CN118050010A - Positioning method, device, vehicle, storage medium and program product for vehicle - Google Patents
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Abstract
The present disclosure relates to a positioning method, a device, a vehicle, a storage medium and a program product for a vehicle, and relates to the technical field of automatic driving, wherein the method includes obtaining first element data and second element data corresponding to a target moment of the vehicle, and obtaining a history element positioning result corresponding to a history moment; determining target element data of a target element corresponding to the vehicle according to the first element data and the second element data; and positioning the vehicle according to the target element data and the historical element positioning result. Therefore, in the running process of the vehicle, the first elements rich in the surrounding environment of the vehicle and the second elements in front of the vehicle can be effectively utilized, the transverse view constraint of the vehicle is considered, the longitudinal view constraint of the vehicle is also considered, and therefore the positioning accuracy of the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of autopilot technology, and in particular, to a vehicle positioning method, device, vehicle, storage medium, and program product.
Background
With the development of automatic driving technology, requirements on the sensing environment and decision making capability of vehicles are increasing. Cameras have absolute advantages in detecting distant objects and identifying road elements based on identification (e.g., traffic lights, stop lines, etc.). Currently, a front view image of the front of a vehicle traveling is collected by a camera, and the vehicle is positioned according to road elements in the front view image.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a positioning method of a vehicle, an apparatus, a vehicle, a storage medium, and a program product.
According to a first aspect of embodiments of the present disclosure, there is provided a method of positioning a vehicle, the method comprising:
Acquiring first element data and second element data corresponding to a vehicle at a target moment, and acquiring a history element positioning result corresponding to a history moment; wherein the first element data is used to characterize the relative position of a first element around the vehicle to the vehicle and the second element data is used to characterize the relative position of a second element on the road in front of the vehicle to the vehicle;
Determining target element data of a target element corresponding to the vehicle according to the first element data and the second element data;
and positioning the vehicle according to the target element data and the historical element positioning result.
Optionally, the acquiring the first element data and the second element data corresponding to the vehicle at the target moment includes:
Acquiring first pending element data corresponding to the first element which is acquired by the vehicle latest, and second pending element data corresponding to the second element which is acquired by the vehicle latest;
determining a first acquisition time corresponding to the first pending element data and a second acquisition time corresponding to the second pending element data;
According to the first acquisition time and the second acquisition time, time alignment is carried out on the first undetermined element data and the second undetermined element data, and first element data and second element data corresponding to the target time are obtained; wherein the target time includes the first acquisition time or the second acquisition time.
Optionally, the performing time alignment on the first pending element data and the second pending element data according to the first acquisition time and the second acquisition time, to obtain first element data and second element data corresponding to the target time includes:
acquiring wheel speed data of the vehicle corresponding to a target time period, wherein the target time period is determined according to the first acquisition time and the second acquisition time;
determining a target distance of the vehicle moving in the target time period according to the wheel speed data and the target time period;
And according to the target distance, the first acquisition time and the second acquisition time, performing time alignment on the first undetermined element data and the second undetermined element data to obtain the first element data and the second element data corresponding to the target time.
Optionally, the first predetermined element data includes first position information corresponding to the first element in a first camera coordinate system at the first acquisition time; the second undetermined element data comprise second position information corresponding to the second element in a second camera coordinate system at the second acquisition moment; the time alignment of the first undetermined element data and the second undetermined element data according to the target distance, the first acquisition time and the second acquisition time, and obtaining the first element data and the second element data corresponding to the target time includes:
according to the target distance, the first position information and the first acquisition time, mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the target time to obtain first element data; the target coordinate system is determined according to the initial position of the vehicle before starting;
And mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the second position information and the second acquisition time to obtain the second element data.
Optionally, mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the first position information and the first acquisition time, and obtaining the first element data includes:
according to the first position information and the first acquisition time, mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the first acquisition time to obtain third element data to be determined;
Taking the third undetermined element data as the first element data under the condition that the target moment comprises the first acquisition moment; or under the condition that the target time comprises the second acquisition time, mapping the first element from a target coordinate system corresponding to the first acquisition time to a target coordinate system corresponding to the target time according to the third element data to be determined and the target distance, so as to obtain the first element data.
Optionally, mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the second position information and the second acquisition time, to obtain the second element data includes:
According to the second position information and the second acquisition time, mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the second acquisition time to obtain fourth to-be-determined element data;
Under the condition that the target moment comprises the first acquisition moment, mapping the second element from a target coordinate system corresponding to the second acquisition moment to a target coordinate system corresponding to the target moment according to the fourth element data to be determined and the target distance to obtain the second element data; or taking the fourth predetermined element data as the second element data when the target time includes the second acquisition time.
Optionally, the acquiring the first predetermined element data corresponding to the first element that is acquired by the vehicle latest, and the second predetermined element data corresponding to the second element that is acquired by the vehicle latest include:
Acquiring a Bird's Eye View (BEV) view which is acquired by the vehicle and contains the first element, and a front view angle image which is acquired by the vehicle and contains the second element;
and acquiring first pending element data corresponding to the first element from the BEV view, and acquiring second pending element data corresponding to the second element from the front view angle image.
Optionally, the determining, according to the first element data and the second element data, target element data of a target element corresponding to the vehicle includes:
acquiring preset map data, wherein the preset map data comprises position information corresponding to a plurality of preset road elements;
matching the first element and the second element with a plurality of preset road elements according to the first element data, the second element data and the preset map data;
taking the successfully matched element as the target element;
and determining target element data corresponding to the target element from the first element data and the second element data.
Optionally, the target element data includes third position information corresponding to the target element in a target coordinate system at the target time, the history element positioning result includes fourth position information corresponding to the target element in the target coordinate system at the history time, and positioning the vehicle according to the target element data and the history element positioning result includes:
Determining fifth position information corresponding to the target element in preset map data;
Determining target position information corresponding to the target element according to the third position information, the fourth position information and the fifth position information;
and positioning the vehicle according to the target position information corresponding to the target element.
According to a second aspect of embodiments of the present disclosure, there is provided a positioning device of a vehicle, the device comprising:
The acquisition module is configured to acquire first element data and second element data corresponding to the target moment of the vehicle and acquire a history element positioning result corresponding to the history moment; wherein the first element data is used to characterize the relative position of a first element around the vehicle to the vehicle and the second element data is used to characterize the relative position of a second element on the road in front of the vehicle to the vehicle;
A determining module configured to determine target element data of a target element corresponding to the vehicle according to the first element data and the second element data;
And the positioning module is configured to position the vehicle according to the target element data and the historical element positioning result.
Optionally, the acquiring module is configured to acquire first pending element data corresponding to the first element acquired by the vehicle latest, and second pending element data corresponding to the second element acquired by the vehicle latest; determining a first acquisition time corresponding to the first pending element data and a second acquisition time corresponding to the second pending element data; according to the first acquisition time and the second acquisition time, time alignment is carried out on the first undetermined element data and the second undetermined element data, and first element data and second element data corresponding to the target time are obtained; wherein the target time includes the first acquisition time or the second acquisition time.
Optionally, the acquiring module is configured to acquire wheel speed data of the vehicle corresponding to a target time period, where the target time period is determined according to the first acquisition time and the second acquisition time; determining a target distance of the vehicle moving in the target time period according to the wheel speed data and the target time period; and according to the target distance, the first acquisition time and the second acquisition time, performing time alignment on the first undetermined element data and the second undetermined element data to obtain the first element data and the second element data corresponding to the target time.
Optionally, the first predetermined element data includes first position information corresponding to the first element in a first camera coordinate system at the first acquisition time; the second undetermined element data comprise second position information corresponding to the second element in a second camera coordinate system at the second acquisition moment; the acquisition module is configured to map the first element from the first camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the first position information and the first acquisition time to obtain the first element data; the target coordinate system is determined according to the initial position of the vehicle before starting; and mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the second position information and the second acquisition time to obtain the second element data.
Optionally, the acquiring module is configured to map the first element from the first camera coordinate system to a target coordinate system corresponding to the first acquisition time according to the first position information and the first acquisition time, so as to obtain third element data to be determined; taking the third undetermined element data as the first element data under the condition that the target moment comprises the first acquisition moment; or under the condition that the target time comprises the second acquisition time, mapping the first element from a target coordinate system corresponding to the first acquisition time to a target coordinate system corresponding to the target time according to the third element data to be determined and the target distance, so as to obtain the first element data.
Optionally, the acquiring module is configured to map the second element from the second camera coordinate system to a target coordinate system corresponding to the second acquisition time according to the second position information and the second acquisition time, so as to obtain fourth pending element data; under the condition that the target moment comprises the first acquisition moment, mapping the second element from a target coordinate system corresponding to the second acquisition moment to a target coordinate system corresponding to the target moment according to the fourth element data to be determined and the target distance to obtain the second element data; or taking the fourth predetermined element data as the second element data when the target time includes the second acquisition time.
Optionally, the acquiring module is configured to acquire a bird's eye view BEV view including the first element acquired by the vehicle latest, and a front view angle image including the second element acquired by the vehicle latest; and acquiring first pending element data corresponding to the first element from the BEV view, and acquiring second pending element data corresponding to the second element from the front view angle image.
Optionally, the determining module is configured to obtain preset map data, where the preset map data includes position information corresponding to a plurality of preset road elements; matching the first element and the second element with a plurality of preset road elements according to the first element data, the second element data and the preset map data; taking the successfully matched element as the target element; and determining target element data corresponding to the target element from the first element data and the second element data.
Optionally, the target element data includes third position information corresponding to the target element in a target coordinate system at the target moment, the history element positioning result includes fourth position information corresponding to the target element in the target coordinate system at the history moment, and the positioning module is configured to determine fifth position information corresponding to the target element in preset map data; determining target position information corresponding to the target element according to the third position information, the fourth position information and the fifth position information; and positioning the vehicle according to the target position information corresponding to the target element.
According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method for locating a vehicle provided in the first aspect of the present disclosure when invoking executable instructions stored on the memory.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method for locating a vehicle provided by the first aspect of the present disclosure.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for locating a vehicle provided by the first aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: acquiring first element data and second element data corresponding to a vehicle at a target moment, and acquiring a history element positioning result corresponding to a history moment; wherein the first element data is used to characterize the relative position of a first element around the vehicle to the vehicle and the second element data is used to characterize the relative position of a second element on the road in front of the vehicle to the vehicle; determining target element data of a target element corresponding to the vehicle according to the first element data and the second element data; and positioning the vehicle according to the target element data and the historical element positioning result. By the method, the first element data corresponding to the first elements around the vehicle and the second element data corresponding to the second elements on the road in front of the vehicle are combined, namely, the recognition effect of the first elements and the second elements is combined, and the target element data are obtained. And then according to the target element data and the historical element positioning result, the accurate positioning of the vehicle is realized. Therefore, in the running process of the vehicle, the first elements rich in the surrounding environment of the vehicle and the second elements in front of the vehicle can be effectively utilized, the transverse view constraint of the vehicle is considered, the longitudinal view constraint of the vehicle is also considered, and therefore the positioning accuracy of the vehicle is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart illustrating a method of locating a vehicle according to an exemplary embodiment.
FIG. 2 is a flow chart illustrating another method of locating a vehicle according to an exemplary embodiment.
FIG. 3 is a flowchart illustrating another method of locating a vehicle according to an exemplary embodiment.
FIG. 4 is a flowchart illustrating another method of locating a vehicle according to an exemplary embodiment.
Fig. 5 is a block diagram illustrating a positioning device of a vehicle according to an exemplary embodiment.
FIG. 6 is a block diagram of a vehicle, according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The implementations described below in some examples of the disclosure are not representative of all implementations consistent with the disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
The terms first, second and the like in the description and in the claims of the application and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.
In the description of the present disclosure, unless otherwise indicated, "a plurality" means two or more than two, and other adjectives are similar thereto; "at least one item", "an item" or "a plurality of items" or the like, refer to any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (a) may represent any number a; as another example, one (or more) of a, b, and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from context, "X application a or B" is intended to mean any one of the natural inclusive permutations. I.e. if X applies a; x is applied with B; or both X applications a and B, "X application a or B" is satisfied under any of the foregoing examples. Moreover, the word "exemplarily" is used herein to mean serving as an example, instance, illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the use of the word exemplary is intended to present concepts in a concrete fashion.
Before introducing a vehicle positioning method, a vehicle positioning device, a vehicle, a storage medium and a program product provided by the present disclosure, application scenarios related to various embodiments of the present disclosure are first described. The method and the device can be applied to driving scenes of vehicle positioning, and currently, the front view image of the front of the vehicle is collected through a camera, and the vehicle is positioned according to road elements in the front view image. But only a single camera scene is used for identifying road elements which can only be perceived at a single visual angle, and the method cannot adapt to complex and changeable multidimensional urban driving scenes, so that the accuracy of vehicle positioning can be affected.
In order to solve the technical problems, the invention provides a vehicle positioning method, a vehicle positioning device, a vehicle, a storage medium and a program product, which combine first element data corresponding to first elements around the vehicle with second element data corresponding to second elements on a road in front of the vehicle, namely, combine the recognition effects of the first elements and the second elements, and obtain target element data. And then according to the target element data and the historical element positioning result, the accurate positioning of the vehicle is realized. Therefore, in the running process of the vehicle, the first elements rich in the surrounding environment of the vehicle and the second elements in front of the vehicle can be effectively utilized, the transverse view constraint of the vehicle is considered, the longitudinal view constraint of the vehicle is also considered, and therefore the positioning accuracy of the vehicle is improved.
The following describes specific embodiments of the present invention in detail with reference to the drawings.
FIG. 1 is a flow chart illustrating a method of locating a vehicle, as shown in FIG. 1, according to an exemplary embodiment, the method may include the steps of:
In step S101, first element data and second element data corresponding to a target time of a vehicle are acquired, and a history element positioning result corresponding to a history time is acquired.
The first element data is used for representing the relative position of a first element around the vehicle and the vehicle, and the second element data is used for representing the relative position of a second element on a road in front of the vehicle and the vehicle. The historical time may be the last time of the target time, or may be any time in the historical time. The history element positioning result may be history element data of the target element determined in the last vehicle positioning process, that is, may be history position information corresponding to the target element.
The first element may be, for example, a lane line, and the second element may be, for example, a lamp post, a road sign, a stop line, or the like, other road elements than the lane line. The first element data may be obtained, for example, from a BEV (english: bird's Eye View; chinese: bird's Eye View) View acquired by the vehicle, and the second element data may be obtained, for example, from a front View image acquired by the vehicle. Wherein the BEV view and the forward viewing angle images may be acquired by different acquisition devices. For example, the forward looking view image may be acquired by a sensor disposed in front of the vehicle, and the BEV view may be acquired by fusing images acquired by a plurality of sensors (the plurality of sensors may be disposed at different locations around the vehicle).
In step S102, target element data of a target element corresponding to the vehicle is determined according to the first element data and the second element data.
In order to further improve accuracy of the subsequently positioned vehicle, in this embodiment, the target element may be determined from the first element and the second element according to the first element data and the second element data, and target element data corresponding to the target element in the first element data and the second element data may be further determined.
In one implementation, the first element and the second element may be matched with a plurality of preset road elements in the preset map data, and the successfully matched elements may be used as target elements. Thus, more representative target elements are obtained through matching, and the accuracy of the subsequent vehicle positioning is further improved.
In step S103, the vehicle is positioned according to the target element data and the history element positioning result.
In this step, in order to further improve accuracy and representativeness of the element data corresponding to the target element, the historical element positioning result and the target element data may be combined, and target position information corresponding to the target element may be predicted, where the target position information may represent a relative position between the target element and the vehicle, and may include, but is not limited to, parameters such as azimuth and distance. And the position of the vehicle can be determined according to the target position information corresponding to the target element, so that the vehicle can be positioned.
In addition, after the position of the vehicle is determined, the running of the vehicle can be controlled according to the positioning of the vehicle, for example, the vehicle is kept running in a preset lane line, the vehicle is controlled to change lanes, turn around and the like, the control accuracy of the vehicle can be effectively improved, and the use experience of a user is further improved.
Meanwhile, compared with a method for realizing positioning only through a single view angle or positioning through BEV (which occupies a large amount of system resources) in some technologies, the scheme of the present disclosure improves the vehicle positioning precision, reduces the occupation of the sensing part on the system resources, and reduces the resource consumption.
By adopting the method, the first element data corresponding to the first elements around the vehicle and the second element data corresponding to the second elements on the road in front of the vehicle are combined, namely the recognition effect of the first elements and the second elements is combined, and the target element data is obtained. And then according to the target element data and the historical element positioning result, the accurate positioning of the vehicle is realized. Therefore, in the running process of the vehicle, the first elements rich in the surrounding environment of the vehicle and the second elements in front of the vehicle can be effectively utilized, the transverse view constraint of the vehicle is considered, the longitudinal view constraint of the vehicle is also considered, and therefore the positioning accuracy of the vehicle is improved.
As described in detail below with respect to the above step S101, as shown in fig. 2, the step S101 of acquiring the first element data and the second element data corresponding to the vehicle at the target time may include the following steps:
In step S1011, first predetermined element data corresponding to the first element that is newly collected by the vehicle and second predetermined element data corresponding to the second element that is newly collected by the vehicle are acquired.
In some embodiments, a newly acquired bird's eye view BEV view of the vehicle containing the first element and a newly acquired forward looking perspective image of the vehicle containing the second element may be acquired. Then, first pending element data corresponding to the first element is acquired from the BEV view, and second pending element data corresponding to the second element is acquired from the forward viewing angle image. Specifically, the corresponding undetermined element data can be obtained by means of element identification.
For example, in case the first element comprises a lane line, the corresponding first predetermined element data may be obtained by lane line recognition of the BEV view. In the case that the second element includes a guideboard, the corresponding second pending element data may be obtained by performing guideboard recognition on the forward view angle image.
In step S1012, a first acquisition time corresponding to the first pending element data and a second acquisition time corresponding to the second pending element data are determined.
In an actual scene, a slight time error still exists between different sensors, namely synchronous acquisition cannot be completely realized, and a certain time difference still exists in acquisition time. Since the vehicle may be traveling all the time, in the case of an error in the acquisition time, the position where the vehicle is located is different when the first predetermined element data is acquired from when the second predetermined element data is acquired. In order to achieve more accurate positioning of the vehicle, the influence caused by the acquisition time errors of different sensors needs to be eliminated in the implementation. Therefore, in this step, it is necessary to determine a first acquisition time corresponding to the first pending element data and a second acquisition time corresponding to the second pending element data, so that time alignment processing is conveniently performed on the first pending element data and the second pending element data according to the first acquisition time and the second acquisition time, so that the first element data and the second element data obtained after the time alignment processing are located at the same time.
In step S1013, according to the first acquisition time and the second acquisition time, the first pending element data and the second pending element data are time aligned to obtain first element data and second element data corresponding to the target time.
The target time comprises a first acquisition time or a second acquisition time. That is, the first pending element data may be aligned to the second acquisition time, or the second pending element data may be aligned to the first acquisition time, so long as the first pending element data and the second pending element data are guaranteed to be at the same time.
In some embodiments, first, wheel speed data of a wheel corresponding to the vehicle at a target period may be acquired. Wherein the target time period is determined from the first acquisition time and the second acquisition time. For example, the target time period may include a time period between the first acquisition time and the second acquisition time, or a time period between the second acquisition time and the first acquisition time. Then, a target distance for movement of the vehicle within the target period of time may be determined based on the wheel speed data and the target period of time. Thus, the distance moved by the vehicle between the first acquisition time and the second acquisition time can be calculated, so that the data deviation caused by the movement of the vehicle in the target time period can be eliminated. And then, according to the target distance, the first acquisition time and the second acquisition time, the first undetermined element data and the second undetermined element data are aligned in time, so that first element data and second element data corresponding to the target time are obtained.
For example, the first pending element data may include first position information corresponding to the first element in a first camera coordinate system at a first acquisition time; the second predetermined element data may include second position information of the second element corresponding to the second acquisition time in a second camera coordinate system. Correspondingly, the step of performing time alignment on the first pending element data and the second pending element data according to the target distance, the first acquisition time and the second acquisition time to obtain first element data and second element data corresponding to the target time may include:
S1, mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the first position information and the first acquisition time to obtain the first element data.
And S2, mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the second position information and the second acquisition time to obtain second element data.
The target coordinate system is determined according to an initial position of the vehicle before starting, and may be, for example, a DR coordinate system, and a coordinate system established by taking the initial position of the vehicle before starting as an origin may be used to record a change condition of a relative position of the vehicle after starting. The DR coordinate system itself is characteristic in that the position of the vehicle can be determined by the DR coordinate system within a short distance, but the DR coordinate system is accumulated over time, and the recorded vehicle position has a relatively large accumulated error compared with the actual position of the vehicle, and thus cannot be used continuously for a long time.
Specifically, first, according to the first position information and the first acquisition time, the first element may be mapped from the first camera coordinate system to a target coordinate system corresponding to the first acquisition time, so as to obtain third pending element data. Taking the first acquisition time as t1 and the target coordinate system as a DR coordinate system as an example, according to the first position information, the first element may be mapped from the first camera coordinate system to the DR-t1 coordinate system, and the coordinate position of the first element in the DR-t1 coordinate system (i.e., the target coordinate system corresponding to the first acquisition time) may be used as the third pending element data.
And secondly, mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the second acquisition time according to the second position information and the second acquisition time to obtain fourth pending element data. Taking the second acquisition time as t2 and the target coordinate system as a DR coordinate system as an example, the second element can be mapped from the second camera coordinate system to the DR-t2 coordinate system according to the second position information, and the coordinate position of the second element in the DR-t2 coordinate system (namely, the target coordinate system corresponding to the second acquisition time) is used as fourth element data to be determined.
As can be seen from the foregoing, the target time may include the first acquisition time or the second acquisition time, that is, the third pending element data may be mapped to the target coordinate system corresponding to the second acquisition time, or the fourth pending element data may be mapped to the target coordinate system corresponding to the first acquisition time.
Thus, in one possible manner, if the target time includes the first acquisition time, the third pending element data may be taken as the first element data. And according to the fourth to-be-determined element data and the target distance, mapping the second element from the target coordinate system corresponding to the second acquisition time to the target coordinate system corresponding to the target time to obtain the second element data. It can be appreciated that the target distance may reflect the distance that the vehicle moves within the target time period, and therefore, the second element may be mapped to the target coordinate system corresponding to the target time according to the target distance and the coordinate position corresponding to the second element indicated by the fourth element to be determined data, so as to obtain the second element data.
In another possible implementation manner, when the target time includes the second acquisition time, the first element may be mapped from a target coordinate system corresponding to the first acquisition time to a target coordinate system corresponding to the target time according to the third element to be determined data and the target distance, so as to obtain the first element data, and the fourth element to be determined data is used as the second element data.
In this way, through time alignment processing, the first element and the second element are mapped to the target coordinate system corresponding to the same target time, so as to obtain corresponding first element data and second element data. The first element data and the second element data for positioning can be ensured to be positioned at the same moment, so that the accuracy of the subsequent vehicle positioning is ensured.
As described in detail below with respect to the step S102, as shown in fig. 3, the step S103 of determining, according to the first element data and the second element data, target element data of a target element corresponding to the vehicle may include the following steps:
In step S1021, preset map data is acquired.
The preset map data comprises position information corresponding to a plurality of preset road elements. The preset map data may be, for example, a latest high-precision map acquired from a cloud server, which contains position information of each road element latest on a road.
In step S1022, the first element and the second element are matched with a plurality of preset road elements according to the first element data, the second element data and the preset map data.
It will be appreciated that the location of the road elements on the road is often fixed, and thus inaccurate identification of the road elements in the first and second elements may be eliminated by matching the first and second elements with a plurality of preset road elements.
In step S1023, an element that is successfully matched is taken as the target element.
In some embodiments, the element with the distance smaller than the preset distance threshold value can be used as the successfully matched element, namely the target element by judging the distance between the first element and the second element and a plurality of preset road elements.
In step S1024, target element data corresponding to the target element is determined from the first element data and the second element data.
In the above step, elements with high similarity are screened out through matching, and at this time, target element data corresponding to the screened target elements, that is, the target element data represents element data corresponding to the target element identified through the image at the target moment, that is, position information, can be further obtained from the first element data and the second element data.
The following details the step S103, where the target element data includes third location information corresponding to the target element in the target coordinate system at the target time, the history element positioning result includes fourth location information corresponding to the target element in the target coordinate system at the history time, as shown in fig. 4, and the step S103 locates the vehicle according to the target element data and the history element positioning result, where the locating includes:
in step S1031, fifth location information corresponding to the target element in the preset map data is determined.
The fifth position information may be latitude and longitude information, so as to determine the position of the target element on the preset map data.
In step S1032, the target location information corresponding to the target element is determined according to the third location information, the fourth location information and the fifth location information.
For example, the target location information corresponding to the target element may be predicted according to the third location information, the fourth location information, and the fifth location information by a least squares method in ceres optimization library.
In order to further improve the accuracy of vehicle positioning, the position information of the target element can be further predicted according to the third position information of the current target element in the target coordinate system, the fourth position information corresponding to the preset map data and the fifth position information corresponding to the historical moment by the least square method principle to obtain the target position information, so that the accuracy of the target position information is improved.
In step S1033, the vehicle is positioned according to the target position information corresponding to the target element.
In the step, the vehicle can be accurately positioned through the optimized target position information corresponding to the target element.
By adopting the method, the first element data corresponding to the first elements around the vehicle and the second element data corresponding to the second elements on the road in front of the vehicle are combined, namely the recognition effect of the first elements and the second elements is combined, and the target element data is obtained. And then according to the target element data and the historical element positioning result, the accurate positioning of the vehicle is realized. Therefore, in the running process of the vehicle, the first elements rich in the surrounding environment of the vehicle and the second elements in front of the vehicle can be effectively utilized, the transverse view constraint of the vehicle is considered, the longitudinal view constraint of the vehicle is also considered, and therefore the positioning accuracy of the vehicle is improved.
Fig. 5 is a block diagram illustrating a positioning apparatus of a vehicle according to an exemplary embodiment, and as shown in fig. 5, the apparatus 200 includes:
An obtaining module 201, configured to obtain first element data and second element data corresponding to a target moment of a vehicle, and obtain a history element positioning result corresponding to a history moment; wherein the first element data is used for representing the relative position of a first element around the vehicle and the vehicle, and the second element data is used for representing the relative position of a second element on a road in front of the vehicle and the vehicle;
A determining module 202 configured to determine target element data of a target element corresponding to the vehicle according to the first element data and the second element data;
and a positioning module 203 configured to position the vehicle according to the target element data and the history element positioning result.
Optionally, the acquiring module 201 is configured to acquire first pending element data corresponding to the first element that is acquired by the vehicle most recently, and second pending element data corresponding to the second element that is acquired by the vehicle most recently; determining a first acquisition time corresponding to the first pending element data and a second acquisition time corresponding to the second pending element data; according to the first acquisition time and the second acquisition time, time alignment is carried out on the first undetermined element data and the second undetermined element data, and first element data and second element data corresponding to the target time are obtained; the target time comprises a first acquisition time or a second acquisition time.
Optionally, the acquiring module 201 is configured to acquire wheel speed data of the vehicle corresponding to a target period, where the target period is determined according to the first acquisition time and the second acquisition time; determining a target distance of movement of the vehicle within the target time period according to the wheel speed data and the target time period; and according to the target distance, the first acquisition time and the second acquisition time, performing time alignment on the first undetermined element data and the second undetermined element data to obtain first element data and second element data corresponding to the target time.
Optionally, the first predetermined element data includes first position information corresponding to the first element in a first camera coordinate system at a first acquisition time; the second element data to be determined comprises second position information corresponding to the second element in a second camera coordinate system at a second acquisition time; the obtaining module 201 is configured to map the first element from the first camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the first position information and the first acquisition time, so as to obtain the first element data; the target coordinate system is determined according to the initial position of the vehicle before starting; and according to the target distance, the second position information and the second acquisition time, mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time to obtain second data.
Optionally, the obtaining module 201 is configured to map the first element from the first camera coordinate system to a target coordinate system corresponding to the first acquisition time according to the first position information and the first acquisition time, so as to obtain third pending element data; taking the third undetermined element data as the first element data under the condition that the target moment comprises the first acquisition moment; or under the condition that the target time comprises the second acquisition time, mapping the first element from a target coordinate system corresponding to the first acquisition time to a target coordinate system corresponding to the target time according to the third element data to be determined and the target distance, so as to obtain the first element data.
Optionally, the obtaining module 201 is configured to map the second element from the second camera coordinate system to a target coordinate system corresponding to the second acquisition time according to the second position information and the second acquisition time, so as to obtain fourth pending element data; under the condition that the target moment comprises the first acquisition moment, mapping the second element from a target coordinate system corresponding to the second acquisition moment to a target coordinate system corresponding to the target moment according to the fourth element data to be determined and the target distance to obtain the second element data; or in the case that the target time includes a second acquisition time, taking the fourth undetermined element data as the second element data.
Optionally, the acquiring module 201 is configured to acquire a bird's eye view BEV view including the first element, which is acquired by the vehicle, and a front view angle image including the second element, which is acquired by the vehicle; and acquiring first pending element data corresponding to the first element from the BEV view, and acquiring second pending element data corresponding to the second element from the front view angle image.
Optionally, the determining module 202 is configured to obtain preset map data, where the preset map data includes location information corresponding to a plurality of preset road elements; matching the first element and the second element with a plurality of preset road elements according to the first element data, the second element data and the preset map data; taking the successfully matched element as the target element; and determining target element data corresponding to the target element from the first element data and the second element data.
Optionally, the target element data includes third position information corresponding to the target element in a target coordinate system at the target time, the history element positioning result includes fourth position information corresponding to the target element in the target coordinate system at the history time, and the positioning module 203 is configured to determine fifth position information corresponding to the target element in preset map data; determining target position information corresponding to the target element according to the third position information, the fourth position information and the fifth position information; and positioning the vehicle according to the target position information corresponding to the target element.
By adopting the device, the first element data corresponding to the first elements around the vehicle and the second element data corresponding to the second elements on the road in front of the vehicle are combined, namely, the recognition effect of the first elements and the second elements is combined, and the target element data is obtained. And then according to the target element data and the historical element positioning result, the accurate positioning of the vehicle is realized. Therefore, in the running process of the vehicle, the first elements rich in the surrounding environment of the vehicle and the second elements in front of the vehicle can be effectively utilized, the transverse view constraint of the vehicle is considered, the longitudinal view constraint of the vehicle is also considered, and therefore the positioning accuracy of the vehicle is improved.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle positioning method provided by the present disclosure.
Fig. 6 is a block diagram of a vehicle 300, according to an exemplary embodiment. For example, the vehicle 300 may be a hybrid vehicle, or may be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 6, a vehicle 300 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. Wherein the vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 300 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 320 may include several types of sensors for sensing information of the environment surrounding the vehicle 300. For example, the perception system 320 may include a global positioning system (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 340 may include components that provide powered movement of the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 300 are controlled by the computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, the processor 351 may execute instructions 353 stored in the memory 352.
The processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable GATE ARRAY, FPGA), a System On Chip (SOC), an Application SPECIFIC INTEGRATED Circuit (ASIC), or a combination thereof.
The memory 352 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 353, memory 352 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 352 may be used by computing platform 350.
In an embodiment of the present disclosure, the processor 351 may execute the instructions 353 to perform all or part of the steps of the vehicle positioning method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned method of positioning a vehicle when being executed by the programmable apparatus.
Also, although the disclosure has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art upon the reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations and is limited only by the scope of the claims. In particular regard to the various functions performed by the above described components (e.g., elements, resources, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (which is functionally equivalent), even though not structurally equivalent to the disclosed structure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or more other features of the other implementations as may be desired and advantageous for any given or particular application. Furthermore, to the extent that the terms "includes," including, "" has, "" having, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (13)
1. A method of locating a vehicle, the method comprising:
Acquiring first element data and second element data corresponding to a vehicle at a target moment, and acquiring a history element positioning result corresponding to a history moment; wherein the first element data is used to characterize the relative position of a first element around the vehicle to the vehicle and the second element data is used to characterize the relative position of a second element on the road in front of the vehicle to the vehicle;
Determining target element data of a target element corresponding to the vehicle according to the first element data and the second element data;
and positioning the vehicle according to the target element data and the historical element positioning result.
2. The method according to claim 1, wherein the acquiring the first element data and the second element data corresponding to the vehicle at the target time includes:
Acquiring first pending element data corresponding to the first element which is acquired by the vehicle latest, and second pending element data corresponding to the second element which is acquired by the vehicle latest;
determining a first acquisition time corresponding to the first pending element data and a second acquisition time corresponding to the second pending element data;
According to the first acquisition time and the second acquisition time, time alignment is carried out on the first undetermined element data and the second undetermined element data, and first element data and second element data corresponding to the target time are obtained; wherein the target time includes the first acquisition time or the second acquisition time.
3. The method of claim 2, wherein the time aligning the first pending element data and the second pending element data according to the first acquisition time and the second acquisition time to obtain the first element data and the second element data corresponding to the target time includes:
acquiring wheel speed data of the vehicle corresponding to a target time period, wherein the target time period is determined according to the first acquisition time and the second acquisition time;
determining a target distance of the vehicle moving in the target time period according to the wheel speed data and the target time period;
And according to the target distance, the first acquisition time and the second acquisition time, performing time alignment on the first undetermined element data and the second undetermined element data to obtain the first element data and the second element data corresponding to the target time.
4. A method according to claim 3, wherein the first predetermined element data includes first position information corresponding to the first element in a first camera coordinate system at the first acquisition time; the second undetermined element data comprise second position information corresponding to the second element in a second camera coordinate system at the second acquisition moment; the time alignment of the first undetermined element data and the second undetermined element data according to the target distance, the first acquisition time and the second acquisition time, and obtaining the first element data and the second element data corresponding to the target time includes:
according to the target distance, the first position information and the first acquisition time, mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the target time to obtain first element data; the target coordinate system is determined according to the initial position of the vehicle before starting;
And mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the second position information and the second acquisition time to obtain the second element data.
5. The method of claim 4, wherein mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the first location information, and the first acquisition time, to obtain the first element data includes:
according to the first position information and the first acquisition time, mapping the first element from the first camera coordinate system to a target coordinate system corresponding to the first acquisition time to obtain third element data to be determined;
Taking the third undetermined element data as the first element data under the condition that the target moment comprises the first acquisition moment; or under the condition that the target time comprises the second acquisition time, mapping the first element from a target coordinate system corresponding to the first acquisition time to a target coordinate system corresponding to the target time according to the third element data to be determined and the target distance, so as to obtain the first element data.
6. The method of claim 4, wherein mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the target time according to the target distance, the second location information, and the second acquisition time, to obtain the second element data includes:
According to the second position information and the second acquisition time, mapping the second element from the second camera coordinate system to a target coordinate system corresponding to the second acquisition time to obtain fourth to-be-determined element data;
Under the condition that the target moment comprises the first acquisition moment, mapping the second element from a target coordinate system corresponding to the second acquisition moment to a target coordinate system corresponding to the target moment according to the fourth element data to be determined and the target distance to obtain the second element data; or taking the fourth predetermined element data as the second element data when the target time includes the second acquisition time.
7. The method of claim 2, wherein the acquiring the first pending element data corresponding to the first element that was last acquired by the vehicle and the second pending element data corresponding to the second element that was last acquired by the vehicle comprises:
Acquiring a Bird's Eye View (BEV) view which is acquired by the vehicle and contains the first element, and a front view angle image which is acquired by the vehicle and contains the second element;
and acquiring first pending element data corresponding to the first element from the BEV view, and acquiring second pending element data corresponding to the second element from the front view angle image.
8. The method of claim 1, wherein determining target element data of the target element corresponding to the vehicle from the first element data and the second element data comprises:
acquiring preset map data, wherein the preset map data comprises position information corresponding to a plurality of preset road elements;
matching the first element and the second element with a plurality of preset road elements according to the first element data, the second element data and the preset map data;
taking the successfully matched element as the target element;
and determining target element data corresponding to the target element from the first element data and the second element data.
9. The method according to any one of claims 1 to 8, wherein the target element data includes third position information corresponding to the target element in a target coordinate system at the target time, the history element positioning result includes fourth position information corresponding to the target element in a target coordinate system at the history time, and the positioning the vehicle according to the target element data and the history element positioning result includes:
Determining fifth position information corresponding to the target element in preset map data;
Determining target position information corresponding to the target element according to the third position information, the fourth position information and the fifth position information;
and positioning the vehicle according to the target position information corresponding to the target element.
10. A positioning device for a vehicle, the device comprising:
The acquisition module is configured to acquire first element data and second element data corresponding to the target moment of the vehicle and acquire a history element positioning result corresponding to the history moment; wherein the first element data is used to characterize the relative position of a first element around the vehicle to the vehicle and the second element data is used to characterize the relative position of a second element on the road in front of the vehicle to the vehicle;
A determining module configured to determine target element data of a target element corresponding to the vehicle according to the first element data and the second element data;
And the positioning module is configured to position the vehicle according to the target element data and the historical element positioning result.
11. A vehicle, characterized by comprising:
A processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the steps of the method of any one of claims 1 to 9 when invoking executable instructions stored on the memory.
12. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 9.
13. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any one of claims 1 to 9.
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