WO2020151664A1

WO2020151664A1 - Vehicle-mounted control device, field end positioning device, and vehicle

Info

Publication number: WO2020151664A1
Application number: PCT/CN2020/073247
Authority: WO
Inventors: 安淑苗; 张凯; 张瀛; 高崇桂; 杜康; 张召强
Original assignee: 长城汽车股份有限公司
Priority date: 2019-01-25
Filing date: 2020-01-20
Publication date: 2020-07-30

Abstract

A vehicle-mounted control device, a field end positioning device, and a vehicle. The vehicle-mounted control device comprises: a vehicle-mounted positioning unit (1) and a master control unit (2). The vehicle-mounted positioning unit (1) is configured to acquire a current scene image or to generate and output vehicle end positioning information. The master control unit (2) is configured to: send a request of obtaining field end positioning information when the current scene image or the vehicle end positioning information satisfies a preset condition, wherein the field end positioning information comprises location coordinates of a vehicle and/or location coordinates of an obstacle; receive the field end positioning information; and perform positioning and/or obstacle avoidance using the field end positioning information.

Description

Vehicle-mounted control device, field-side positioning device and vehicle

Technical field

The present invention relates to the technical field of automatic control, in particular to a vehicle-mounted control device, a field-end positioning device and a vehicle.

Background technique

At the current stage, the solutions for controlling vehicles in the parking lot are:

1. The heavy-duty, light-vehicle, and field-side solutions use a variety of acquisition technologies, and the vehicle side does not require sensing functions. The disadvantage of this solution is that the parking lot needs to be transformed, and multiple collections at the field side need to be carried out all the time, cost and equipment The maintenance cost is very high in the later period, and the promotion is difficult. The vehicle already has a certain perception sensor, which will cause a waste if not used.

2. The heavy vehicle end and the light field end are equipped with a variety of acquisition technologies at the vehicle end. In some special scenes, such as too bright or dark light, turning and fewer feature points, etc., the positioning method based on the vehicle end acquisition technology cannot always Work accurately.

Summary of the invention

In view of this, the present invention aims to propose a vehicle-mounted control device to avoid the problem that the positioning method of the vehicle-end acquisition technology cannot always work accurately, and to achieve accurate full-course positioning and/or obstacle avoidance.

In order to achieve the above objective, the technical solution of the present invention is achieved as follows:

A vehicle-mounted control device comprising: a vehicle-mounted positioning unit and a main control unit, wherein the vehicle-mounted positioning unit is used for collecting current scene images or generating and outputting vehicle-side positioning information; the main control unit is used for: When the current scene image or the vehicle-side positioning information meets a preset condition, send a field-side positioning information acquisition request, where the field-side positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle; receive The field end positioning information; and using the field end positioning information for positioning and/or obstacle avoidance.

Further, the preset condition includes that the pixel grayscale value of the current scene image is not within a preset range.

Further, the preset condition includes alternately changing the size of the drivable area determined according to the current scene image during the driving of the vehicle.

Further, the preset condition includes: during the running of the vehicle, the deviation between the vehicle-side positioning information and the expected positioning information is greater than or equal to a preset value, wherein the expected positioning information is based on the vehicle's direction, speed, and initial The positioning information is obtained; or during the driving of the vehicle, the update frequency of the vehicle-side positioning information within a predetermined time is less than or equal to a preset frequency.

Further, the preset condition includes that the distance between the vehicle and the set area determined according to the vehicle-end positioning information is less than or equal to the set distance.

Further, the main control unit is further configured to: when the pixel gray value of the current scene image is in the preset range, use the vehicle-side positioning information obtained by the vehicle-mounted positioning unit to perform positioning and/or avoidance. barrier.

Further, the main control unit is also used to: during the driving process of the vehicle, when the drivable area does not change in size, use the vehicle-side positioning information obtained by the vehicle-mounted positioning unit to perform positioning and/or Avoidance.

Further, the main control unit is further configured to: in a period in which the drivable area is alternately changed in size, when the number of times the ground undulation of the drivable area is greater than or equal to a preset value is greater than or equal to a preset number of times , Determining whether the front and rear vehicles are slipping according to the field end positioning information; when the front and rear vehicles slipping, the field end positioning information is used to avoid obstacles to avoid the slipping vehicle.

Further, the main control unit is further configured to: during the running of the vehicle, the deviation between the vehicle positioning information and the expected positioning information is less than a preset value or the update frequency of the vehicle positioning information within a predetermined time is greater than When the preset value is set, the vehicle terminal positioning information is used for positioning and/or obstacle avoidance.

Further, the main control unit is also used for positioning and/or avoiding obstacles by using vehicle-side positioning information obtained by the vehicle-mounted positioning unit when the vehicle is greater than a set distance from the set area.

The vehicle-mounted control device of the present invention uses the vehicle-mounted positioning unit to collect current scene images or generate and output vehicle-side positioning information, and according to whether the current scene image or vehicle-side positioning information meets preset conditions, request the field-side positioning information according to Positioning and/or obstacle avoidance based on field end positioning information. According to whether the current scene image or vehicle-side positioning information meets the preset conditions, the problem that the positioning method of the vehicle-side collection technology cannot always work accurately can be avoided, and accurate full-course positioning and/or obstacle avoidance can be achieved.

Another object of the present invention is to provide a field end positioning device to provide accurate field end positioning information when needed to achieve accurate positioning and/or obstacle avoidance.

A field-side positioning device, the field-side positioning device comprising: a plurality of field-side positioning units and a field-side server, wherein the plurality of field-side positioning units are used to collect information related to the position of a vehicle and/or Information related to the location of the obstacle; the field-side server is used to: receive a field-side positioning information acquisition request from the vehicle; in response to the field-side positioning information acquisition request, according to the information related to the position of the vehicle And/or information related to the location of the obstacle obtains field end positioning information; and sends the field end positioning information to the vehicle.

Further, the multiple field end positioning units are arranged in the area around the corner and/or the area around the transparent glass.

Further, the plurality of field end positioning units are arranged in the continuous turning area.

Further, the multiple field end positioning units are arranged in areas where the characteristic points are insufficient for the on-board positioning device to correctly perform positioning.

Compared with the prior art, the field end positioning device of the present invention has the following advantages:

The field-side positioning device of the present invention uses multiple field-side positioning units to collect information related to the position of the vehicle and/or information related to the location of obstacles, and upon receiving the field-side positioning information acquisition request of the vehicle, The field-side server sends field-side positioning information obtained based on information related to the location of the vehicle and/or information related to the location of obstacles, and can provide accurate field-side positioning information when needed to achieve precise positioning and/or obstacle avoidance .

Another object of the present invention is to provide a vehicle that can determine a control strategy based on ambient light, which can avoid the adverse effects of ambient light on positioning and/or obstacle avoidance, and achieve accurate full-course positioning and/or obstacle avoidance.

A vehicle including the vehicle-mounted control device described above.

The advantages of the vehicle and the above-mentioned on-board control device over the prior art are the same, and will not be repeated here.

Other features and advantages of the present invention will be described in detail in the following specific embodiments.

Description of the drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the exemplary embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

FIG. 1 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention;

2A is a control flow chart of a scene with too dark or too bright light provided by an embodiment of the present invention;

2B is a schematic diagram of a continuous turning scene provided by an embodiment of the present invention;

2C is a control flowchart of a continuous turning scene provided by an embodiment of the present invention;

2D is a schematic diagram of a scene with insufficient feature points provided by an embodiment of the present invention;

2E is a control flowchart of a scenario with insufficient feature points provided by an embodiment of the present invention;

FIG. 2F is a control flow chart for setting a region according to an embodiment of the present invention;

3A is a schematic structural diagram of a vehicle positioning unit provided by an embodiment of the present invention;

3B is a schematic diagram of the installation position of a vehicle-mounted camera provided by an embodiment of the present invention;

4A-4B are schematic diagrams of obstacle avoidance scenarios provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a field end positioning device provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a vehicle control system provided by an embodiment of the present invention;

Fig. 7 is an interactive schematic diagram of a vehicle control system provided by an embodiment of the present invention.

Description of reference signs

1 Vehicle positioning unit 2 Main control unit

31 Cameras 32 Lidar

33 Millimeter wave radar 34 Ultrasonic radar

35 Vehicle speed sensor 36 Wheel angle speed sensor

37 Inertial sensor 311 Surround view camera

312 Front-view camera 4 Field end positioning unit

5 Field-side server 51 Group server

52 Total server

detailed description

It should be noted that the embodiments of the present invention and the characteristics of the embodiments can be combined with each other if there is no conflict.

Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

Fig. 1 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention. As shown in Figure 1, the vehicle-mounted positioning unit and the main control unit, wherein the vehicle-mounted positioning unit 1 is used to collect current scene images or generate and output vehicle-side positioning information; the main control unit 2 is used to: When the scene image or the vehicle-side positioning information meets a preset condition, a field-side positioning information acquisition request is sent, where the field-side positioning information includes the position coordinates of the vehicle and/or the position coordinates of obstacles; receiving the field-side Positioning information; and using the field end positioning information for positioning and/or obstacle avoidance.

Among them, for example, the preset conditions can include the following:

The pixel grayscale value of the current scene image is not within the preset range;

During the driving of the vehicle, the size of the drivable area determined according to the current scene image is changed alternately;

During the running of the vehicle, the deviation between the vehicle-side positioning information and the expected positioning information is greater than or equal to a preset value, wherein the expected positioning information is obtained according to the vehicle's direction, vehicle speed, and initial positioning information;

During the running of the vehicle, the update frequency of the vehicle end positioning information within a predetermined time is less than or equal to a preset frequency;

The distance between the vehicle and the set area determined according to the vehicle end positioning information is less than or equal to the set distance;

The embodiment of the present invention also aims at several scenarios corresponding to the above several preset conditions to switch between on-board positioning and field-side positioning, as follows:

FIG. 2A is a control flow chart of a scene with too dark or too bright light provided by an embodiment of the present invention.

In this embodiment, the vehicle-mounted positioning unit 1 is used to collect current scene images; the main control unit 2 is used to: send field end positioning information when the pixel gray value of the current scene image is not within a preset range The acquisition request, wherein the field end positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle; receiving the field end positioning information; and using the field end positioning information for positioning and/or obstacle avoidance.

For scenes where the light is too bright or too dark, the camera 31 installed on the vehicle will affect the feature recognition due to overexposure. If the confidence judgment is set, the positioning confidence of the vehicle positioning unit 1 will be reduced (that is, the positioning is not accurate). For this kind of scene, it is judged according to the ROI pixel gray value of the collected scene. For example, the ROI pixel gray value is not in the preset range (the end point a or b of the preset range is obtained by actual calibration, preferably a is between 180-255, b (Between 0-70) It can be determined that the confidence level of the positioning result of the on-board positioning unit 1 here is low. At this time, it can request to obtain the field end positioning information, and use the field end positioning information for positioning and/or obstacle avoidance.

As shown in Figure 2A, the current scene image is first collected, and then it is judged whether the pixel gray value of the current scene image is within the preset range. When the pixel gray value of the current scene image is within the preset range, use the The vehicle-side positioning information obtained by the vehicle-mounted positioning unit 1 performs positioning and/or obstacle avoidance; when the pixel gray value of the current scene image is not within the preset range, a field-side positioning information acquisition request is sent; when the field-side image is received After the positioning information, the field end positioning information is used for positioning and/or obstacle avoidance.

Fig. 2B is a schematic diagram of a continuous turning scene provided by an embodiment of the present invention. As shown in FIG. 2B, for a turning scene, especially a continuous turning scene.

In this embodiment, the on-vehicle positioning unit 1 is used to collect current scene images; the main control unit 2 is used to: determine the drivable area according to the current scene images; during the driving of the vehicle, the drivable When the size of the area changes alternately, send a field-side positioning information acquisition request, where the field-side positioning information includes the position coordinates of the vehicle and/or the position coordinates of obstacles; receive the field-side positioning information; and use the field Terminal positioning information for positioning and/or obstacle avoidance.

As shown in Figure 2C, the current scene image is first collected, and then the drivable area is determined according to the current scene image; during the driving of the vehicle, it is determined whether the drivable area undergoes alternate changes in size; in the drivable area When the size changes alternately, send field-side positioning information, then receive the field-side positioning information, use the field-side positioning information for positioning and/or obstacle avoidance; when the drivable area does not change in size alternately, use pass The vehicle terminal positioning information is used for positioning and/or obstacle avoidance.

In addition, the continuous turning scene may also be a spiral staircase.

In a cycle in which the size of the drivable area alternately changes, when the number of times the ground undulation of the drivable area is greater than or equal to a preset value is greater than or equal to a preset number of times, it is determined that the vehicle is driving on a spiral staircase, wherein the preset The value can be 30 cm, and the preset number of times is for example 1, but the present invention does not limit this. At this time, it is determined whether the front and rear vehicles have slipped according to the field end positioning information. If the front and rear vehicles are approaching the own vehicle, the front and rear vehicles have slipped. When the front and rear vehicles slip, use the field end positioning information to avoid obstacles to avoid the slipping vehicle. For example, if it is judged that there is no oncoming vehicle on the left side (if the vehicle is driving on the right) or the oncoming vehicle is far away, the vehicle can be driven to the left to perform obstacle avoidance maneuvers to avoid danger. Specific obstacle avoidance methods will be detailed below.

FIG. 2D is a schematic diagram of a scene with insufficient feature points provided by an embodiment of the present invention. As shown in Figure 2D, for the scene with insufficient feature points.

In this embodiment, the vehicle-mounted positioning unit 1 is used to generate and output vehicle-side positioning information; the main control unit 2 is used to: perform one of the following steps: 1) According to the direction, speed and initial positioning of the vehicle Information to obtain expected positioning information; in the process of driving the vehicle, when the deviation between the vehicle-side positioning information and the expected positioning information is greater than or equal to a preset value, a field-side positioning information acquisition request is sent; 2) when the vehicle is driving In the process, when the update frequency of the vehicle-side positioning information within a predetermined time is less than or equal to the preset frequency, send a field-side positioning information acquisition request; then, receive the field-side positioning information; and use the field-side positioning information for positioning And/or obstacle avoidance. Wherein, the field end positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle;

As shown in Figure 2E, first the vehicle-mounted positioning unit 1 generates and outputs vehicle-side positioning information, and then the main control unit 2 can make two judgments:

The first one is: during the running of the vehicle, determine whether the update frequency of the vehicle-side positioning information within a predetermined time is less than or equal to a preset frequency; within the predetermined time, the update frequency of the vehicle-end positioning information is less than or equal to the preset frequency In case of frequency, send a field-side positioning information acquisition request, receive the field-side positioning information, and use the field-side positioning information for positioning and/or obstacle avoidance; within a predetermined time, the update frequency of the vehicle positioning information is greater than the preset value When using the vehicle terminal positioning information for positioning and/or obstacle avoidance.

Among them, the car-side positioning unit generally depends on the feature points in the environment. If the feature points are insufficient, the car-side positioning unit may not output the car-side positioning information within a predetermined time (for example, 1 second, but not limited to this). Unable to update the vehicle positioning information. Therefore, it can be judged whether the vehicle enters a scene with insufficient feature points based on the condition of whether to output vehicle-end positioning information at a predetermined time.

The second is: first obtain the expected positioning information according to the vehicle's direction, vehicle speed, and initial positioning information; then, during the driving of the vehicle, determine whether the deviation between the vehicle end positioning information and the expected positioning information is greater than or equal to The preset value, when the deviation between the vehicle-side positioning information and the expected positioning information is greater than or equal to the preset value, send a field-side positioning information acquisition request, receive the field-side positioning information, and use the field-side positioning information to perform Positioning and/or obstacle avoidance; when the deviation between the vehicle positioning information and the expected positioning information is less than a preset value, the vehicle end positioning information is used for positioning and/or obstacle avoidance.

Among them, the expected position of the vehicle can be obtained according to the initial position, combined with information such as vehicle speed, direction, and driving time, which is more commonly used and will not be repeated here. There may be several reasons for the deviation of the car-side positioning information from the expected positioning information to be greater than or equal to the preset value. For example, depending on the built-in algorithm, the car-side positioning information output by the car-side positioning unit may be very inaccurate, or the output car The terminal positioning information is a set of random coordinates. In addition, if the vehicle is equipped with a confidence level judgment, the confidence level of the vehicle-side positioning information output by the vehicle-side positioning unit may also be low (for example, less than 80%), essentially because the deviation between the vehicle-side positioning information and the expected positioning information is large . Therefore, when the deviation between the vehicle-end positioning information and the expected positioning information is greater than or equal to the preset value, it can be determined whether the vehicle has entered a scene with insufficient feature points.

In addition, the areas of the above three scenes (that is, the light is too bright or too dark, turning, and the feature points are insufficient) can also be set in advance, and the on-board positioning and field-side positioning can be switched according to whether the vehicle enters the set area.

In this embodiment, the vehicle-mounted positioning unit 1 is used to generate and output vehicle-side positioning information; the main control unit 2 is used to: determine the position of the vehicle according to the vehicle-side positioning information; determine the position of the vehicle The distance between the vehicle and the set area; when the distance between the vehicle and the set area is less than or equal to the set distance, send a field end positioning information acquisition request; receive the field end positioning information; and use the field Terminal positioning information for positioning and/or obstacle avoidance, wherein the field terminal positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle;

As shown in FIG. 2F, first, the vehicle-mounted positioning unit 1 generates and outputs vehicle-side positioning information; then determines the position of the vehicle according to the vehicle-side positioning information; determines the distance between the vehicle and the set area; Whether the distance of the set area is less than or equal to the set distance; when the distance between the vehicle and the set area is less than or equal to the set distance, send a field end positioning information acquisition request, receive the field end positioning information, and use all The field end positioning information is used for positioning and/or obstacle avoidance; when the distance of the vehicle from the set area is greater than the set distance, the vehicle end positioning information is used for positioning and/or obstacle avoidance. Wherein, the size of the setting area and the setting distance can be selected according to actual conditions, and the present invention does not limit it.

The vehicle-mounted positioning unit 1 that obtains vehicle-side positioning information will be described below.

Fig. 3A is a schematic structural diagram of a vehicle-mounted positioning unit provided by an embodiment of the present invention. As shown in FIG. 3A, the vehicle-mounted positioning unit 1 mainly includes at least one of a camera 31, a laser radar 32, a millimeter wave radar 33, an ultrasonic radar 34, a vehicle speed sensor 35, a wheel angular velocity sensor 36 and an inertial sensor 37. The millimeter wave radar 33 is mainly used for obstacle avoidance, and the ultrasonic radar 34 is mainly realized by the cooperation of parking and visual positioning solutions. The vehicle speed sensor 35, the wheel angular velocity sensor 36, and the inertial sensor 37 can obtain various states of the vehicle, such as vehicle speed, wheel speed, acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion.

Fig. 3B is a schematic diagram of an installation position of a vehicle-mounted camera provided by an embodiment of the present invention. As shown in FIG. 3B, the vehicle-mounted camera 31 may mainly include a surround-view camera 311 and a front-view camera 312, etc., to comprehensively capture images around the vehicle. The main control unit 2 uses high-precision maps and/or semantic maps and surround-view cameras collected by vehicle sensors. 311. The front-view camera 312, the visual positioning scheme uses the vision-based synchronous positioning and map construction (VSLAM) to generate a semantic map and a high-precision map. The vehicle-mounted camera 31 recognizes and collects the VSLAM feature points for matching, and combines the inertial sensor 37 (IMU ) Information to realize vehicle positioning and obtain vehicle-end positioning information. Among them, SLAM (simultaneous localization and mapping, SLAM) refers to the process of constructing an environmental map while calculating its own position based on the information of the sensor, to solve the problem of positioning and map construction when moving in an unknown environment. VSLAM stands for Vision SLAM (Vision SLAM), which is more advanced and is based on visual positioning and mapping, which is more accurate and rapid.

In addition, there may be obstacles encountered during the automatic driving of the vehicle. 4A-4B are schematic diagrams of obstacle avoidance scenarios provided by an embodiment of the present invention. As shown in Figure 4A, for example, at a turn, you may encounter a vehicle coming from another direction, and obstacle avoidance is required at this time. Since the vehicle traveling in the other direction is blocked, the on-board camera 31 cannot be detected in time. Therefore, it is necessary to use the field-side positioning information provided by the field-side positioning unit 4 to avoid obstacles. The obstacle avoidance process is: according to the position coordinates of the obstacle (here, a vehicle traveling in another direction), determine the obstacle's position The area formed by the preset distance around the position coordinates is a dangerous area; the vehicle is controlled to avoid the dangerous area.

As shown in Figure 4B, the dangerous area and the early warning area formed by the obstacle can be delineated first. For example, the preset distance around the position coordinates of the obstacle (which can be set according to the actual situation) is the dangerous area, and the distance from the dangerous area The area formed by a certain distance (also can be set according to the actual situation, such as 0-50m) is the early warning area. Assuming that vehicle B is the own vehicle, combined with high-precision map and positioning result information, when the vehicle is outside the warning area, the vehicle realizes obstacle recognition and positioning through the on-board positioning unit 1, and when the vehicle enters the warning area, it will pass The Internet of Vehicles system receives information about all obstacles (vehicle A and pedestrian/animal C) in the early warning area. To ensure safety, vehicle B avoids the dangerous area formed by the obstacle (that is, stays away from the obstacle). In the early warning area, under the premise that the field end positioning unit 4 is not faulty, the field end positioning unit 4 is the main one, and the coordinates of the early warning area match the coordinates of the high-precision map. At the same time, the size of the area is finally determined according to the actual test results. It can be switched to be based on the vehicle positioning unit 1.

The following will describe in detail the field end positioning device that can cooperate with the vehicle control device. The field end positioning device is mainly used to provide field end positioning information.

Fig. 5 is a schematic structural diagram of a field end positioning device provided by an embodiment of the present invention. As shown in Figure 5, the field-side positioning device includes: a plurality of field-side positioning units 4 and a field-side server 5, wherein the plurality of field-side positioning units 4 are used to collect information related to the position of the vehicle and/ Or information related to the position of the obstacle; the field-side server 5 is used to: receive a field-side positioning information acquisition request from the vehicle; in response to the field-side positioning information acquisition request, according to the position of the vehicle Related information and/or information related to the location of the obstacle obtains field end positioning information; and sends the field end positioning information to the vehicle.

The field end positioning unit 4 may be a laser radar 32 or an infrared camera 31, and the field end laser radar 32 may be columnar, so as to be embedded in a wall or fixed on a building through a structure. In order to save costs, the field-side positioning unit 4 can only be installed at a basic fixed position (that is, a position where the vehicle-mounted positioning unit 1 cannot accurately locate and avoid obstacles), instead of having to install it in every part of the parking lot, for example, it is only installed around the turn The area, the area around the corner, the area around the transparent glass, or the feature point is not enough for the vehicle-mounted positioning device to correctly locate the vehicle.

The specific method of obtaining the field-side positioning information is as follows:

After receiving the field-side positioning information acquisition request from the vehicle, the field-side server 5 obtains the coordinates of multiple field-side positioning units 4 according to the IDs of the field-side positioning units 4 in response to the field-side positioning information acquisition request; The coordinates of each field end positioning unit 4 and the information related to the position of the vehicle and/or the information related to the position of the obstacle obtain the position coordinates of the vehicle and/or the position coordinates of the obstacle as field end positioning information.

The field-side server 5 can process the information related to the position of the vehicle and/or the information related to the position of the obstacle as described above, and can also be divided into a plurality of grouping servers 51 and a total server corresponding to the plurality of field-side positioning units 4 52, as shown in Figure 4B, still taking a turn as an example (the light is too bright or too dark, etc.), it is difficult for the visual solution of the scene at the turn to identify the oncoming cars, pedestrians or small animals on the way. In the event of danger, the field end positioning unit 4 installed at the field end can predict the danger well. The field end positioning unit 4 installed at the field end transmits the collected image information to the packet server 51 at a certain frame rate. The field end positioning unit 4 The coordinates are debugged and fixed at the beginning of installation. The coordinates are fixed. The grouping server 51 obtains the distance between the vehicle and the field-side positioning unit 4 according to the results of the previous calibration, and calculates the relative coordinates between the vehicle and the field-side positioning unit 4 , Complete the absolute coordinate conversion through a certain algorithm, and send it to the background server 52. The field end is preferably ≥3 field end positioning units 4 to achieve precise positioning. When there is a field end positioning unit 4 obscured, other field end positioning units can be obtained 4 coordinate information, positioning is achieved through algorithms.

Obstacle information (pedestrians, vehicles, small animals, etc.) at the corner can be obtained through the field-side positioning unit 4, processed by the grouping server 51, and transmitted to the back-end server 52, which processes and outputs the type and size of the obstacle The field-end positioning information such as coordinates, driving trajectory, etc. is transmitted to the vehicle end through wireless transmission, and the main control unit 2 of the vehicle end makes control decisions, that is, positioning and/or obstacle avoidance.

The invention also provides a vehicle control system. Fig. 6 is a schematic structural diagram of a vehicle control system provided by an embodiment of the present invention. As shown in FIG. 6, the vehicle control system includes the vehicle control device described above and the field end positioning device described above.

In the vehicle control system, the field end lidar 32 can form a group of 5-10, and each group of data is transmitted to the corresponding grouping server 51 of each group, and the grouping server 51 of each group is transmitted to the total server 52 in a wired or wireless manner. Carrying out data processing to realize vehicle positioning, the positioning of obstacles (people, cars, etc.) in the entire parking lot or more complex road sections, and then the processed results can be transmitted to the autonomous vehicle controller through Wifi/4G/5G communication methods, Fusion with the sensor information of the body itself and IMU processing information, and finally output the vehicle self-positioning and obstacle information in the parking lot or more complex road sections, and finally realize the self-positioning, obstacle avoidance and path planning functions of the vehicle. This solution puts a lot of computing power on On-site server 5, compared with the on-board automatic driving system, the on-site server 5 has stronger processing capacity, lower cost, and does not require vehicle regulations, so it is more feasible for mass production, and is suitable for the parking of unmanned vehicles and manned vehicles. field.

The following describes the overall interaction process of the vehicle control system.

Fig. 7 is an interactive schematic diagram of a vehicle control system provided by an embodiment of the present invention. As shown in Figure 7, first, the main control unit 2 on the vehicle side receives vehicle-side positioning information from the vehicle-mounted positioning unit 1, and when it needs field-side positioning information, it sends a field-side positioning information acquisition request, and the field-side server 5 receives field-side positioning information. Obtain the request, and receive information related to the location of the vehicle and/or information related to the location of the obstacle from the field-side positioning unit 4, and after processing the field-side positioning information acquisition request, send field-side positioning information Position the information to the main control unit 2 on the car side.

The embodiment of the present invention adopts a positioning solution of the field end positioning unit 4 (for example, a lidar 32 or a special camera 31). The field end positioning unit 4 is used as a global perspective, which can predict danger in advance and achieve a vehicle-yard coordination effect. Considering the cost of the system, the field-side positioning unit 4 arranged at the field-side can only be arranged in places with extremely poor light and/or turning, etc., for small animals, children, or emergency intruders in the parking lot, the vehicle-mounted positioning unit 1 For scenes that cannot be dealt with, the field-side positioning unit 4 can be supplemented, and the vehicle can predict the danger in advance through field-side and vehicle-side communication, and avoid accidents. The final realization method is determined by the field end and the realization effect, based on the principles of safety, reliability, simple installation and excellent realization effect. This solution uses a low-cost vehicle end combined with a low-cost field end solution, by increasing the field end in the area around the turn, the area around the corner, the area around the transparent glass, and the feature points that are not enough for the vehicle positioning device to correctly locate the vehicle. The device predicts what is about to happen (person or car) and feeds it back to the car end, which is equivalent to enhancing the vehicle's perception ability, realizing the effect of vehicle external information exchange (V2X), and improving system security. This solution can only add field-end equipment at necessary intersections or scenes, reducing system costs.

An embodiment of the present invention also provides a vehicle, which includes the vehicle control device described above.

The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the present invention. Within the scope of protection.

Claims

A vehicle-mounted control device, characterized in that, the vehicle-mounted control device includes:

Vehicle positioning unit and main control unit, of which,

The vehicle-mounted positioning unit is used to collect current scene images or generate and output vehicle-side positioning information;

The main control unit is used for:

When the current scene image or the vehicle-side positioning information meets a preset condition, sending a field-side positioning information acquisition request, where the field-side positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle;

Receiving the field end positioning information; and

Use the field end positioning information for positioning and/or obstacle avoidance.
The vehicle-mounted control device according to claim 1, wherein the preset condition includes that the pixel grayscale value of the current scene image is not within a preset range.
The vehicle-mounted control device according to claim 1, wherein the preset condition comprises alternately changing the size of the drivable area determined according to the current scene image during the running of the vehicle.
The vehicle control device according to claim 1, wherein the preset condition includes:

During the driving of the vehicle, the deviation between the vehicle-side positioning information and the expected positioning information is greater than or equal to a preset value, wherein the expected positioning information is obtained according to the direction, speed and initial positioning information of the vehicle; or

During the running of the vehicle, the update frequency of the vehicle terminal positioning information within a predetermined time is less than or equal to a preset frequency.
The vehicle-mounted control device according to claim 1, wherein the preset condition includes that the distance of the vehicle from the set area determined according to the vehicle-end positioning information is less than or equal to the set distance.
The vehicle control device according to claim 2, wherein the main control unit is further used for:

When the pixel gray value of the current scene image is in the preset range, positioning and/or obstacle avoidance are performed using vehicle-side positioning information obtained by the vehicle-mounted positioning unit.
The vehicle control device according to claim 3, wherein the main control unit is further used for:

During the running of the vehicle, when the size of the drivable area is not changed alternately, the vehicle-end positioning information obtained by the vehicle-mounted positioning unit is used for positioning and/or obstacle avoidance.
The vehicle control device according to claim 3, wherein the main control unit is further used for:

In a period in which the size of the drivable area changes alternately, when the number of times that the ground undulation of the drivable area is greater than or equal to a preset value is greater than or equal to a preset number of times, it is determined according to the field end positioning information Whether the vehicles in front and behind have slipped;

When the front and rear vehicles slip, use the field end positioning information to avoid obstacles to avoid the slipping vehicle.
The vehicle control device according to claim 4, wherein the main control unit is further used for:

During the running of the vehicle, when the deviation between the vehicle positioning information and the expected positioning information is less than a preset value or the update frequency of the vehicle positioning information within a predetermined time is greater than a preset value, the vehicle-side positioning information is used Perform positioning and/or obstacle avoidance.
The vehicle control device according to claim 5, wherein the main control unit is further used for:

When the vehicle is greater than the set distance from the set area, positioning and/or obstacle avoidance are performed using the vehicle-side positioning information obtained by the on-board positioning unit.
A field end positioning device, characterized in that the field end positioning device comprises:

Multiple field-side positioning units and field-side servers, among which,

The multiple field end positioning units are used to collect information related to the position of the vehicle and/or information related to the position of the obstacle;

The farm-side server is used to:

Receiving a field-side positioning information acquisition request from the vehicle;

In response to the field end positioning information acquisition request, obtain field end positioning information according to the information related to the position of the vehicle and/or the information related to the location of the obstacle; and

Sending the field end positioning information to the vehicle.
The field end positioning device according to claim 11, wherein the plurality of field end positioning units are arranged in the area around the corner and/or the area around the transparent glass.
The field end positioning device according to claim 11, wherein the plurality of field end positioning units are arranged in a continuous turning area.
The field end positioning device according to claim 11, wherein the plurality of field end positioning units are arranged in areas where the characteristic points are insufficient for the on-board positioning device to correctly perform positioning.
A vehicle, characterized in that the vehicle includes the vehicle-mounted control device according to any one of claims 1-10.