CN107907894A - Pilotless automobile localization method, device, storage medium and pilotless automobile - Google Patents
Pilotless automobile localization method, device, storage medium and pilotless automobile Download PDFInfo
- Publication number
- CN107907894A CN107907894A CN201711101339.0A CN201711101339A CN107907894A CN 107907894 A CN107907894 A CN 107907894A CN 201711101339 A CN201711101339 A CN 201711101339A CN 107907894 A CN107907894 A CN 107907894A
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- Prior art keywords
- pilotless automobile
- point
- coordinate value
- satellite positioning
- automobile
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of pilotless automobile localization method, device, storage medium and pilotless automobile, wherein, the pilotless automobile localization method includes：The satellite positioning signal of n point on pilotless automobile is received, n is the integer more than or equal to 2；Coordinate value (the x of each point is determined according to the satellite positioning signal of the n pointi,yi)；According to the coordinate value of each point, the coordinate value (x, y) and course angle α of pilotless automobile are calculated.The present invention receives the satellite positioning signal of multiple points on pilotless automobile by pilotless automobile positioner, satellite positioning signal is converted into coordinate value, finally according to the coordinate value of each point, obtain the coordinate value and course angle of pilotless automobile, so as to more accurately realize the positioning to pilotless automobile, and apply on pilotless automobile, have the advantages that simple in structure, cost is low.
Description
Technical field
The present invention relates to unmanned field, more particularly to a kind of pilotless automobile localization method, device, storage medium
And pilotless automobile technical field.
Background technology
Pilotless automobile is also referred to as robot automobile in the world, belongs to one kind of outdoor mobile robot, is one
Integrate the integrated intelligent system of the multiple function such as environment sensing, planning and decision-making, control, cover machinery, control, sensing
The multi-subject knowledges such as device technology, signal processing, pattern-recognition, artificial intelligence and computer technology.In recent years, various countries increase pair
The research of pilotless automobile, the development of pilotless automobile also become the important mark for weighing an industrialization of the country development degree
Will.The pilotless automobile intelligence system complicated as one, the content being related to mainly have following aspects：Architecture,
Environment sensing, location navigation, path planning, motion control and integrated design.
In navigation positioning system, GNSS satellite navigator fix technology is most commonly used that, but common GNSS positions skill
Art is not high there are positioning accuracy, it is difficult to the problem of meeting the high accuracy positioning demand of intelligent vehicle.
The content of the invention
It is a primary object of the present invention to provide a kind of pilotless automobile localization method, device, storage medium and
Pilotless automobile, it is intended to it is not high to solve the positioning accuracy that common GNSS location technologies still suffer from, it is difficult to meet intelligent vehicle
High accuracy positioning demand the problem of.
To achieve the above object, the present invention provides a kind of pilotless automobile localization method, the pilotless automobile
Localization method includes：
The satellite positioning signal of n point on pilotless automobile is received, n is the integer more than or equal to 2；
Coordinate value (the x of each point is determined according to the satellite positioning signal of the n pointi,yi)；
According to the coordinate value of each point, the coordinate value (x, y) and course angle α of pilotless automobile are calculated.
Preferably, the satellite positioning signal according to the n point determines the coordinate value (x of each pointi,yi) the step of, bag
Include：
The satellite positioning coordinate (xd, yd) of each point is determined according to the satellite positioning signal of the n point；
To the satellite positioning coordinate (x of each pointd,yd), it is corrected by correction value (△ x, △ y) to obtain each point
Coordinate value (xi,yi)。
Preferably, the satellite positioning coordinate (x to each pointd,yd), it is corrected by correction value (△ x, △ y)
To obtain the coordinate value (x of each pointi,yi) the step of before further include：
Receive the correction value (△ x, △ y) that fixed base stations are sent.
Preferably, the coordinate value according to each point, calculates the coordinate value (x, y) and course angle α of pilotless automobile
The step of in,
Preferably, the n point includes the point of the leftmost side of the direct of travel positioned at the pilotless automobile；
The coordinate value according to each point, the step of calculating the coordinate value (x, y) and course angle α of pilotless automobile
In, the coordinate value (x, y) of the pilotless automobile is the coordinate value of the point of the leftmost side.
Preferably, the coordinate value according to each point, calculates the coordinate value (x, y) and course angle α of pilotless automobile
The step of in,Or
Preferably, the coordinate value according to each point, calculates the coordinate value (x, y) and course angle α of pilotless automobile
Further include afterwards：
Export the coordinate value (x, y) and course angle α of the pilotless automobile.
In addition, to achieve the above object, the present invention also proposes a kind of pilotless automobile positioner, described unmanned
Automobile positioning device includes：Memory, processor and it is stored in the nothing that can be run on the memory and on the processor
People's driving finder, the pilotless automobile finder, which is arranged for carrying out pilotless automobile as described above, to be determined
The step of position method.
In addition, to achieve the above object, the present invention also proposes a kind of computer-readable recording medium, described computer-readable
Pilotless automobile finder is stored with storage medium, it is real when the pilotless automobile finder is executed by processor
Now the step of pilotless automobile localization method as described above.
In addition, to achieve the above object, the present invention also proposes a kind of pilotless automobile, and the pilotless automobile includes
Vehicle body, mutiple antennas and pilotless automobile positioner as described above, the multiple antenna are arranged on the vehicle body, are used
To gather satellite positioning signal, the pilotless automobile positioner is electrically connected the multiple antenna.
The present invention receives the satellite positioning signal of multiple points on pilotless automobile by pilotless automobile positioner,
Satellite positioning signal is converted into coordinate value, finally according to the coordinate value of each point, obtain pilotless automobile coordinate value and
Course angle, so as to more accurately realize the positioning to pilotless automobile, applies on pilotless automobile, has structure
Simply, the advantages of cost is low.
Brief description of the drawings
Fig. 1 is that the structure of the pilotless automobile positioner for the hardware running environment that the embodiment of the present invention is related to is shown
It is intended to；
Fig. 2 is a kind of flow diagram of pilotless automobile localization method first embodiment of the present invention；
Fig. 3 is a kind of flow diagram of pilotless automobile localization method second embodiment of the present invention；
Fig. 4 is a kind of flow diagram of pilotless automobile localization method 3rd embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
With reference to Fig. 1, Fig. 1 is the structure diagram of pilotless automobile positioner of the present invention.
As shown in Figure 1, the pilotless automobile positioner can include：Processor 1001, such as CPU, communication bus
1002nd, user interface 1003, network interface 1004, memory 1005.Wherein, communication bus 1002 be used for realization these components it
Between connection communication.User interface 1003 can include display screen (Display), input unit such as keyboard (Keyboard),
Optional user interface 1003 can also include standard wireline interface and wireless interface.Network interface 1004 can optionally include
Standard wireline interface and wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory or steady
Fixed memory (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of
The storage device of aforementioned processor 1001.
It will be understood by those skilled in the art that the structure shown in Fig. 1 is not formed to pilotless automobile positioner
Restriction, can include than illustrating more or fewer components, either combine some components or different components arrangement.
As shown in Figure 1, it can lead to as in a kind of memory 1005 of computer-readable storage medium including operating system, network
Believe the presentation program of module, Subscriber Interface Module SIM and electronic program guides.
In the television set shown in Fig. 1, network interface 1004 is mainly used for Connection Service device, and carrying out data with server leads to
Letter；User interface 1003 is mainly used for connecting remote controler, is referred to remote controler into row data communication, user by remote controler input
Order, the television set calls the pilotless automobile finder stored in memory 1005 by processor 1001, and performs
Operate below：
The satellite positioning signal of n point on pilotless automobile is received, n is the integer more than or equal to 2；
Coordinate value (the x of each point is determined according to the satellite positioning signal of the n pointi,yi)；
According to the coordinate value of each point, the coordinate value (x, y) and course angle α of pilotless automobile are calculated.
Further, processor 1001 can call the pilotless automobile finder stored in memory 1005, also
Perform following operation：
The satellite positioning signal according to the n point determines the coordinate value (x of each pointi,yi) the step of, including：
The satellite positioning coordinate (xd, yd) of each point is determined according to the satellite positioning signal of the n point；
To the satellite positioning coordinate (x of each pointd,yd), it is corrected by correction value (△ x, △ y) to obtain each point
Coordinate value (xi,yi)。
Further, processor 1001 can call the pilotless automobile finder stored in memory 1005, also
Perform following operation：
Satellite positioning coordinate (the x to each pointd,yd), it is corrected by correction value (△ x, △ y) to obtain
Coordinate value (the x of each pointi,yi) the step of before further include：
Receive the correction value (△ x, △ y) that fixed base stations are sent.
Further, processor 1001 can call the pilotless automobile finder stored in memory 1005, also
Perform following operation：
The coordinate value according to each point, the step of calculating the coordinate value (x, y) and course angle α of pilotless automobile
In,
Further, processor 1001 can call the pilotless automobile finder stored in memory 1005, also
Perform following operation：
The n point includes the point of the leftmost side of the direct of travel positioned at the pilotless automobile；
The coordinate value according to each point, the step of calculating the coordinate value (x, y) and course angle α of pilotless automobile
In, the coordinate value (x, y) of the pilotless automobile is the coordinate value of the point of the leftmost side.
Further, processor 1001 can call the pilotless automobile finder stored in memory 1005, also
Perform following operation：
The coordinate value according to each point, calculates the coordinate value (x, y) of pilotless automobile and the step of course angle α
In rapid,Or
Further, processor 1001 can call the pilotless automobile finder stored in memory 1005, also
Perform following operation：
The coordinate value according to each point, the coordinate value (x, y) and course angle α for calculating pilotless automobile also wrap afterwards
Include：
Export the coordinate value (x, y) and course angle α of the pilotless automobile.
The present invention receives the satellite positioning signal of multiple points on pilotless automobile by pilotless automobile positioner,
Satellite positioning signal is converted into coordinate value, finally according to the coordinate value of each point, obtain pilotless automobile coordinate value and
Course angle, so as to more accurately realize the positioning to pilotless automobile, and applies on pilotless automobile, has knot
The advantages of structure is simple, cost is low.
Based on above-mentioned hardware configuration, the present invention proposes a kind of pilotless automobile localization method, such a unmanned vapour
Car localization method can be run based on the GNSS such as GPS positioning system, BEI-DOU position system alignment systems, will be based on below
It is introduced exemplified by GPS positioning system.
With reference to Fig. 2, Fig. 2 is a kind of flow diagram of pilotless automobile localization method first embodiment of the present invention.
In the present embodiment, the pilotless automobile localization method comprises the following steps：
Step S10, receives the satellite positioning signal of n point on pilotless automobile, and n is the integer more than or equal to 2；
In the present embodiment, antenna is set by multiple points on the vehicle body of pilotless automobile, is adopted by antenna
Collect the satellite positioning signal of point corresponding with the antenna, then the satellite positioning signal of the point is transferred to unmanned vapour by antenna
Car positioner, satellite positioning signal can include latitude and longitude information, road network information of the point etc..
Step S20, the coordinate value (x of each point is determined according to the satellite positioning signal of the n pointi,yi)。
In the present embodiment, pilotless automobile positioner directly converts the satellite positioning signal (longitude and latitude) of each point
For the coordinate value (x of each pointi,yi), concrete mode can use gauss projection principle etc..
Step S30：According to the coordinate value of each point, the coordinate value (x, y) and course angle α of pilotless automobile are calculated.
It is described that a variety of, tool is had to calculate the mode of the coordinate value (x, y) of pilotless automobile and course angle α according to multiple spot
Body, the calculation for the coordinate value (x, y) of pilotless automobile can be x=I.e.
To take coordinate value (x, y) of the average value of each point as pilotless automobile, so set, the error of a single point can be reduced,
Influence for the coordinate value accuracy for calculating finally obtained pilotless automobile.Pilotless automobile coordinate value (x,
Y) calculation can be that n point includes the point of the leftmost side of the direct of travel positioned at pilotless automobile, unmanned vapour
The coordinate value (x, y) of car is the coordinate value of the point of the leftmost side, so set, calculating process is by a relatively simple, saves system
Computing resource.
Equally, have a variety of to calculate the mode of pilotless automobile course angle α according to multiple spot, specifically, driven for nobody
Sailing the calculation of the course angle α of automobile can beOr
So set, the error of a single point can be reduced, the course angle accuracy of the pilotless automobile finally obtained for calculating
Influence.
For example, being provided with two antennas on the vehicle body of pilotless automobile, a setting driver side, another is arranged on pair
Driver side, pilotless automobile positioner determine that the coordinate of driver side is (x respectively1,y1), the coordinate of copilot side is (x2,
y2), it can be obtained according to the above method：
(x, y)=(x1,y1) or
Or
In the present embodiment, the satellite of multiple points on pilotless automobile is received by pilotless automobile positioner
Position signal, is converted to coordinate value by satellite positioning signal, finally according to the coordinate value of each point, obtains the coordinate of pilotless automobile
Value and course angle, so as to more accurately realize the positioning to pilotless automobile.
In order to allow positioning accuracy higher to pilotless automobile, with reference to Fig. 3, Fig. 3 is a kind of unmanned vapour of the present invention
The flow diagram of car localization method second embodiment.
Step S20, the satellite positioning signal according to the n point determine the coordinate value (x of each pointi,yi) the step of,
Including：
Step S21, the satellite positioning coordinate (x of each point is determined according to the satellite positioning signal of the n pointd,yd)；
Step S22, to the satellite positioning coordinate (x of each pointd,yd), by correction value (△ x, △ y) be corrected with
Obtain the coordinate value (x of each pointi,yi)。
In the present embodiment, it is contemplated that the accuracy of satellite positioning signal can be subject to atmospheric ionized layer, tropospheric refraction etc.
Influence, to directly changing definite satellite positioning coordinate (x according to satellite positioning signald,yd), correction value (△ x, △ can be passed through
Y) it is corrected, so as to finally obtain the coordinate value (x of more accurate each pointi,yi)。
Specifically, correction value (△ x, △ y) can be the empirical value by experience to choose, and can also be such as the present embodiment
In, step S21, the satellite positioning coordinate (x to each pointd,yd), it is corrected by correction value (△ x, △ y) to obtain
Obtain the coordinate value (x of each pointi,yi) the step of before further include：
Receive the correction value (△ x, △ y) that fixed base stations are sent.
In the present embodiment, fixed base stations are to be fixedly mounted on a preferable position of signal in advance, and fixed base stations need
The physical location that three-dimensional localization calculates fixed base stations could be carried out by receiving the data of 4 gps satellites.Utilize fixed base stations three
The position data that dimension positioning obtains is contrasted with the positional information obtained from a satellite, is fixed base station and is defended on this
The correction value (△ x, △ y) of star, is then transferred to pilotless automobile positioner by the correction value (△ x, △ y) of the satellite.
In the present embodiment, by correction value (△ x, △ y) to satellite positioning coordinate (xd,yd) be corrected, obtain more
Coordinate value (the x of accurate each pointi,yi), it is achieved thereby that the high accuracy positioning of pilotless automobile and navigation.
With reference to Fig. 4, Fig. 4 is a kind of flow diagram of pilotless automobile localization method 3rd embodiment of the present invention.
Step 30, the coordinate value according to each point, calculates the coordinate value (x, y) and course angle α of pilotless automobile
Further include afterwards：
Step 40, the coordinate value (x, y) and course angle α of the pilotless automobile are exported.
In the present embodiment, the coordinate value (x, y) and course angle α of pilotless automobile is being determined, can be output to
The Ride Control System of pilotless automobile, allows pilotless automobile to be run according to accurate direction.Can also will be unmanned
Coordinate value (the x of each point on automobilei,yi) import in road network, you can determine boundary position of the pilotless automobile in road network, both
Energy precision navigation can limit position of the pilotless automobile in road network again, ensure the safety of vehicle, avoid pilotless automobile
Roll away from outside road scope, reach pinpoint purpose.
In addition, the invention also provides a kind of pilotless automobile, the pilotless automobile includes vehicle body, mutiple antennas
And the pilotless automobile positioner of structure as shown in Figure 1, mutiple antennas is arranged on vehicle body, to gather satellite positioning
Letter, pilotless automobile positioner are electrically connected mutiple antennas.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those key elements, and
And other elements that are not explicitly listed are further included, or further include as this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical element in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Herein, the use of word first, second, and third does not indicate that any order.Can be by these word solutions
It is interpreted as title.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and attached drawing information is made, is directly or indirectly used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of 1. pilotless automobile localization method, it is characterised in that including：The satellite positioning signal of n point on pilotless automobile is received, n is the integer more than or equal to 2；Coordinate value (the x of each point is determined according to the satellite positioning signal of the n pointi,yi)；According to the coordinate value of each point, the coordinate value (x, y) and course angle α of pilotless automobile are calculated.
- 2. pilotless automobile localization method as claimed in claim 1, it is characterised in that the defending according to the n point Star positioning signal determines the coordinate value (x of each pointi,yi) the step of, including：The satellite positioning coordinate (xd, yd) of each point is determined according to the satellite positioning signal of the n point；To the satellite positioning coordinate (x of each pointd,yd), it is corrected by correction value (△ x, △ y) to obtain the seat of each point Scale value (xi,yi)。
- 3. pilotless automobile localization method as claimed in claim 2, it is characterised in that the satellite to each point Position coordinate (xd,yd), it is corrected by correction value (△ x, △ y) to obtain the coordinate value (x of each pointi,yi) the step of before also Including：Receive the correction value (△ x, △ y) that fixed base stations are sent.
- 4. the pilotless automobile localization method as described in claims 1 to 3 any one, it is characterised in that the basis is each The coordinate value of point, in the step of calculating the coordinate value (x, y) and course angle α of pilotless automobile,
- 5. the pilotless automobile localization method as described in claims 1 to 3 any one, it is characterised in that the n point bag Include the point of the leftmost side of the direct of travel positioned at the pilotless automobile；The coordinate value according to each point, in the step of calculating the coordinate value (x, y) and course angle α of pilotless automobile, institute The coordinate value (x, y) for stating pilotless automobile is the coordinate value of the point of the leftmost side.
- 6. the pilotless automobile localization method as described in claims 1 to 3 any one, it is characterised in that the basis is each The coordinate value of point, in the step of calculating the coordinate value (x, y) and course angle α of pilotless automobile, Or
- 7. pilotless automobile localization method as claimed in claim 1, it is characterised in that the coordinate value according to each point, The coordinate value (x, y) and course angle α for calculating pilotless automobile further include afterwards：Export the coordinate value (x, y) and course angle α of the pilotless automobile.
- 8. a kind of pilotless automobile positioner, it is characterised in that the pilotless automobile positioner includes：Storage Device, processor and it is stored in the pilotless automobile finder that can be run on the memory and on the processor, institute The pilotless automobile that pilotless automobile finder is arranged for carrying out as any one of claim 1 to 7 is stated to position The step of method.
- 9. a kind of storage medium, it is characterised in that pilotless automobile finder, the nothing are stored with the storage medium People drives a car when finder is executed by processor and realizes as claim 1 to 7 any one of them pilotless automobile is determined The step of position method.
- A kind of 10. pilotless automobile, it is characterised in that including：Vehicle body；Mutiple antennas, on the vehicle body, to gather satellite positioning signal；AndPilotless automobile positioner, the pilotless automobile positioner are as claimed in claim 8 unmanned Automobile positioning device, the pilotless automobile positioner are electrically connected the multiple antenna.
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| CN201711101339.0A CN107907894A (en) | 2017-11-09 | 2017-11-09 | Pilotless automobile localization method, device, storage medium and pilotless automobile |
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| CN201711101339.0A CN107907894A (en) | 2017-11-09 | 2017-11-09 | Pilotless automobile localization method, device, storage medium and pilotless automobile |
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| CN108622074A (en) * | 2018-05-04 | 2018-10-09 | 徐继春 | Intelligent brake controller for pilotless automobile |
| CN111137277A (en) * | 2018-11-05 | 2020-05-12 | 陕西汽车集团有限责任公司 | Method for setting automatic parking position of unmanned mining vehicle |
| CN112172827A (en) * | 2020-06-24 | 2021-01-05 | 上汽通用五菱汽车股份有限公司 | Driving assistance system control method, device, equipment and storage medium |
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