WO2020168742A1

WO2020168742A1 - Method and device for vehicle body positioning

Info

Publication number: WO2020168742A1
Application number: PCT/CN2019/115903
Authority: WO
Inventors: 杜新新
Original assignee: 苏州风图智能科技有限公司
Priority date: 2019-02-20
Filing date: 2019-11-06
Publication date: 2020-08-27
Also published as: CN109725330A

Abstract

A method and device for vehicle body positioning. At least one linear single-line lidar is utilized to scan and acquire three-dimensional point cloud data of the surrounding environment of a vehicle body, and, at least one angular relation is found respectively between the direction of laser beam emission of the at least one single-line lidar and the plane on which the bottom of the vehicle body is located (S101); point cloud feature information in the three-dimensional point cloud data is extracted (S102); and the point cloud feature information is registered with a preset high-definition map to determine location information of the vehicle body (S103). Compared with two-dimensional point cloud data acquired by a single-line radar in the prior art, the reliability is increased when the features of the surrounding environment are sparse.

Description

Vehicle body positioning method and device

Technical field

The present disclosure relates to the technical field of radar positioning, in particular to a vehicle body positioning method and device.

Background technique

Unmanned driving is a type of smart car, also known as wheeled mobile robot, which mainly relies on the intelligent driving instrument based on the computer system in the car to realize the purpose of unmanned driving. In unmanned driving technology, positioning and path planning in robotic systems are a problem. Without positioning, the path cannot be planned. In related technologies, unmanned vehicle positioning mostly relies on multi-line lidar (also called three-dimensional lidar) or single-line lidar (also called two-dimensional lidar) or GPS (Global Positioning System, Global Positioning System) positioning.

Three-dimensional lidar (also called multi-line lidar) is relatively expensive and has limited applications. Two-dimensional lidar (also known as single-line lidar) has fewer features in the surrounding environment, such as relatively open deserts or suburbs, and has poor positioning effects. GPS positioning technology based on radio technology is used in high buildings or tunnels, indoors, etc. In the environment, the positioning is not accurate enough. Therefore, how to achieve accurate positioning in some special environments, such as open areas or indoors, tunnels, etc., while saving costs has become an urgent technical problem to be solved.

Summary of the invention

In order to overcome the problems in the related art, the present disclosure provides a vehicle body positioning method and device.

According to a first aspect of the embodiments of the present disclosure, there is provided a vehicle body positioning method, including:

Using at least one single-line lidar to scan and obtain three-dimensional point cloud data of the surrounding environment of the vehicle body, and the directions of the at least one single-line lidar emitting laser light respectively have at least one angle relationship with the plane where the bottom of the vehicle body is located;

Extracting point cloud feature information in the three-dimensional point cloud data;

The point cloud feature information is registered with a preset high-precision map to determine the position information of the vehicle body.

In a possible implementation, the included angle relationship includes: the single-line lidar is arranged on the vehicle body and located at a position above the plane of the bottom of the vehicle body, and the laser pulse emitted by the single-line lidar is in an oblique upward direction Or diagonally downward.

In a possible implementation manner, the included angle relationship includes: the single-line lidar is arranged on the upper half of the vehicle body in an obliquely downward direction, so that the laser pulse emitted by the single-line lidar is in an obliquely downward direction.

In a possible implementation, the scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body by using at least one single-line lidar includes:

Use at least one single-line lidar to perform multiple scans to obtain three-dimensional point cloud data of the surrounding environment of the vehicle body at different scan positions;

The three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions are fused to generate three-dimensional point cloud data based on the same coordinate system.

In a possible implementation manner, the fusing three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions to generate three-dimensional point cloud data based on the same coordinate system includes:

Determine the observation point in the surrounding environment scanned by the single-line lidar in multiple scans, and obtain the coordinate position of the observation point;

Based on the coordinate position of the observation point, the point cloud data corresponding to the observation point is converted into the same coordinate system.

In a possible implementation manner, the converting point cloud data corresponding to the observation point into the same coordinate system based on the coordinate position of the observation point includes:

Determining the coordinate system information of the observation point during multiple scans;

Acquiring relative pose information of the vehicle body between two adjacent scans in multiple scans;

Based on the coordinate system information and the relative pose information, the point cloud data corresponding to the observation point in the previous scan is sequentially converted to the coordinate system corresponding to the next scan, until the point cloud data corresponding to the observation point is transferred to the last scan Scan the corresponding coordinate system.

In a possible implementation manner, the description form of the point cloud feature information includes one or more of normal estimation, point feature histogram, fast point feature histogram, and spin image.

In a possible implementation manner, the scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body using at least one single-line lidar includes:

In the case where at least two single-line lidars are provided on the vehicle body, acquiring the relative position relationship between the single-line lidars;

According to the relative position relationship, the point cloud data corresponding to the observation point is converted into the same coordinate system.

In a possible implementation manner, the relative position relationship includes:

At least one of the single-line lidar is arranged on the top of the vehicle body, so that the laser pulse emitted by the single-line lidar is obliquely downward;

At least one of the single-line lidar is arranged at the bottom of the vehicle body, so that the laser pulse emitted by the single-line lidar is parallel to the direction of the bottom of the vehicle body.

According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle body positioning device, including:

The lidar device includes at least one single-line lidar for scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body, and the direction in which the at least one single-line lidar emits laser light is at least the same as the plane where the bottom of the vehicle body is located. Kind of angle relationship;

An extraction module for extracting point cloud feature information in the three-dimensional point cloud data;

The registration module is used to register the point cloud feature information with a preset high-precision map to determine the position information of the vehicle body.

In a possible implementation manner, the lidar device includes:

The first acquisition module is configured to use at least one single-line lidar to perform multiple scans to acquire three-dimensional point cloud data of the surrounding environment of the vehicle body at different scanning positions;

The processing module is used to fuse the three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions to generate three-dimensional point cloud data based on the same coordinate system.

In a possible implementation manner, the processing module includes:

The determining sub-module is used to determine the observation point in the surrounding environment scanned by the single-line lidar in multiple scans, and obtain the coordinate position of the observation point;

The conversion sub-module is used to convert the point cloud data corresponding to the observation point into the same coordinate system based on the coordinate position of the observation point.

In a possible implementation manner, the conversion submodule includes:

The determining unit is used to determine the coordinate system information of the observation point during multiple scans;

An acquiring unit to acquire relative pose information of the vehicle body between two adjacent scans in multiple scans;

The conversion unit, based on the coordinate system information and the relative pose information, sequentially converts the point cloud data corresponding to the observation point in the previous scan to the coordinate system corresponding to the next scan, until the point cloud data corresponding to the observation point is transferred To the coordinate system corresponding to the last scan.

In a possible implementation manner, the included angle relationship includes a plane parallel to the bottom of the vehicle body.

In a possible implementation manner, the lidar device includes:

The second acquisition module is configured to acquire the relative position relationship between the single-line laser radars when at least two single-line laser radars are provided on the vehicle body;

The conversion module is configured to convert the point cloud data corresponding to the observation point by the single-line lidar into the same coordinate system according to the relative position relationship.

According to a third aspect of the present disclosure, there is provided a vehicle body positioning device, including:

processor;

A memory for storing processor executable instructions;

Wherein, the processor is configured to execute the method described in any embodiment of the present disclosure.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium. When instructions in the storage medium are executed by a processor, the processor can execute the method.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: the present disclosure includes at least one single-line lidar disposed on the vehicle body and located at a position above the plane of the bottom of the vehicle body, and the at least one single-line lidar emits laser light The directions are in at least one angle relationship with the plane where the bottom of the vehicle body is located, so that the scanning plane of the single-line radar constantly changes when the vehicle is traveling, so as to obtain three-dimensional point cloud data of the surrounding environment of the vehicle body. The two-dimensional point cloud data obtained by the single-line radar in the prior art is more reliable when the surrounding environment is scarce; at the same time, single-line radars located in other parts of the car body are used, such as parallel to the plane where the bottom of the car body is located, Long-distance two-dimensional point cloud data can be obtained, and then fused with the three-dimensional point cloud data to further enhance the accuracy and stability of positioning.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments in accordance with the disclosure, and together with the specification are used to explain the principle of the disclosure.

Fig. 1 is a flow chart showing a method for positioning a vehicle body according to an exemplary embodiment.

Fig. 2 is a flowchart showing a vehicle body positioning method according to an exemplary embodiment.

Fig. 3 is a flow chart showing a vehicle body positioning method according to an exemplary embodiment.

Fig. 4 is a flowchart showing a vehicle body positioning method according to an exemplary embodiment.

Fig. 5 is a flow chart showing a method for positioning a vehicle body according to an exemplary embodiment.

Fig. 6 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment.

Fig. 7 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment.

Fig. 8 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment.

Fig. 9 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment.

Fig. 10 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment.

Fig. 11 is a block diagram showing a device according to an exemplary embodiment.

Fig. 12 is a block diagram showing a device according to an exemplary embodiment.

detailed description

Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

Lidar is an active sensor, the data formed is in the form of point cloud, which is mainly composed of transmitter, receiver, measurement control and power supply. When the lidar is working, it first emits a laser beam to the measured target, and then measures the time for the reflected or scattered signal to reach the transmitter, the signal strength, and the frequency change, so as to determine the distance, movement speed and orientation of the measured target In addition, it can also measure the dynamics of particles in the atmosphere that are invisible to the naked eye, such as distance and angle, shape and size, and speed and attitude.

At present, lidar includes single-line lidar and multi-line lidar. Among them, the line beam emitted by the laser source in single-line lidar is single-line, and point cloud information is obtained on a fixed scanning plane, such as the horizontal plane; A laser source can emit laser pulses of multiple beams. The multiple laser sources are arranged and distributed in a vertical direction, and the scanning of the multiple beams is formed by motor rotation, and has multiple scanning planes.

Fig. 1 is a flowchart showing a vehicle body positioning method according to an exemplary embodiment. Referring to Fig. 1, the method includes the following steps.

In step S101, at least one single-line lidar is used to scan and obtain three-dimensional point cloud data of the surrounding environment of the vehicle body, and the direction in which the at least one single-line lidar emits laser light and the plane at the bottom of the vehicle body are at least one kind of clip. Angle relationship.

In the embodiment of the present disclosure, the direction of the at least one single-line lidar emitting laser light is in at least one angle relationship with the plane of the bottom of the vehicle body, and the angle relationship may be an angle number below the plane of the bottom of the vehicle body. , It can also be a number of angles above the bottom plane of the vehicle. For example, when the single-line lidar is set at the position of the front lights, the laser emission direction of the single-line lidar can include 45 degrees diagonally upwards, or diagonally. 45 degrees downward; when the single-line lidar is installed at the roof of the vehicle, the laser emission direction of the single-line lidar may include an oblique downward 45 degrees.

In step S102, point cloud feature information in the three-dimensional point cloud data is extracted.

In the embodiment of the present disclosure, the amount of three-dimensional point cloud data obtained through the step S101 is relatively large, and there are data redundancy and noise. The point cloud feature information refers to the information of some special points in the point cloud data, such as sharp edges. , Smooth edges, ridges or valleys, sharps, etc., the feature points can reflect the most basic geometric shape of the model. Extracting point cloud feature information includes detecting feature points from the three-dimensional point cloud data, and retaining several shapes of the model for subsequent Prepare for registration.

In step S103, the point cloud feature information is registered with a preset high-precision map to determine the position information of the vehicle body.

In the embodiment of the present disclosure, the GPS of the vehicle can be used to make an approximate location judgment, and then a pre-prepared high-precision map can be used for registration with the point cloud feature information. After the pairing is successful, the location information of the vehicle body can be confirmed.

The present disclosure includes that at least one single-line lidar is arranged on the vehicle body and located at a position above the plane of the bottom of the vehicle body, and the direction in which the at least one single-line lidar emits laser light and the plane of the bottom of the vehicle body are at least one kind of clip The angle relationship makes the scanning plane of the single-line radar continuously change during the vehicle's travel, and then obtain the three-dimensional point cloud data of the surrounding environment of the vehicle body, compared with the two-dimensional point cloud data obtained by the single-line radar in the prior art , When the surrounding environment is scarce, reliability is enhanced.

In the embodiment of the present disclosure, the single-line lidar is arranged on the vehicle body and located at a position above the plane of the bottom of the vehicle body, including the single-line lidar is arranged at the front middle position of the vehicle body, such as the headlights. Including the single-line lidar is arranged on the upper part of the front of the vehicle body, such as the roof. Correspondingly, when the single-line lidar is set at the front light position, the laser emission direction of the single-line lidar may include an oblique upward direction or an oblique downward direction; when the single-line lidar is set on the roof At the time, the laser emission direction of the single-line lidar may include an oblique downward direction.

In a possible implementation manner, the single-line lidar is arranged on the upper half of the vehicle body in an obliquely downward direction, so that the laser pulse emitted by the single-line lidar is in an obliquely downward direction.

In the embodiments of the present disclosure, when the single-line lidar is installed on the top of the vehicle body, the position of the single-line lidar is higher than that of other parts of the vehicle body, and then scans and obtains more comprehensive point cloud information. Transmitting laser pulses can obtain point cloud information of objects that are equivalent to the height of the vehicle body to meet the driving needs of unmanned driving. When the laser pulse emitted by the single-line lidar is in the diagonally downward direction, adjust the appropriate diagonal downward direction The number of angles can be within a small range, such as 20 meters, within the three-dimensional point cloud data.

Fig. 2 is a flowchart of a vehicle body positioning method according to an exemplary embodiment. Referring to Fig. 2, the difference from the above-mentioned embodiment is that the step S101 uses at least one single-line lidar to scan and acquire the surrounding environment of the vehicle body The 3D point cloud data includes step S104 and step S105.

In step S104, at least one single-line lidar is used to perform multiple scans to obtain three-dimensional point cloud data of the surrounding environment of the vehicle body at different scan positions.

In the embodiment of the present disclosure, the scanning frequency of the single-line lidar can be set according to time or distance parameters. For example, it can be set that the single-line lidar scans once every 2 seconds. According to the driving speed of the vehicle, The acceleration and other information can be used to obtain the driving distance of the vehicle; it can also be set that the single-line lidar scans once every 1m.

In step S105, the three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions are merged to generate three-dimensional point cloud data based on the same coordinate system.

In the embodiment of the present disclosure, the position of the single-line lidar can be the origin of the coordinate, and the coordinate system can be defined according to the sequence of data acquisition and the direction of motor rotation. For example, the X axis is defined to be in the horizontal scanning plane and to the right. It is the positive X-axis, the Y-axis is positive when it is perpendicular to the X-axis in the horizontal scanning plane, and the Z-axis is positive when it is perpendicular to the XY plane. Since the car body is constantly advancing and the origin of the coordinates is constantly changing, the coordinate system of the three-dimensional point cloud data obtained from two adjacent scans is not the same, and the three-dimensional point cloud data needs to be fused to generate the data based on the same Three-dimensional point cloud data of the coordinate system.

Fig. 3 is a flowchart showing a vehicle body positioning method according to an exemplary embodiment. Referring to Fig. 3, the difference from the above embodiment is that in step S105, the vehicle body is positioned at the different scanning positions. The three-dimensional point cloud data of the surrounding environment is merged to generate three-dimensional point cloud data based on the same coordinate system, including step S107 and step S108.

In step S107, determine the observation point in the surrounding environment scanned by the single-line lidar in multiple scans, and obtain the coordinate position of the observation point;

In the embodiments of the present disclosure, a precise clock can be used to obtain the time difference between the time when the single-line lidar emits laser pulses and the time when the reflected signal is received, and the distance S between the observation point and the single-line lidar can be calculated. The precision encoding device that comes with the scanning instrument records the vertical scanning angle β and the horizontal scanning angle α between adjacent pulses in the encoder, and uses the polar coordinate method to convert the distance and angle into the coordinates of the observation point P, which defines The X axis is in the horizontal scanning plane, the X axis is positive to the right, the Y axis is positive in the horizontal scanning plane perpendicular to the X axis, and the Z axis and the XY plane are positive. The coordinates of the observation point P are expressed as: X(p)=S·cosα·cosβ, Y(p)=S·sinα·sinβ, Z(p)=S·cosβ.

In step S108, based on the coordinate position of the observation point, the information corresponding to the observation point is converted into the same coordinate system.

In the embodiments of the present disclosure, since the vehicle body is continuously advancing, the coordinate system used in each scan is different, and the coordinate system used in the observation point in the last scan can be changed to 0 ₁ -X by means of coordinate conversion. ₁ Y ₁ Z _{1 is} converted to the coordinate system used by the observation point in the next scan, such as 0 ₂ -X ₂ Y ₂ Z ₂ , and the coordinate conversion method may include: First, realize the two coordinate centers 0 ₁ and 0 through translation. The coincidence of ₂ , and secondly, the two coordinate systems where the origin coincides after translation 0 ₁ -X ₁ Y ₁ Z ₁ and 0 ₂ -X ₂ Y ₂ Z ₂ through rotation to achieve 0 ₁ -X ₁ Y ₁ Z ₁ to 0 _2- X ₂ Y ₂ Z ₂ conversion.

Fig. 4 is a flowchart showing a vehicle body positioning method according to an exemplary embodiment. Referring to Fig. 4, the difference from the above-mentioned embodiment is that in step S108, based on the coordinate position of the observation point, The information corresponding to the observation point is converted to the same coordinate system, including step S109, step S110, and step S111.

In step S109, determine the coordinate system information of the observation point during multiple scans;

In step S110, obtain relative pose information of the vehicle body between two adjacent scans in multiple scans;

In step S111, based on the coordinate system information and the relative pose information, the information corresponding to the observation point in the previous scan is sequentially converted to the coordinate system corresponding to the next scan, until the information corresponding to the observation point is transferred to the last One scan corresponds to the coordinate system.

As mentioned in the foregoing embodiment, the scanning frequency of the single-line lidar can be set according to time or distance parameters. For example, according to the distance parameter setting, for example, the vehicle body travels 1 meter forward, and the starting position of the vehicle body is used as the starting point. During this period, the single-line lidar scans once every 0.1 meters, for a total of 10 scans. When the vehicle body travels 0.1 meters, the first scan is started, the first coordinate system information of the observation point is determined, and the position where the single-line laser class is located is the coordinate origin; when the vehicle body continues to travel forward 0.2 meters , Start the second scan, determine the second coordinate system information of the observation point, take the position of the single-line laser class as the origin of the coordinate, and use different coordinate systems for the two scans. The point cloud data of the observation point is converted into the coordinate system used in the second scan.

In the embodiment of the present disclosure, in the conversion process, it is necessary to obtain the pose information of the vehicle body according to the conversion relationship between the two coordinate systems. The wheel speed sensor can be used to measure the rotation angle of the car body between the first scan and the second scan, which can be obtained by an inertial sensor (IMU, Inertial Measurement Unit). According to the obtained distance and angle, Perform the same translation or rotation on the first coordinate system, and convert the point cloud data of the observation point acquired in the first scan to the second coordinate system. By analogy, the point cloud data of the observation point acquired in the ninth scan is converted to the coordinate system used in the tenth scan.

In the embodiments of the present disclosure, for observation objects with fewer feature points, the normal estimation method can be used to extract point cloud features. The advantage of the normal estimation method is that the calculation speed is faster, and the point feature histogram can be used for more complex scenes. Method, by parameterizing the spatial difference between the query point and the neighboring point, and forming a multi-dimensional histogram to describe the k-neighborhood geometric attributes of the point. The high-dimensional hyperspace where the histogram is located provides measurable information for the feature representation Space, it is invariant to the 6-dimensional posture of the corresponding surface of the point cloud, and it is robust under different sampling densities or noise levels in the neighborhood; fast point feature histograms with a small amount of calculation and Anti-resolution change rotating image method to extract point cloud feature information.

Fig. 5 is a flowchart of a vehicle body positioning method according to an exemplary embodiment. Referring to Fig. 5, the difference from the above-mentioned embodiment is that in step S101, at least one single-line lidar is used to scan and acquire the vehicle body The three-dimensional point cloud data of the surrounding environment includes step S112 and step S113.

In step S112, when at least two single-line lidars are provided on the vehicle body, the relative position relationship between the single-line lidars is acquired;

In step S113, the point cloud data corresponding to the observation point is converted into the same coordinate system according to the relative position relationship.

In the embodiment of the present disclosure, when there are multiple lidars installed on the vehicle body, for example, there is a single-line lidar arranged diagonally downward on the roof of the vehicle, and a single-line laser arranged parallel to the plane of the vehicle bottom at the bottom of the vehicle Radar, or a single-line lidar with an oblique upward direction at the headlights, where diagonally downward and diagonally upward refer to the laser pulse direction emitted by the single-line lidar. When the multiple single-line lidars are installed, the relative positional relationship of the single-line lidars has been determined. According to the relative positional relationship, the multiple lidars are used to scan and acquire three-dimensional point cloud data of the surrounding environment of the vehicle body, and the single-line lidar is used to translate and rotate the point cloud data corresponding to the observation point. The method is converted to the unified coordinate system.

In the embodiment of the present disclosure, at least one of the single-line lidar is arranged at the bottom of the vehicle body, so that the laser pulse emitted by the single-line lidar is parallel to the direction of the bottom of the vehicle body. When the direction of the single-line lidar emitting laser light is parallel to the plane where the bottom of the vehicle body is located, the plane scanned by the single-line lidar includes a horizontal plane. If the vehicle body is running smoothly, the scanning plane of the single-line lidar does not change, so The acquired point cloud data is two-dimensional point cloud data. In this case, the single-line lidar can scan a relatively distant observation point, which can be 80 meters away, and is used in conjunction with the single-line lidar placed diagonally downward, and the single-line lidar placed diagonally downward It is used to scan close observation points, such as observation points within 20 meters, and merge the point cloud data obtained by the two kinds of lidars to achieve a more stable positioning.

Fig. 6 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment. 6, the device includes a lidar device 11, an extraction module 12 and a registration module 13.

The lidar device 11 includes at least one single-line lidar for scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body, and the direction in which the at least one single-line lidar emits laser light is at least on the plane of the bottom of the vehicle body. An angle relationship;

The extraction module 12 is used to extract point cloud feature information in the three-dimensional point cloud data;

The registration module 13 is configured to register the point cloud feature information with a preset high-precision map to determine the position information of the vehicle body.

Fig. 7 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment. Referring to FIG. 7, the lidar device 11 includes:

The first acquisition module 14 is configured to use at least one single-line lidar to perform multiple scans to acquire three-dimensional point cloud data of the surrounding environment of the vehicle body at different scanning positions;

The processing module 15 is used for fusing the three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions to generate three-dimensional point cloud data based on the same coordinate system.

Fig. 8 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment. Referring to FIG. 8, the processing module 15 includes:

The determining sub-module 16 is used to determine the observation point in the surrounding environment scanned by the single-line lidar in multiple scans, and obtain the coordinate position of the observation point;

The conversion sub-module 17 is configured to convert the point cloud data corresponding to the observation point into the same coordinate system based on the coordinate position of the observation point.

Fig. 9 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment. Referring to FIG. 9, the conversion unit 17 includes:

The determining unit 18 is used to determine the coordinate system information of the observation point during multiple scans;

The acquiring unit 19 acquires the relative pose information of the vehicle body between two adjacent scans in multiple scans;

The conversion unit 20, based on the coordinate system information and the relative pose information, sequentially converts the point cloud data corresponding to the observation point in the previous scan to the coordinate system corresponding to the next scan until the point cloud data corresponding to the observation point Transfer to the coordinate system corresponding to the last scan.

Fig. 10 is a block diagram showing a vehicle body positioning device according to an exemplary embodiment. 10, the lidar device 11 includes:

The second acquisition module 21 is configured to acquire the relative position relationship between the single-line lidars when at least two single-line lidars are provided on the vehicle body;

The conversion module 22 is configured to convert the point cloud data corresponding to the observation point by the single-line lidar to the same coordinate system according to the relative position relationship.

Regarding the device in the foregoing embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and detailed description will not be given here.

Fig. 11 is a block diagram showing a vehicle body positioning device 800 according to an exemplary embodiment. For example, the device 800 may be a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

11, the device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, And the communication component 816.

The processing component 802 generally controls the overall operations of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations in the device 800. Examples of these data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or nonvolatile storage device or a combination thereof, 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 Disk or Optical Disk.

The power supply component 806 provides power to various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with the generation, management, and distribution of power for the device 800.

The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive external audio signals. The received audio signal may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module. The peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

The sensor component 814 includes one or more sensors for providing the device 800 with various aspects of status assessment. For example, the sensor component 814 can detect the on/off status of the device 800 and the relative positioning of the components. For example, the component is the display and the keypad of the device 800. The sensor component 814 can also detect the position change of the device 800 or a component of the device 800. , The presence or absence of contact between the user and the device 800, the orientation or acceleration/deceleration of the device 800, and the temperature change of the device 800. The sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact. The sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 804 including instructions, which can be executed by the processor 820 of the device 800 to complete the foregoing method. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Fig. 12 is a block diagram showing a vehicle body positioning device 1900 according to an exemplary embodiment. For example, the device 1900 may be provided as a server. 12, the device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932, for storing instructions executable by the processing component 1922, such as application programs. The application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above-described methods.

The device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to the network, and an input output (I/O) interface 1958. The device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 1932 including instructions, which may be executed by the processing component 1922 of the device 1900 to complete the foregoing method. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Those skilled in the art will easily think of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The description and the embodiments are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

A vehicle body positioning method is characterized by comprising:

Using at least one single-line lidar to scan and obtain three-dimensional point cloud data of the surrounding environment of the vehicle body, and the directions of the at least one single-line lidar emitting laser light respectively have at least one angle relationship with the plane where the bottom of the vehicle body is located;

Extracting point cloud feature information in the three-dimensional point cloud data;

The point cloud feature information is registered with a preset high-precision map to determine the position information of the vehicle body.
The method according to claim 1, wherein the angle relationship comprises: the single-line lidar is arranged on the vehicle body and located at a position above the plane of the bottom of the vehicle body, and the laser pulse emitted by the single-line lidar It is diagonally upward or diagonally downward.
The method according to claim 1, wherein the angle relationship comprises: the single-line lidar is arranged on the upper half of the vehicle body in an oblique downward direction, so that the laser pulse emitted by the single-line lidar is oblique Down direction.
The method according to claim 1, wherein the scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body using at least one single-line lidar comprises:

Use at least one single-line lidar to perform multiple scans to obtain three-dimensional point cloud data of the surrounding environment of the vehicle body at different scan positions;

The three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions are fused to generate three-dimensional point cloud data based on the same coordinate system.
The method according to claim 4, wherein the fusing three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions to generate three-dimensional point cloud data based on the same coordinate system comprises:

Determine the observation point in the surrounding environment scanned by the single-line lidar in multiple scans, and obtain the coordinate position of the observation point;

Based on the coordinate position of the observation point, the point cloud data corresponding to the observation point is converted into the same coordinate system.
The method according to claim 5, wherein said converting the point cloud data corresponding to the observation point to the same coordinate system based on the coordinate position of the observation point comprises:

Determining the coordinate system information of the observation point during multiple scans;

Acquiring relative pose information of the vehicle body between two adjacent scans in multiple scans;

Based on the coordinate system information and the relative pose information, the point cloud data corresponding to the observation point in the previous scan is sequentially converted to the coordinate system corresponding to the next scan, until the point cloud data corresponding to the observation point is transferred to the last scan Scan the corresponding coordinate system.
The method according to claim 1, wherein the description form of the point cloud feature information includes one or more of normal estimation, point feature histogram, fast point feature histogram, and spin image. Kind.
The method according to claim 1, wherein the scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body using at least one single-line lidar comprises:

In the case where at least two single-line lidars are provided on the vehicle body, acquiring the relative position relationship between the single-line lidars;

According to the relative position relationship, the point cloud data corresponding to the observation point is converted into the same coordinate system.
The method according to claim 8, wherein the relative position relationship comprises:

At least one of the single-line lidar is arranged on the top of the vehicle body, so that the laser pulse emitted by the single-line lidar is obliquely downward;

At least one of the single-line lidar is arranged at the bottom of the vehicle body, so that the laser pulse emitted by the single-line lidar is parallel to the direction of the bottom of the vehicle body.
A vehicle body positioning device, characterized in that it comprises:

The lidar device includes at least one single-line lidar for scanning and acquiring three-dimensional point cloud data of the surrounding environment of the vehicle body, and the direction in which the at least one single-line lidar emits laser light is at least the same as the plane where the bottom of the vehicle body is located. Kind of angle relationship;

An extraction module for extracting point cloud feature information in the three-dimensional point cloud data;

The registration module is used to register the point cloud feature information with a preset high-precision map to determine the position information of the vehicle body.
The device according to claim 10, wherein the angle relationship comprises: the single-line lidar is arranged on the vehicle body and located at a position above the plane of the bottom of the vehicle body, and the laser pulse emitted by the single-line lidar It is diagonally upward or diagonally downward.
The device according to claim 10, wherein the included angle relationship comprises: the single-line lidar is arranged on the upper half of the vehicle body in an oblique downward direction, so that the laser pulse emitted by the single-line lidar is oblique Down direction.
The device according to claim 10, wherein the lidar device comprises:

The first acquisition module is configured to use at least one single-line lidar to perform multiple scans to acquire three-dimensional point cloud data of the surrounding environment of the vehicle body at different scanning positions;

The processing module is used to fuse the three-dimensional point cloud data of the surrounding environment of the vehicle body at the different scanning positions to generate three-dimensional point cloud data based on the same coordinate system.
The device according to claim 13, wherein the processing module comprises:

The determining sub-module is used to determine the observation point in the surrounding environment scanned by the single-line lidar in multiple scans, and obtain the coordinate position of the observation point;

The conversion sub-module is used to convert the point cloud data corresponding to the observation point into the same coordinate system based on the coordinate position of the observation point.
The device according to claim 14, wherein the conversion sub-module comprises:

The determining unit is used to determine the coordinate system information of the observation point during multiple scans;

An acquiring unit to acquire relative pose information of the vehicle body between two adjacent scans in multiple scans;

The conversion unit, based on the coordinate system information and the relative pose information, sequentially converts the point cloud data corresponding to the observation point in the previous scan to the coordinate system corresponding to the next scan, until the point cloud data corresponding to the observation point is transferred To the coordinate system corresponding to the last scan.
The device according to claim 10, wherein the description form of the point cloud feature information includes one or more of normal estimation, point feature histogram, fast point feature histogram, and spin image. Kind.
The device according to claim 10, wherein the lidar device comprises:

The second acquisition module is configured to acquire the relative position relationship between the single-line laser radars when at least two single-line laser radars are provided on the vehicle body;

The conversion module is configured to convert the point cloud data corresponding to the observation point by the single-line lidar into the same coordinate system according to the relative position relationship.
The device according to claim 17, wherein the relative position relationship comprises:

At least one of the single-line lidar is arranged on the top of the vehicle body, so that the laser pulse emitted by the single-line lidar is obliquely downward;

At least one of the single-line lidar is arranged at the bottom of the vehicle body, so that the laser pulse emitted by the single-line lidar is parallel to the direction of the bottom of the vehicle body.
A vehicle body positioning device, characterized in that it comprises:

processor;

A memory for storing processor executable instructions;

Wherein, the processor is configured to execute the vehicle body positioning method described in claims 1 to 8.
A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor, so that the processor can execute the vehicle body positioning method according to claims 1 to 8.