching pairs of the point cloud matching output of the laser radar in all the point clouds. In some cases, although the matching ratio is small, the matching result is also opposite, or although the matching ratio is large, the matching result is inaccurate, that is, the accuracy of judging the point cloud matching result of the current laser radar according to the ratio of the matching pair output by the point cloud matching of the laser radar to all the point clouds can be inaccurate, so that whether the installation position and the gesture of the internet of vehicles equipment deviate cannot be accurately judged.

Disclosure of Invention

The main object of the application is to provide a positioning method of a vehicle networking device, a positioning device of the vehicle networking device, a computer readable storage medium and an electronic device, so as to at least solve the problems that the accuracy of the existing scheme for determining the position of the vehicle networking device is low, and whether the installation position and the gesture of the vehicle networking device deviate or not cannot be accurately judged.

To achieve the above object, according to one aspect of the present application, there is provided a positioning method of an internet of vehicles device, including: acquiring a historical registration result, wherein the historical registration result is a point cloud registration result of a laser radar of the internet of vehicle equipment at a historical moment, and the point cloud registration result represents the position of the internet of vehicle equipment and the gesture of the internet of vehicle equipment at the historical moment; acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the Internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the current time; comparing the historical registration result with the current registration result to obtain a comparison result; and under the condition that the comparison result characterizes that the historical registration result is the same as the current registration result, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged.

Optionally, the historical registration result is a point cloud registration result of the laser radar when the internet of vehicles device is powered on for the first time, and the obtaining the historical registration result includes: acquiring an initial registration result of the Internet of vehicles equipment, wherein the initial registration result is an initial point cloud registration result of a laser radar when the Internet of vehicles equipment is electrified for the first time; obtaining registration parameters of the initial registration result, wherein the registration parameters at least comprise one of the following: matching the ratio of the point clouds corresponding to the initial matching pair in the initial registration result, the variance and the number of the point clouds, wherein the ratio of the matching pair is the ratio of the point clouds corresponding to the initial matching pair in all the point clouds; and under the condition that the value of the registration parameter of the initial registration result is in a preset range, determining the initial registration result of the Internet of vehicles equipment as the historical registration result.

Optionally, obtaining an initial registration result of the internet of vehicles device includes: acquiring initial point cloud data of the Internet of vehicles equipment, wherein the initial point cloud data of the Internet of vehicles equipment are acquired by the laser radar when the Internet of vehicles equipment is electrified for the first time, and the initial point cloud data of the Internet of vehicles equipment comprise an initial position of the Internet of vehicles equipment and an initial gesture of the Internet of vehicles equipment; acquiring map point cloud data, wherein the map point cloud data is point cloud data of a map comprising the internet of vehicles equipment; and matching the initial point cloud data of the Internet of vehicles equipment with the map point cloud data by adopting a laser radar point cloud registration technology to obtain an initial registration result of the Internet of vehicles equipment.

Optionally, the historical registration result is a point cloud registration result of the laser radar when the internet of vehicle device is powered on last time, the current registration result is a point cloud registration result of the laser radar when the internet of vehicle device is powered on last time, the comparison result includes a first position comparison value and a first posture comparison value, and after comparing the historical registration result and the current registration result, the method further includes: and when the first position comparison value is larger than a first position change threshold value and/or the first posture comparison value is larger than a first posture change threshold value, sending out first alarm information, wherein the first position comparison value represents a change value between the position of the Internet of vehicles equipment when the power is on the current time and the position of the Internet of vehicles equipment when the power is on the last time, and the first posture comparison value represents a change value between the posture of the Internet of vehicles equipment when the power is on the current time and the posture of the Internet of vehicles equipment when the power is on the last time.

Optionally, after issuing the first alarm information, if the first position comparison value is greater than the first position change threshold value and/or the first posture comparison value is greater than the first posture change threshold value, the method further includes: acquiring map matching degree, wherein the map matching degree is the matching degree between the acquired point cloud data of the internet of vehicles equipment and map point cloud data of the laser radar when the internet of vehicles equipment is electrified at the current time, and the map point cloud data is the point cloud data of a map comprising the internet of vehicles equipment; deleting the historical registration result and storing the current registration result when the map matching degree is greater than or equal to a preset matching degree; and under the condition that the map matching degree is smaller than the preset matching degree, determining that the current registration result is abnormal.

Optionally, obtaining the map matching degree includes: acquiring current point cloud data of the Internet of vehicles equipment, wherein the current point cloud data of the Internet of vehicles equipment are acquired by a laser radar when the Internet of vehicles equipment is electrified for the next time, and the initial point cloud data of the Internet of vehicles equipment comprise the current position of the Internet of vehicles equipment and the current gesture of the Internet of vehicles equipment; acquiring the map point cloud data; and matching the current point cloud data of the Internet of vehicles equipment with the map point cloud data by adopting a laser radar point cloud registration technology to obtain the map matching degree.

Optionally, the historical registration result is a point cloud registration result of the laser radar when the internet of vehicle device is first aligned in a first power-on process, the current registration result is a point cloud registration result of the laser radar when the internet of vehicle device is first aligned in a first power-on process, the comparison result includes a second position comparison value and a second posture comparison value, and after comparing the historical registration result and the current registration result, the method further includes: and when the second position comparison value is larger than a second position change threshold value and/or the second posture comparison value is larger than a second posture change threshold value, sending out second alarm information, wherein the second position comparison value represents a change value between the position of the Internet of vehicles equipment when the position of the Internet of vehicles equipment is aligned for the first time in the process of powering up for the first preset time, and the second posture comparison value represents a change value between the posture of the Internet of vehicles equipment when the posture of the Internet of vehicles equipment is aligned for the first time in the process of powering up for the first preset time.

Optionally, after issuing the second alarm information, if the second position comparison value is greater than the second position change threshold value, and/or if the second posture comparison value is greater than the second posture change threshold value, the method further includes: acquiring the real installation state of the Internet of vehicles equipment, wherein the real installation state of the Internet of vehicles equipment represents whether the Internet of vehicles equipment is in fault or not; controlling the Internet of vehicles equipment to be electrified again under the condition that the real installation state of the Internet of vehicles equipment is fault-free; and sending maintenance information under the condition that the real installation state of the Internet of vehicles equipment is a fault.

Optionally, the point cloud data of the laser radar are registered for multiple times according to a preset frequency in each power-on process of the internet of vehicles equipment.

Optionally, there are two pieces of internet of vehicles equipment, and the installation heights of the two pieces of internet of vehicles equipment are the same, and the method further includes: acquiring the first equipment height, wherein the first equipment height is the installation height of one of the Internet of vehicles equipment; acquiring the height of a second device, wherein the height of the second device is the installation height of another two pieces of Internet of vehicles equipment; determining a device height difference according to the first device height and the second device height, wherein the device height difference is an absolute value of a difference value between the first device height and the second device height; and sending out third alarm information under the condition that the equipment height difference is larger than or equal to a preset height difference.

Optionally, the internet of vehicles device has two, the method further comprises: acquiring a first attitude angle, wherein the first attitude angle is the installation angle of one of the Internet of vehicles equipment; acquiring a second attitude angle, wherein the second attitude angle is the installation angle of the other piece of Internet of vehicles equipment; determining a posture angle difference according to the first posture angle and the second posture angle, wherein the posture angle difference is an absolute value of a difference value of the first posture angle and the second posture angle; and sending out fourth alarm information under the condition that the difference value of the gesture angle difference and the target angle difference is larger than or equal to the preset angle difference value.

Optionally, the target angle difference is 180 °.

According to another aspect of the present application, there is provided a positioning device of an internet of vehicles device, including: the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring a historical registration result, the historical registration result is a point cloud registration result of a laser radar of the internet of vehicle equipment at a historical moment, and the point cloud registration result represents the position of the internet of vehicle equipment and the gesture of the internet of vehicle equipment at the historical moment; the second acquisition unit is used for acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the Internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the current time; the comparison unit is used for comparing the historical registration result with the current registration result to obtain a comparison result; and the determining unit is used for determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged under the condition that the comparison result characterizes that the historical registration result and the current registration result are the same.

According to another aspect of the present application, there is provided a computer readable storage medium, where the computer readable storage medium includes a stored program, and when the program runs, the device where the computer readable storage medium is located is controlled to execute any one of the positioning methods of the internet of vehicles device.

According to another aspect of the present application, there is provided an electronic device including: the system comprises one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising a location method for performing any one of the internet of vehicles devices.

By applying the technical scheme, the positioning method of the Internet of vehicles equipment firstly acquires a historical registration result, wherein the historical registration result is a point cloud registration result of the laser radar of the Internet of vehicles equipment at a historical moment, and the point cloud registration result characterizes the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the historical moment; then, a current registration result is obtained, wherein the current registration result is a point cloud registration result of the laser radar of the internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the internet of vehicles equipment at the current time and the gesture of the internet of vehicles equipment; then comparing the historical registration result with the current registration result to obtain a comparison result; and finally, under the condition that the comparison result represents the same historical registration result and the current registration result, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged. According to the method, whether the installation position of the Internet of vehicles equipment is deviated or not is detected by comparing the registration results among multiple times of power-up and the multiple times of registration results in the process of one time of power-up, and alarm information is sent out under the condition that the installation position of the Internet of vehicles equipment is deviated, so that the problem that the existing scheme for determining the position of the Internet of vehicles equipment is low in accuracy and whether the installation position and the posture of the Internet of vehicles equipment are deviated or not cannot be accurately judged is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 shows a hardware block diagram of a mobile terminal performing a positioning method of an internet of vehicles device according to an embodiment of the present application;

fig. 2 shows a flowchart of a method for positioning an internet of vehicles device according to an embodiment of the present application;

fig. 3 shows a block diagram of a positioning device of an internet of vehicles device according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

102. a processor; 104. a memory; 106. a transmission device; 108. and an input/output device.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For convenience of description, the following will describe some terms or terms related to the embodiments of the present application:

internet of vehicles equipment: vehicle to X, v2X for short, wherein X represents infrastructure, vehicle, person, etc., X may also be any possible person or thing.

As introduced in the background art, in the prior art, the problem of inaccurate judgment exists in judging the accuracy of the point cloud matching result of the current laser radar according to the ratio of the point cloud matching output of the laser radar to all the point clouds, so that whether the installation position and the gesture of the internet of vehicles equipment deviate cannot be accurately judged.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the operation on a mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of a mobile terminal of a positioning method of an internet of vehicles device according to an embodiment of the present invention. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store computer programs, such as software programs and modules of application software, such as computer programs corresponding to the positioning method of the internet of vehicles device in the embodiment of the present invention, and the processor 102 executes the computer programs stored in the memory 104 to perform various functional applications and data processing, that is, implement the above-mentioned method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In this embodiment, a positioning method of an internet of vehicles device operating on a mobile terminal, a computer terminal, or a similar computing device is provided, and it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that illustrated herein.

Fig. 2 is a flowchart of a method of locating an internet of vehicle device according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S201, acquiring a historical registration result, wherein the historical registration result is a point cloud registration result of a laser radar of the Internet of vehicles device at a historical moment, and the point cloud registration result characterizes the position of the Internet of vehicles device and the gesture of the Internet of vehicles device at the historical moment;

specifically, the historical time is relative to the current time, that is, the historical time may be the time in the last power-on process, or the time of last matching in the current power-on process.

The historical registration result is a point cloud registration result of the laser radar when the internet of vehicles equipment is powered on for the first time, and the specific implementation steps for acquiring the historical registration result are as follows:

Step S301, obtaining an initial registration result of the Internet of vehicles equipment, wherein the initial registration result is an initial point cloud registration result of the laser radar when the Internet of vehicles equipment is powered on for the first time;

the specific implementation steps of the step S301 are as follows:

step S3011, acquiring initial point cloud data of the Internet of vehicles equipment, wherein the initial point cloud data of the Internet of vehicles equipment are acquired by the laser radar when the Internet of vehicles equipment is electrified for the first time, and the initial point cloud data of the Internet of vehicles equipment comprise an initial position of the Internet of vehicles equipment and an initial gesture of the Internet of vehicles equipment;

step S3012, obtaining map point cloud data, wherein the map point cloud data is point cloud data of a map comprising the Internet of vehicles equipment;

step S3013, matching the initial point cloud data of the Internet of vehicles equipment with the map point cloud data by adopting a laser radar point cloud registration technology to obtain an initial registration result of the Internet of vehicles equipment.

Specifically, an accurate initial registration result can be obtained, and the initial installation position of the Internet of vehicles equipment can be obtained according to the initial registration result, so that whether the Internet of vehicles equipment is deviated or not can be determined by comparing the initial registration result with the initial registration result.

When the power is first applied, the initial position information of the internet of vehicles equipment is read from the file (or the rough position information of the internet of vehicles equipment is obtained through other means), and then the initial point cloud data of the internet of vehicles equipment is obtained.

Step S302, obtaining registration parameters of the initial registration result, wherein the registration parameters at least comprise one of the following: matching the ratio of the point clouds corresponding to the initial matching pair in the initial registration result, the variance and the number of the point clouds, wherein the ratio of the matching pair is the ratio of the point clouds corresponding to the initial matching pair in all the point clouds;

step S303, determining the initial registration result of the internet of vehicles device as the historical registration result when the value of the registration parameter of the initial registration result is within the preset range.

Specifically, by manually judging whether the value of the registration parameter of the initial registration result is within a preset range, the matching degree of the initial registration result and the map point cloud data can be judged, the initial registration result which meets the requirement on the matching degree of the map point cloud data is determined to be a historical registration result, and otherwise, the initial registration result is re-acquired and re-judged. Therefore, the matching degree of the initial point cloud data and the map point cloud data of the Internet of vehicles equipment is high, the accuracy of the system is improved, and the history registration result at the moment is automatically stored in a file.

Step S202, obtaining a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the Internet of vehicles equipment at a current time, and the point cloud registration result represents the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the current time;

specifically, the position and the posture of the internet of vehicles equipment at the current moment can be determined according to the current registration result, and then the current registration result and the historical registration result are compared to judge whether the position and the posture of the internet of vehicles equipment deviate or not.

Step S203, comparing the history registration result with the current registration result to obtain a comparison result;

specifically, by comparing the current registration result and the historical registration result, whether the position and the posture of the internet of vehicles equipment deviate or not can be judged, so that corresponding measures are carried out.

And step S204, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged under the condition that the comparison result represents that the historical registration result is the same as the current registration result.

Specifically, when the comparison result represents that the difference between the historical registration result and the current registration result is large, it is determined that the position of the internet of vehicles equipment and/or the posture of the internet of vehicles equipment changes, alarm information needs to be sent to prompt staff to process.

The historical registration result is a point cloud registration result of the laser radar when the internet of vehicles equipment is powered on last time, the current registration result is a point cloud registration result of the laser radar when the internet of vehicles equipment is powered on last time, the comparison result comprises a first position comparison value and a first posture comparison value, and after the historical registration result and the current registration result are compared, the comparison result is obtained, the method further comprises the steps of: and when the first position comparison value is larger than a first position change threshold value and/or the first posture comparison value is larger than a first posture change threshold value, sending out first alarm information, wherein the first position comparison value represents a change value between the position of the Internet of vehicles equipment when the power is on the current time and the position of the Internet of vehicles equipment when the power is on the last time, and the first posture comparison value represents a change value between the posture of the Internet of vehicles equipment when the power is on the current time and the posture of the Internet of vehicles equipment when the power is on the last time.

Specifically, for a new matching result, we can compare with the result (including the position and the gesture) saved by last power-on, and if the first position comparison value is greater than the first position change threshold value, and/or if the first gesture comparison value is greater than the first gesture change threshold value, send out first alarm information to prompt the staff that the internet of vehicles equipment is possibly offset, and prompt the staff to view.

Wherein, when the first position comparison value is greater than the first position change threshold, and/or the first gesture comparison value is greater than the first gesture change threshold, after sending out the first alarm information, the method further includes the following steps:

step S401, obtaining a map matching degree, wherein the map matching degree is the matching degree between the acquired point cloud data of the internet of vehicles equipment and map point cloud data of the laser radar when the internet of vehicles equipment is electrified at the current time, and the map point cloud data is the point cloud data of a map comprising the internet of vehicles equipment;

the specific steps for acquiring the map matching degree are as follows:

step S4011, acquiring current point cloud data of the internet of vehicles device, where the current point cloud data of the internet of vehicles device is acquired by a laser radar when the internet of vehicles device is powered on for the current time, and initial point cloud data of the internet of vehicles device includes a current position of the internet of vehicles device and a current gesture of the internet of vehicles device;

step S4012, obtaining the map point cloud data;

step S4013, matching the current point cloud data of the internet of vehicles device with the map point cloud data by using a laser radar point cloud registration technology, so as to obtain the map matching degree.

Specifically, the matching degree of the point cloud data of the internet of vehicles equipment measured by the laser radar and the map point cloud data can be determined according to the matching degree of the map, and whether the result measured by the laser radar is accurate or not can be determined.

Step S402, deleting the historical registration result and storing the current registration result when the map matching degree is greater than or equal to a preset matching degree;

step S403, determining that the current registration result is abnormal if the map matching degree is smaller than the preset matching degree.

Specifically, under the condition that the map matching degree is greater than or equal to the preset matching degree, the accuracy of the point cloud data of the internet of vehicles equipment measured by the current laser radar is proved, so that the point cloud data of the internet of vehicles equipment measured before are covered by the point cloud data of the internet of vehicles equipment measured at present, and the accuracy of the point cloud data of the internet of vehicles equipment can be ensured. And under the condition that the map matching degree is smaller than the preset matching degree, the inaccuracy of the point cloud data of the Internet of vehicles equipment measured by the current laser radar is proved, the matching result is abnormal, and the power-on matching is needed again.

The historical registration result is a point cloud registration result of the laser radar when the internet of vehicles equipment is first aligned in a first preset power-on process, the current registration result is a point cloud registration result of the laser radar when the internet of vehicles equipment is currently aligned in the first preset power-on process, the comparison result comprises a second position comparison value and a second posture comparison value, and after the historical registration result and the current registration result are compared, the comparison result is obtained, the method further comprises the steps of: and when the second position comparison value is larger than a second position change threshold value and/or the second posture comparison value is larger than a second posture change threshold value, sending out second alarm information, wherein the second position comparison value represents a change value between the position of the Internet of vehicles equipment when the position of the Internet of vehicles equipment is currently aligned in the process of powering up a preset time and the position of the Internet of vehicles equipment when the position of the Internet of vehicles equipment is first aligned in the process of powering up the preset time, and the second posture comparison value represents a change value between the posture of the Internet of vehicles equipment when the posture of the Internet of vehicles equipment is currently aligned in the process of powering up the preset time and the posture of the Internet of vehicles equipment when the Internet of vehicles equipment is last aligned in the process of powering up the preset time.

Specifically, for the new matching result, the matching result is compared with the result (including the position and the gesture) of the first power-on matching, and when the second position comparison value is greater than the second position change threshold value and/or the second gesture comparison value is greater than the second gesture change threshold value, second alarm information is sent to prompt the staff that the Internet of vehicles equipment is possibly offset, and prompt the staff to check.

The point cloud data of the laser radar are registered for a plurality of times according to a preset frequency in each power-on process of the Internet of vehicles equipment.

Specifically, the preset frequency is determined according to the actual situation, so that the waste of system computing resources can be reduced on the basis that the position of the Internet of vehicles equipment can be ensured to be acquired.

In addition, the obtained matching result is a stable matching result in a period of time, and is compared with the first stable result. The matching is carried out in a period of time until the matching result reaches a stable state, the matching result is stored, and then the matching is carried out again after a period of time according to the preset frequency. And whether the matching result reaches a stable state is judged by the system according to the internal index.

Wherein, when the second position comparison value is greater than the second position change threshold, and/or the second gesture comparison value is greater than the second gesture change threshold, after sending out the second alarm information, the method further includes the following steps:

step S501, obtaining the real installation state of the Internet of vehicles equipment, wherein the real installation state of the Internet of vehicles equipment represents whether the Internet of vehicles equipment is in installation failure or not;

step S502, controlling the Internet of vehicles equipment to be electrified again under the condition that the real installation state of the Internet of vehicles equipment is fault-free;

step S503, sending out maintenance information when the real installation state of the Internet of vehicles equipment is a fault.

Specifically, after the second alarm information is sent, a manager judges whether the real installation state of the internet of vehicles equipment is faulty or not, so that the real installation state of the internet of vehicles equipment can be accurately judged, maintenance information is sent for maintenance under the condition that the internet of vehicles equipment is faulty, and the point cloud data acquired by the laser radar is preliminarily judged to be faulty under the condition that the internet of vehicles equipment is faulty, and the power is supplied again for judgment. Wherein, the installation state trouble of car networking equipment includes: the lamp post is bumped, the equipment fixing screw is loosened, and the like.

Wherein, the above-mentioned car networking equipment has two, and two above-mentioned car networking equipment's installation height is the same, and above-mentioned method still includes the following step:

step S601, acquiring a first equipment height, wherein the first equipment height is the installation height of one of the Internet of vehicles equipment;

step S602, obtaining the second equipment height, wherein the second equipment height is the installation height of the other two pieces of Internet of vehicles equipment;

step S603, determining a device height difference according to the first device height and the second device height, wherein the device height difference is an absolute value of a difference value between the first device height and the second device height;

step S604, if the equipment height difference is greater than or equal to the preset height difference, sending out third alarm information.

In particular, in general, the internet of vehicles device is installed on a pole at a roadside, such as a street lamp or the like, a traffic light pole or the like. Two v2x devices are typically mounted on a pole, forward mounted and backward mounted respectively. Likewise, more than two v2x devices may be mounted on a single pole. Under the condition that two v2x devices are installed on one rod, the installation heights of the two v2x devices are generally the same, and the heights of the two v2x devices can be timely known under the condition that the height of one v2x device is changed by comparing, so that whether the installation height of the Internet of vehicles device is changed or not can be judged, and the installation height of the Internet of vehicles device can be timely known and processed under the condition that the installation height of the Internet of vehicles device is changed.

In addition, the current height information of the two v2x devices can be directly compared with the height information at the historical time, so that whether the heights of the two v2x devices change or not can be determined.

Wherein, the above-mentioned car networking equipment has two, and the above-mentioned method still includes the following step:

step S701, acquiring a first attitude angle, wherein the first attitude angle is the installation angle of one of the Internet of vehicles equipment;

step S702, obtaining a second attitude angle, wherein the second attitude angle is the installation angle of the other piece of Internet of vehicles equipment;

step S703 of determining a posture angle difference, which is an absolute value of a difference between the first posture angle and the second posture angle, from the first posture angle and the second posture angle;

step S704, sending out fourth alarm information when the difference between the gesture angle difference and the target angle difference is greater than or equal to the preset angle difference.

Specifically, whether the installation angle of the internet of vehicles equipment changes or not can be determined, and the installation angle of the internet of vehicles equipment is timely known and processed under the condition that the installation angle of the internet of vehicles equipment changes.

Typically, when two v2x devices are mounted on a single pole, the two v2x devices are mounted opposite to each other, i.e., the angles of the two v2x devices differ by 180 °, which is a known condition, so that by comparing the angle differences of the two v2x devices at the current time, it can be determined whether the angles of the two v2x devices are offset.

Wherein the target angle difference is 180 °. Specifically, the two internet of vehicles devices can be ensured to be installed towards the front intersection and the two internet of vehicles devices are ensured to be installed away from the intersection, and data can be received from front to back.

According to the positioning method of the Internet of vehicles equipment, firstly, a historical registration result is obtained, wherein the historical registration result is a point cloud registration result of a laser radar of the Internet of vehicles equipment at a historical moment, and the point cloud registration result represents the position of the Internet of vehicles equipment at the historical moment and the gesture of the Internet of vehicles equipment; then, a current registration result is obtained, wherein the current registration result is a point cloud registration result of the laser radar of the internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the internet of vehicles equipment at the current time and the gesture of the internet of vehicles equipment; then comparing the historical registration result with the current registration result to obtain a comparison result; and finally, under the condition that the comparison result represents the same historical registration result and the current registration result, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged. According to the method, whether the installation position of the Internet of vehicles equipment is deviated or not is detected by comparing the registration results among multiple times of power-up and the multiple times of registration results in the process of one time of power-up, and alarm information is sent out under the condition that the installation position of the Internet of vehicles equipment is deviated, so that the problem that the existing scheme for determining the position of the Internet of vehicles equipment is low in accuracy and whether the installation position and the posture of the Internet of vehicles equipment are deviated or not cannot be accurately judged is solved.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a positioning device of the internet of vehicles equipment, and it is required to be noted that the positioning device of the internet of vehicles equipment of the application embodiment can be used for executing the positioning method for the internet of vehicles equipment provided by the application embodiment. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The following describes a positioning device of an internet of vehicles device provided in an embodiment of the present application.

Fig. 3 is a schematic diagram of a positioning device of an internet of vehicle device according to an embodiment of the application. As shown in fig. 3, the apparatus includes a first obtaining unit 10, a second obtaining unit 20, a comparing unit 30, and a determining unit 40, where the first obtaining unit 10 is configured to obtain a historical registration result, where the historical registration result is a point cloud registration result of a lidar of a vehicle networking device at a historical time, and the point cloud registration result characterizes a position of the vehicle networking device and a posture of the vehicle networking device at the historical time; the second obtaining unit 20 is configured to obtain a current registration result, where the current registration result is a point cloud registration result of the lidar of the internet of vehicles device at a current time, and the point cloud registration result characterizes a position of the internet of vehicles device and a posture of the internet of vehicles device at the current time; the comparison unit 30 is configured to compare the historical registration result with the current registration result to obtain a comparison result; the determining unit 40 is configured to determine that the position of the internet of vehicles device and the posture of the internet of vehicles device do not change when the comparison result indicates that the historical registration result is the same as the current registration result.

The positioning device of the internet of vehicle equipment comprises a first acquisition unit, a second acquisition unit, a comparison unit and a determination unit, wherein the first acquisition unit is used for acquiring a historical registration result, the historical registration result is a point cloud registration result of a laser radar of the internet of vehicle equipment at a historical moment, and the point cloud registration result represents the position of the internet of vehicle equipment at the historical moment and the gesture of the internet of vehicle equipment; the second acquisition unit is used for acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the internet of vehicles equipment at the current time and the gesture of the internet of vehicles equipment; the comparison unit is used for comparing the historical registration result with the current registration result to obtain a comparison result; the determining unit is used for determining that the position of the vehicle networking equipment and the posture of the vehicle networking equipment are unchanged under the condition that the comparison result represents the historical registration result and the current registration result are the same. The device detects whether the installation position of the vehicle networking equipment deviates by comparing the registration result between multiple times of electrification and the multiple times of registration result in the process of one time of electrification, and sends out alarm information under the condition that the installation position of the vehicle networking equipment deviates, so that the problem that the existing scheme for determining the position of the vehicle networking equipment is low in accuracy and cannot accurately judge whether the installation position and the gesture of the vehicle networking equipment deviate is solved.

In some optional solutions, the historical registration result is a point cloud registration result of the laser radar when the internet of vehicles device is powered on for the first time, and the first acquisition unit includes a first acquisition module, a second acquisition module and a first determination module, where the first acquisition module is configured to acquire an initial registration result of the internet of vehicles device, and the initial registration result is an initial point cloud registration result of the laser radar when the internet of vehicles device is powered on for the first time; the second acquisition module is used for acquiring registration parameters of the initial registration result, wherein the registration parameters at least comprise one of the following: matching the ratio of the point clouds corresponding to the initial matching pair in the initial registration result, the variance and the number of the point clouds, wherein the ratio of the matching pair is the ratio of the point clouds corresponding to the initial matching pair in all the point clouds; the first determining module is configured to determine, as the historical registration result, an initial registration result of the internet of vehicles device when a value of a registration parameter of the initial registration result is within a preset range. Therefore, the matching degree of the initial point cloud data and the map point cloud data of the Internet of vehicles equipment is high, the accuracy of the system is improved, and the history registration result at the moment is automatically stored in a file.

In some optional solutions, the first obtaining module includes a first obtaining sub-module, a second obtaining sub-module, and a first matching sub-module, where the first obtaining sub-module is configured to obtain initial point cloud data of the internet of vehicles device, where the initial point cloud data of the internet of vehicles device is obtained by the laser radar when the internet of vehicles device is powered on for the first time, and the initial point cloud data of the internet of vehicles device includes an initial position of the internet of vehicles device and an initial gesture of the internet of vehicles device; the second acquisition sub-module is used for acquiring map point cloud data, wherein the map point cloud data are point cloud data of a map comprising the Internet of vehicles equipment; the first matching submodule is used for matching the initial point cloud data of the Internet of vehicles equipment and the map point cloud data by adopting a laser radar point cloud registration technology to obtain an initial registration result of the Internet of vehicles equipment. The accurate initial registration result can be obtained, and the initial installation position of the Internet of vehicles equipment can be obtained according to the initial registration result, so that whether the Internet of vehicles equipment is deviated or not can be determined by comparing the initial registration result with the initial registration result.

In some optional solutions, the historical registration result is a point cloud registration result of the laser radar when the internet of vehicle device is powered up last time, the current registration result is a point cloud registration result of the laser radar when the internet of vehicle device is powered up last time, the comparison result includes a first position comparison value and a first posture comparison value, the device further includes a first alarm unit, the first alarm unit is used for comparing the historical registration result with the current registration result to obtain a comparison result, after the first position comparison value is greater than a first position change threshold, and/or when the first posture comparison value is greater than a first posture change threshold, sending out first alarm information, where the first position comparison value represents a change value between a position of the internet of vehicle device when the internet of vehicle device is powered up last time and a position of the internet of vehicle device when the internet of vehicle device is powered up last time, and the first posture comparison value represents a change value between a posture of the internet of vehicle device when the internet of vehicle device is powered up last time and the internet of vehicle device when the internet of vehicle device is powered up last time. The device can prompt the staff that the Internet of vehicles equipment is likely to deviate, and prompt the staff to check in time.

In some optional solutions, the apparatus further includes a third obtaining module, a deleting module, and a second determining module, where the third obtaining module is configured to obtain, after sending out the first alarm information when the first position comparison value is greater than a first position change threshold and/or the first posture comparison value is greater than a first posture change threshold, a map matching degree, where the map matching degree is a matching degree between acquired point cloud data of the internet of vehicles device and map point cloud data of the laser radar when the internet of vehicles device is powered on the current time, and the map point cloud data is point cloud data of a map including the internet of vehicles device; the deleting module is used for deleting the historical registration result and storing the current registration result when the map matching degree is greater than or equal to a preset matching degree; and the second determining module is used for determining that the current registration result is abnormal under the condition that the map matching degree is smaller than the preset matching degree. The accuracy of the point cloud data of the Internet of vehicles equipment can be guaranteed.

In some optional solutions, the third obtaining module includes a third obtaining sub-module, a fourth obtaining sub-module, and a second matching sub-module, where the third obtaining sub-module is configured to obtain current point cloud data of the internet of vehicles device, where the current point cloud data of the internet of vehicles device is obtained by collecting a laser radar when the internet of vehicles device is powered on for the current time, and the initial point cloud data of the internet of vehicles device includes a current position of the internet of vehicles device and a current pose of the internet of vehicles device; the fourth acquisition sub-module is used for acquiring the map point cloud data; the second matching submodule is used for matching the current point cloud data of the internet of vehicles equipment with the map point cloud data by adopting a laser radar point cloud registration technology to obtain the map matching degree. Therefore, the matching degree of the point cloud data of the internet of vehicles equipment and the map point cloud data measured by the laser radar can be determined according to the matching degree of the map, and whether the result measured by the laser radar is accurate or not can be determined.

In some optional solutions, the historical registration result is a point cloud registration result of the laser radar when the first power-on process of the internet of vehicles device is performed for the first time, the current registration result is a point cloud registration result of the laser radar when the first power-on process of the internet of vehicles device is performed for the first time, the comparison result includes a second position comparison value and a second posture comparison value, the device further includes a second alarm unit, and the second alarm unit is configured to, after the comparison result is obtained, send out second alarm information when the second position comparison value is greater than a second position change threshold value and/or when the second posture comparison value is greater than the second posture change threshold value, the second position comparison value characterizes a change value between a position of the internet of vehicles device and a first time in a first power-on process of the second time, and the second position comparison value between the first time of the internet of vehicles device and the first time in a second time of power-on process of the second position comparison value characterizes a change threshold value between the second position of the internet of vehicles device and the first time in a first time of power-on process of the second time of the internet of the first time. The device can prompt the staff that the Internet of vehicles equipment is likely to deviate, and prompt the staff to check in time.

In some optional solutions, the apparatus further includes a fourth obtaining module, a first control module, and a maintenance module, where the fourth obtaining module is configured to obtain, after sending the second alarm information when the second position comparison value is greater than a second position change threshold and/or the second posture comparison value is greater than a second posture change threshold, a real installation state of the internet of vehicles device, where the real installation state of the internet of vehicles device indicates whether the internet of vehicles device is installed in a fault; the first control module is used for controlling the Internet of vehicles equipment to be electrified again under the condition that the real installation state of the Internet of vehicles equipment is fault-free; the maintenance module is used for sending maintenance information under the condition that the real installation state of the Internet of vehicles equipment is a fault. Therefore, the real installation state of the Internet of vehicles equipment can be accurately judged, maintenance information is sent out for maintenance under the condition that the Internet of vehicles equipment fails, and the point cloud data acquired by the laser radar is primarily judged to be incorrect under the condition that the Internet of vehicles equipment does not fail, and the power is applied again for judgment.

In some alternative schemes, the point cloud data of the laser radar are registered for a plurality of times according to a preset frequency in each power-on process of the internet of vehicles equipment. The size of the preset frequency is determined according to the actual situation, and the waste of system computing resources can be reduced on the basis that the position of the Internet of vehicles equipment can be ensured to be acquired.

In this embodiment, two pieces of the internet of vehicles equipment are provided, the installation heights of the two pieces of the internet of vehicles equipment are the same, and the device further includes a fifth acquisition module, a sixth acquisition module, a third determination module and a third alarm unit, where the fifth acquisition module is configured to acquire a first equipment height, and the first equipment height is the installation height of one of the internet of vehicles equipment; the sixth acquisition module is used for acquiring the height of second equipment, wherein the height of the second equipment is the installation height of the other two pieces of Internet of vehicles equipment; the third determining module is used for determining a device height difference according to the first device height and the second device height, wherein the device height difference is an absolute value of a difference value between the first device height and the second device height; and the third alarm unit is used for sending out third alarm information under the condition that the equipment height difference is larger than or equal to the preset height difference. Therefore, whether the installation height of the Internet of vehicles equipment is changed or not can be judged, and the installation height of the Internet of vehicles equipment can be timely known and processed under the condition that the installation height of the Internet of vehicles equipment is changed.

An optional solution, the two pieces of the internet of vehicles equipment are provided, the device further includes a seventh acquisition module, an eighth or module, a fourth determination module and a fourth alarm unit, the seventh acquisition module is used for acquiring a first attitude angle, and the first attitude angle is an installation angle of one of the internet of vehicles equipment; the eighth obtaining module is configured to obtain a second attitude angle, where the second attitude angle is an installation angle of another piece of internet-of-vehicle equipment; the fourth determining module is used for determining a posture angle difference according to the first posture angle and the second posture angle, wherein the posture angle difference is an absolute value of a difference value between the first posture angle and the second posture angle; the fourth alarm unit is used for sending fourth alarm information when the difference value between the gesture angle difference and the target angle difference is larger than or equal to the preset angle difference value. Therefore, whether the installation angle of the internet of vehicles equipment changes or not can be determined, and the installation angle of the internet of vehicles equipment is timely known and processed under the condition that the installation angle of the internet of vehicles equipment changes.

As an alternative, the target angle difference is 180 °. Therefore, two pieces of Internet of vehicles equipment can be ensured to be installed towards the front intersection and one piece of Internet of vehicles equipment is ensured to be installed away from the intersection, and data can be received from front to back.

The positioning device of the internet of vehicles equipment comprises a processor and a memory, wherein the first acquisition unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problem that the existing scheme for determining the position of the Internet of vehicles equipment is low in accuracy and cannot accurately judge whether the installation position and the gesture of the Internet of vehicles equipment deviate or not is solved by adjusting the inner core parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is located to execute the positioning method of the Internet of vehicles equipment.

Specifically, the positioning method of the internet of vehicles equipment comprises the following steps:

The embodiment of the invention provides a processor, which is used for running a program, wherein the positioning method of the Internet of vehicles equipment is executed when the program runs.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:

The device herein may be a server, PC, PAD, cell phone, etc.

The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) According to the positioning method of the Internet of vehicles equipment, a historical registration result is firstly obtained, wherein the historical registration result is a point cloud registration result of a laser radar of the Internet of vehicles equipment at a historical moment, and the point cloud registration result represents the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the historical moment; then, a current registration result is obtained, wherein the current registration result is a point cloud registration result of the laser radar of the internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the internet of vehicles equipment at the current time and the gesture of the internet of vehicles equipment; then comparing the historical registration result with the current registration result to obtain a comparison result; and finally, under the condition that the comparison result represents the same historical registration result and the current registration result, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged. According to the method, whether the installation position of the Internet of vehicles equipment is deviated or not is detected by comparing the registration results among multiple times of power-up and the multiple times of registration results in the process of one time of power-up, and alarm information is sent out under the condition that the installation position of the Internet of vehicles equipment is deviated, so that the problem that the existing scheme for determining the position of the Internet of vehicles equipment is low in accuracy and whether the installation position and the posture of the Internet of vehicles equipment are deviated or not cannot be accurately judged is solved.

2) The positioning device of the internet of vehicle equipment comprises a first acquisition unit, a second acquisition unit, a comparison unit and a determination unit, wherein the first acquisition unit is used for acquiring a historical registration result, the historical registration result is a point cloud registration result of a laser radar of the internet of vehicle equipment at a historical moment, and the point cloud registration result represents the position of the internet of vehicle equipment at the historical moment and the gesture of the internet of vehicle equipment; the second acquisition unit is used for acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the internet of vehicles equipment at the current time and the gesture of the internet of vehicles equipment; the comparison unit is used for comparing the historical registration result with the current registration result to obtain a comparison result; the determining unit is used for determining that the position of the vehicle networking equipment and the posture of the vehicle networking equipment are unchanged under the condition that the comparison result represents the historical registration result and the current registration result are the same. The device detects whether the installation position of the vehicle networking equipment deviates by comparing the registration result between multiple times of electrification and the multiple times of registration result in the process of one time of electrification, and sends out alarm information under the condition that the installation position of the vehicle networking equipment deviates, so that the problem that the existing scheme for determining the position of the vehicle networking equipment is low in accuracy and cannot accurately judge whether the installation position and the gesture of the vehicle networking equipment deviate is solved.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for locating an internet of vehicles device, comprising:

acquiring a historical registration result, wherein the historical registration result is a point cloud registration result of a laser radar of the internet of vehicle equipment at a historical moment, and the point cloud registration result represents the position of the internet of vehicle equipment and the gesture of the internet of vehicle equipment at the historical moment;

acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the Internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the current time;

comparing the historical registration result with the current registration result to obtain a comparison result;

and under the condition that the comparison result characterizes that the historical registration result is the same as the current registration result, determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged.

2. The positioning method according to claim 1, wherein the historical registration result is a point cloud registration result of the lidar when the internet of vehicles device is powered on for the first time, and the obtaining the historical registration result includes:

acquiring an initial registration result of the Internet of vehicles equipment, wherein the initial registration result is an initial point cloud registration result of a laser radar when the Internet of vehicles equipment is electrified for the first time;

obtaining registration parameters of the initial registration result, wherein the registration parameters at least comprise one of the following: matching the ratio of the point clouds corresponding to the initial matching pair in the initial registration result, the variance and the number of the point clouds, wherein the ratio of the matching pair is the ratio of the point clouds corresponding to the initial matching pair in all the point clouds;

and under the condition that the value of the registration parameter of the initial registration result is in a preset range, determining the initial registration result of the Internet of vehicles equipment as the historical registration result.

3. The positioning method according to claim 2, wherein obtaining an initial registration result of the internet of vehicles device comprises:

acquiring initial point cloud data of the Internet of vehicles equipment, wherein the initial point cloud data of the Internet of vehicles equipment are acquired by the laser radar when the Internet of vehicles equipment is electrified for the first time, and the initial point cloud data of the Internet of vehicles equipment comprise an initial position of the Internet of vehicles equipment and an initial gesture of the Internet of vehicles equipment;

Acquiring map point cloud data, wherein the map point cloud data is point cloud data of a map comprising the internet of vehicles equipment;

and matching the initial point cloud data of the Internet of vehicles equipment with the map point cloud data by adopting a laser radar point cloud registration technology to obtain an initial registration result of the Internet of vehicles equipment.

4. The positioning method according to claim 1, wherein the historical registration result is a point cloud registration result of the laser radar when the internet of vehicles device is powered on last time, the current registration result is a point cloud registration result of the laser radar when the internet of vehicles device is powered on last time, the comparison result includes a first position comparison value and a first posture comparison value, and after comparing the historical registration result and the current registration result, the method further includes:

and when the first position comparison value is larger than a first position change threshold value and/or the first posture comparison value is larger than a first posture change threshold value, sending out first alarm information, wherein the first position comparison value represents a change value between the position of the Internet of vehicles equipment when the power is on the current time and the position of the Internet of vehicles equipment when the power is on the last time, and the first posture comparison value represents a change value between the posture of the Internet of vehicles equipment when the power is on the current time and the posture of the Internet of vehicles equipment when the power is on the last time.

5. The positioning method according to claim 4, wherein, in case the first position comparison value is larger than a first position change threshold value and/or the first posture comparison value is larger than a first posture change threshold value, after issuing a first alarm information, the method further comprises:

acquiring map matching degree, wherein the map matching degree is the matching degree between the acquired point cloud data of the internet of vehicles equipment and map point cloud data of the laser radar when the internet of vehicles equipment is electrified at the current time, and the map point cloud data is the point cloud data of a map comprising the internet of vehicles equipment;

deleting the historical registration result and storing the current registration result when the map matching degree is greater than or equal to a preset matching degree;

and under the condition that the map matching degree is smaller than the preset matching degree, determining that the current registration result is abnormal.

6. The positioning method according to claim 5, wherein obtaining a map matching degree includes:

acquiring current point cloud data of the Internet of vehicles equipment, wherein the current point cloud data of the Internet of vehicles equipment are acquired by a laser radar when the Internet of vehicles equipment is electrified for the next time, and the initial point cloud data of the Internet of vehicles equipment comprise the current position of the Internet of vehicles equipment and the current gesture of the Internet of vehicles equipment;

Acquiring the map point cloud data;

and matching the current point cloud data of the Internet of vehicles equipment with the map point cloud data by adopting a laser radar point cloud registration technology to obtain the map matching degree.

7. The positioning method according to claim 1, wherein the historical registration result is a point cloud registration result of the laser radar when the internet of vehicles device is first aligned in a process of powering up the internet of vehicles device for a first time, the current registration result is a point cloud registration result of the laser radar when the internet of vehicles device is currently aligned in a process of powering up the internet of vehicles device for a first time, the comparison result includes a second position comparison value and a second posture comparison value, and after comparing the historical registration result and the current registration result, the method further includes:

and when the second position comparison value is larger than a second position change threshold value and/or the second posture comparison value is larger than a second posture change threshold value, sending out second alarm information, wherein the second position comparison value represents a change value between the position of the Internet of vehicles equipment when the position of the Internet of vehicles equipment is aligned for the first time in the process of powering up for the first preset time, and the second posture comparison value represents a change value between the posture of the Internet of vehicles equipment when the posture of the Internet of vehicles equipment is aligned for the first time in the process of powering up for the first preset time.

8. The positioning method according to claim 7, wherein, in case the second position comparison value is larger than a second position change threshold value and/or the second posture comparison value is larger than a second posture change threshold value, after issuing a second alarm information, the method further comprises:

acquiring the real installation state of the Internet of vehicles equipment, wherein the real installation state of the Internet of vehicles equipment represents whether the Internet of vehicles equipment is in fault or not;

controlling the Internet of vehicles equipment to be electrified again under the condition that the real installation state of the Internet of vehicles equipment is fault-free;

and sending maintenance information under the condition that the real installation state of the Internet of vehicles equipment is a fault.

9. The positioning method according to claim 7, wherein the point cloud data of the lidar is registered for a plurality of times according to a preset frequency in each power-on process of the internet of vehicles device.

10. The positioning method according to claim 1, wherein there are two of the internet of vehicles devices, and the installation heights of the two internet of vehicles devices are the same, the method further comprising:

acquiring the first equipment height, wherein the first equipment height is the installation height of one of the Internet of vehicles equipment;

Acquiring the height of a second device, wherein the height of the second device is the installation height of another two pieces of Internet of vehicles equipment;

determining a device height difference according to the first device height and the second device height, wherein the device height difference is an absolute value of a difference value between the first device height and the second device height;

and sending out third alarm information under the condition that the equipment height difference is larger than or equal to a preset height difference.

11. The positioning method of claim 1, wherein there are two of the internet of vehicles devices, the method further comprising:

acquiring a first attitude angle, wherein the first attitude angle is the installation angle of one of the Internet of vehicles equipment;

acquiring a second attitude angle, wherein the second attitude angle is the installation angle of the other piece of Internet of vehicles equipment;

determining a posture angle difference according to the first posture angle and the second posture angle, wherein the posture angle difference is an absolute value of a difference value of the first posture angle and the second posture angle;

and sending out fourth alarm information under the condition that the difference value of the gesture angle difference and the target angle difference is larger than or equal to the preset angle difference value.

12. The positioning method according to claim 11, wherein the target angular difference is 180 °.

13. A positioning device for an internet of vehicles device, comprising:

the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring a historical registration result, the historical registration result is a point cloud registration result of a laser radar of the internet of vehicle equipment at a historical moment, and the point cloud registration result represents the position of the internet of vehicle equipment and the gesture of the internet of vehicle equipment at the historical moment;

the second acquisition unit is used for acquiring a current registration result, wherein the current registration result is a point cloud registration result of the laser radar of the Internet of vehicles equipment at the current time, and the point cloud registration result represents the position of the Internet of vehicles equipment and the gesture of the Internet of vehicles equipment at the current time;

the comparison unit is used for comparing the historical registration result with the current registration result to obtain a comparison result;

and the determining unit is used for determining that the position of the Internet of vehicles equipment and the posture of the Internet of vehicles equipment are unchanged under the condition that the comparison result characterizes that the historical registration result and the current registration result are the same.

14. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method of positioning a vehicle networking device according to any one of claims 1 to 12.

15. An electronic device, comprising: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of positioning the internet of vehicles device of any of claims 1-12.