CN109917376A - A kind of localization method and device - Google Patents

A kind of localization method and device Download PDF

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Publication number
CN109917376A
CN109917376A CN201910142536.XA CN201910142536A CN109917376A CN 109917376 A CN109917376 A CN 109917376A CN 201910142536 A CN201910142536 A CN 201910142536A CN 109917376 A CN109917376 A CN 109917376A
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parameters
normal distribution
map
vehicle
normal
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CN109917376B (en
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于占海
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Neusoft Rui Auto Technology (shenyang) Co Ltd
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Neusoft Rui Auto Technology (shenyang) Co Ltd
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Abstract

This application discloses a kind of localization method and devices, the localization method, it include: that vehicle service end first cloud map sending vehicle divides, and the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is converted to Parameters of Normal Distribution value；The first Parameters of Normal Distribution set that vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map, is matched in normal state parameter attribute library, obtains the second Parameters of Normal Distribution set of successful match；Vehicle service end determines vehicle position information in integrally point cloud map according to the corresponding coordinate parameters of the second Parameters of Normal Distribution set.In the method, due to different Parameters of Normal Distribution carry out matching calculation amount and time required when required calculation amount and time are matched than difference cloud map it is much smaller, to reduce a calculation amount when cloud map is matched and calculate the time, and then improve the real-time of vehicle location.

Description

A kind of localization method and device
Technical field
This application involves technical field of vehicle more particularly to a kind of localization methods and device.
Background technique
With popularizing for vehicle, the real-time positioning of vehicle is more and more important.In the prior art, common localization method Are as follows: firstly, vehicle obtains the point cloud map using vehicle as coordinate center by radar scanning, it is denoted as map to be positioned；Then, vehicle Server-side receives the map to be positioned of vehicle transmission, and by the map to be positioned and its memory space by multiframe point The whole point cloud map that cloud map is spliced to form is matched, with obtaining the frame point cloud to match with the map to be positioned Figure, so that vehicle service end obtains the location information of the vehicle according to the frame point cloud map, and feeds back to institute for the location information State vehicle.
However, due to including a large amount of point in every frame point cloud map, and each point is by three-dimensional in above-mentioned localization method Coordinate data indicates so that the data volume of every frame point cloud map is larger, thus, result in map undetermined and whole point cloud map into Calculation amount is larger when row matching and takes a long time, and also causes the real-time of vehicle location lower.
Summary of the invention
In order to solve the above technical problem existing in the prior art, the application provides a kind of localization method and device, energy Enough data volumes for reducing point cloud map, to reduce a calculation amount when cloud map is matched and calculate the time, in turn Improve the real-time of vehicle location.
To achieve the goals above, technical solution provided by the present application is as follows:
The application provides a kind of localization method, comprising:
First cloud map that the vehicle service end sends vehicle divides, and with will dividing obtained every height The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in scheming；
The first Parameters of Normal Distribution that the vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map Set, is matched in normal state parameter attribute library, obtains the second Parameters of Normal Distribution set of successful match；
The vehicle service end is according to the corresponding coordinate parameters of the second Parameters of Normal Distribution set, in integrally point cloud Vehicle position information is determined in figure.
Optionally, when normal state parameter attribute library includes at least one Parameters of Normal Distribution value, the vehicle service The first Parameters of Normal Distribution set that end constitutes the Parameters of Normal Distribution value of each sub- map, in normal state parameter attribute library In matched, obtain the second Parameters of Normal Distribution set of successful match, specifically:
The vehicle service end by the first Parameters of Normal Distribution set Parameters of Normal Distribution value and normal state parameter Parameters of Normal Distribution value in feature database is matched, and the Parameters of Normal Distribution value of successful match is obtained；
The vehicle service end obtains the second Parameters of Normal Distribution collection according to the Parameters of Normal Distribution value of the successful match It closes.
Optionally, the generation method in normal state parameter attribute library, specifically:
The whole point cloud map partitioning is multiple sub- maps by the vehicle service end, and with obtaining the whole point cloud Scheme the coordinate parameters of corresponding every sub- map；
The vehicle service end is converted to the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map Parameters of Normal Distribution value；
The vehicle service end obtains the whole point cloud map according to the corresponding Parameters of Normal Distribution value of each sub- map Corresponding normal state parameter attribute library.
Optionally, when normal state parameter attribute library includes at least one Parameters of Normal Distribution set, the vehicle clothes End be engaged in by the first Parameters of Normal Distribution set of the Parameters of Normal Distribution value composition of each sub- map, in normal state parameter attribute It is matched in library, obtains the second Parameters of Normal Distribution set of successful match, specifically:
The first Parameters of Normal Distribution that the vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map Set, is matched with the Parameters of Normal Distribution set in normal state parameter attribute library, obtains the second normal distribution of successful match Parameter sets.
Optionally, the generation method in normal state parameter attribute library, specifically:
The whole point cloud map partitioning is multiple pieces of maps by the vehicle service end, and with obtaining the whole point cloud Scheme the coordinate parameters of corresponding each piece of map；
The vehicle service end divides each piece of map, and will divide radar scanning in every obtained sub- map The three-dimensional coordinate data of point is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtains To the corresponding Parameters of Normal Distribution set of each piece of map；
The vehicle service end is according to the corresponding Parameters of Normal Distribution set of each piece of map, with obtaining the whole point cloud Scheme corresponding normal state parameter attribute library.
Optionally, the first normal state point that the vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map Cloth parameter sets are matched in normal state parameter attribute library, obtain the second Parameters of Normal Distribution set of successful match, specifically Are as follows:
Based on Newton optimization method, the vehicle service end Parameters of Normal Distribution value of each sub- map is constituted the One Parameters of Normal Distribution set is matched in normal state parameter attribute library, obtains the second Parameters of Normal Distribution of successful match Set.
Optionally, first cloud map that the vehicle service end sends vehicle divides, specifically:
The vehicle service end is carried out according to first cloud map that square templates or rectangle template send vehicle It divides.
The application also provides a kind of localization method, comprising:
The vehicle is scanned using radar, obtains first cloud map；
The vehicle divides first cloud map, and will divide radar scanning in every obtained sub- map The three-dimensional coordinate data of point is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtains To the first Parameters of Normal Distribution set；
The first Parameters of Normal Distribution set is sent to vehicle service end by the vehicle, so that vehicle service end is by institute State the first Parameters of Normal Distribution and be integrated into normal state parameter attribute library and matched, and according to and first Parameters of Normal Distribution The corresponding coordinate parameters of the successful second Parameters of Normal Distribution set of sets match determine vehicle location in integrally point cloud map Information.
The application also provides a kind of localization method, comprising:
The vehicle is scanned using radar, obtains first cloud map；
The vehicle divides first cloud map, and will divide radar scanning in every obtained sub- map The three-dimensional coordinate data of point is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtains To the first Parameters of Normal Distribution set；
First Parameters of Normal Distribution is integrated into the normal state parameter attribute library of vehicle service end transmission by the vehicle It is matched, obtains the second Parameters of Normal Distribution set of successful match；
The vehicle is according to the corresponding coordinate information of the second Parameters of Normal Distribution set, in integrally point cloud map really Determine vehicle position information.
Optionally, when normal state parameter attribute library includes at least one Parameters of Normal Distribution value, the vehicle is by institute State the first Parameters of Normal Distribution be integrated into vehicle service end transmission normal state parameter attribute library in matched, obtain successful match The second Parameters of Normal Distribution set, specifically:
The vehicle by the first Parameters of Normal Distribution set Parameters of Normal Distribution value and normal state parameter attribute library In Parameters of Normal Distribution value matched, obtain the Parameters of Normal Distribution value of successful match；
The vehicle obtains the second Parameters of Normal Distribution set according to the Parameters of Normal Distribution value of the successful match.
Optionally, when normal state parameter attribute library includes at least one Parameters of Normal Distribution set, the vehicle will First Parameters of Normal Distribution is integrated into the normal state parameter attribute library of vehicle service end transmission and is matched, and obtains matching into Second Parameters of Normal Distribution set of function, specifically:
The vehicle is by the Parameters of Normal Distribution collection in the first Parameters of Normal Distribution set and normal state parameter attribute library Conjunction is matched, and the second Parameters of Normal Distribution set of successful match is obtained.
Optionally, the normal state parameter that first Parameters of Normal Distribution is integrated into the transmission of vehicle service end by the vehicle is special Sign is matched in library, obtains the second Parameters of Normal Distribution set of successful match, specifically:
Based on Newton optimization method, first Parameters of Normal Distribution is integrated into vehicle service end and sent just by the vehicle State parameter attribute is matched in library, obtains the second Parameters of Normal Distribution set of successful match.
The application also provides a kind of positioning device, comprising:
First converting unit, first cloud map for sending vehicle for the vehicle service end divide, and will The three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is converted to Parameters of Normal Distribution value；
First acquisition unit is constituted the Parameters of Normal Distribution value of each sub- map for the vehicle service end First Parameters of Normal Distribution set is matched in normal state parameter attribute library, obtains the second normal distribution ginseng of successful match Manifold is closed；
First determination unit, for the vehicle service end according to the corresponding coordinate of the second Parameters of Normal Distribution set Parameter determines vehicle position information in integrally point cloud map.
Optionally, first converting unit, comprising:
First divides subelement, sends vehicle according to square templates or rectangle template for the vehicle service end First cloud map divided.
The application also provides a kind of positioning device, comprising:
Second acquisition unit is scanned for the vehicle using radar, is obtained centered on current vehicle location First cloud map；
Third acquiring unit divides first cloud map for the vehicle, and will divide obtain it is every The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in a sub- map, and corresponding according to each sub- map Parameters of Normal Distribution value obtains the first Parameters of Normal Distribution set；
The first Parameters of Normal Distribution set is sent to vehicle service end for the vehicle by the first transmission unit, It is matched so that first Parameters of Normal Distribution is integrated into normal state parameter attribute library by vehicle service end, and foundation and institute The corresponding coordinate parameters of the successful second Parameters of Normal Distribution set of the first Parameters of Normal Distribution sets match are stated, cloud is integrally being put Vehicle position information is determined in map.
The application also provides a kind of positioning device, comprising:
4th acquiring unit is scanned for the vehicle using radar, is obtained centered on current vehicle location First cloud map；
5th acquiring unit divides first cloud map for the vehicle, and will divide obtain it is every The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in a sub- map, and corresponding according to each sub- map Parameters of Normal Distribution value obtains the first Parameters of Normal Distribution set；
First Parameters of Normal Distribution is integrated into the transmission of vehicle service end for the vehicle by the 6th acquiring unit Normal state parameter attribute is matched in library, obtains the second Parameters of Normal Distribution set of successful match；
Second determination unit, for the vehicle according to the corresponding coordinate information of the second Parameters of Normal Distribution set, Vehicle position information is determined in integrally point cloud map.
Compared with prior art, the application has at least the following advantages:
Localization method provided by the present application is drawn by first cloud map that the vehicle service end sends vehicle Point, and the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is converted into Parameters of Normal Distribution value；Institute The first Parameters of Normal Distribution set that vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map is stated, in normal state Parameter attribute is matched in library, obtains the second Parameters of Normal Distribution set of successful match；The vehicle service end is according to institute The corresponding coordinate parameters of the second Parameters of Normal Distribution set are stated, determine vehicle position information in integrally point cloud map.In the party In method, since the data volume of Parameters of Normal Distribution value is smaller very than the data volume of the three-dimensional coordinate data of radar scanning point in sub- map It is more, thus, the data volume of the first Parameters of Normal Distribution set is more much smaller than the data volume of first cloud map, and normal state parameter is special The data volume for levying data volume also more corresponding than its cloud map in library is much smaller, to reduce a data volume for cloud map.Such as This, is when the first Parameters of Normal Distribution, which is integrated into, to be matched in normal state parameter attribute library, calculation amount needed for the matching process Also required calculation amount is much smaller when cloud map in difference is matched than in the prior art, moreover, the time needed for the process Also the required time is few many when cloud map in difference is matched than in the prior art, to reduce a cloud map progress The calculation amount of timing and calculating time, and then improve the real-time of vehicle location.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts, It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of embodiment of localization method provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of embodiment of S101 provided by the embodiments of the present application；
Fig. 3 is a kind of flow chart of embodiment of S1014 provided by the embodiments of the present application；
Fig. 4 is a kind of flow chart of embodiment of S102 provided by the embodiments of the present application；
Fig. 5 is the flow chart of the generation method in normal state parameter attribute provided by the embodiments of the present application library；
Fig. 6 is a kind of flow chart of embodiment of S501 provided by the embodiments of the present application；
Fig. 7 is a kind of flow chart of embodiment of S1022 provided by the embodiments of the present application；
Fig. 8 is the flow chart of the another embodiment of localization method provided by the embodiments of the present application；
Fig. 9 is the flow chart of another embodiment of localization method provided by the embodiments of the present application；
Figure 10 is a kind of flow chart of embodiment of S903 provided by the embodiments of the present application；
Figure 11 is a kind of flow chart of embodiment of S904 provided by the embodiments of the present application；
Figure 12 is the flow chart of the another embodiment of S904 provided by the embodiments of the present application；
Figure 13 is a kind of structural schematic diagram of embodiment of positioning device provided by the embodiments of the present application；
Figure 14 is the structural schematic diagram of the another embodiment of positioning device provided by the embodiments of the present application；
Figure 15 is the structural schematic diagram of another embodiment of positioning device provided by the embodiments of the present application.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment of the method one
Referring to Fig. 1, which is a kind of flow chart of embodiment of localization method provided by the embodiments of the present application.
Localization method provided by the embodiments of the present application, comprising:
S101: first cloud map that the vehicle service end sends vehicle divides, and will divide obtain it is every The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in a sub- map.
S101 can use numerous embodiments, below will in one embodiment for be explained and illustrated.
Referring to fig. 2, a kind of flow chart for embodiment which is S101 provided by the embodiments of the present application.
As an implementation, S101 is specifically as follows:
S1011: vehicle is scanned using radar, obtains first cloud map.
Ambient enviroment of the radar for current vehicle location and centered on current vehicle location is scanned, and is obtained Corresponding cloud map of current vehicle location.
It include multiple radar scanning points in every frame point cloud map, and the three-dimensional coordinate data of each radar scanning point is opposite In the coordinate data of origin.As an example, when the three-dimensional coordinate data of the first radar scanning point on first cloud map is (X, Y, Z) when, then it represents that in the direction of the x axis, the distance of the origin of first radar scanning point first cloud map of distance is X；In y-axis On direction, the distance of the origin of first radar scanning point first cloud map of distance is Y；In the z-axis direction, the first radar scanning The distance of the origin of point first cloud map of distance is Z.
It should be noted that the origin due to every frame point cloud map indicates the position of radar, moreover, radar is located at vehicle On, thus, the origin of every frame point cloud map can also indicate vehicle location.
S1012: first cloud map is sent to vehicle service end by vehicle.
Vehicle service end can be cloud, be also possible to cluster, can also be the other equipment including server.
As an implementation, S1012 is specifically as follows: first cloud map can be sent to by vehicle by network Vehicle service end.
S1013: first cloud map that vehicle service end sends vehicle divides, and obtains multiple sub- maps.
Vehicle service end can be drawn according to different division rules, different stripe sequences, different division templates Point, the application is not especially limited this.
As an implementation, S1013 is specifically as follows: the vehicle service end is according to square templates or rectangle First cloud map that template sends vehicle divides.
In this embodiment, obtained sub- map is square or rectangle due to dividing, and is conducive to sub- map and carries out The conversion of Parameters of Normal Distribution so as to improve the accuracy of the corresponding Parameters of Normal Distribution value of sub- map, and then improves and determines The accuracy of position.
S1014: the three-dimensional coordinate data of radar scanning point in every sub- map is converted to normal distribution by vehicle service end Parameter value.
Parameters of Normal Distribution value may include many kinds of parameters value.
As an example, Parameters of Normal Distribution value may include: average and standard deviation on the direction x, the average value on the direction y And standard deviation, average and standard deviation on the direction z.
As an implementation, when on the direction x average and standard deviation include: average and standard deviation on the direction x, y In average and standard deviation and the direction z on direction when average and standard deviation, S1014 is specifically as follows: vehicle service end The three-dimensional coordinate data of radar scanning point in every sub- map is converted into 6 Parameters of Normal Distribution values: on the direction x average value and Standard deviation, average and standard deviation in the average and standard deviation and the direction z on the direction y.
In addition, radar scanning point can be scanning element all in sub- map in sub- map, it is also possible to inside sub- map Divide scanning element.
As an implementation, S1014 is specifically as follows: vehicle service end is by all radar scannings in every sub- map The three-dimensional coordinate data of point is converted to Parameters of Normal Distribution value.
Referring to Fig. 3, a kind of flow chart for embodiment which is S1014 provided by the embodiments of the present application.
As another embodiment, S1014 is specifically as follows:
S10141: vehicle service end selects all radar scanning points in every sub- map according to preset rules, obtains Obtain every sub- map inner part radar scanning point.
S10142: the three-dimensional coordinate data of every sub- map inner part radar scanning point is converted to normal state by vehicle service end Distribution parameter value.
In this embodiment, since the data volume of the part radar scanning point of sub- map is less, thus, work as vehicle service End is shorter by the three-dimensional coordinate data of the part radar scanning point of sub- map conversion time needed for too distribution parameter value that is positive, into And transfer efficiency is improved, further improve the efficiency of positioning.
In addition, the three-dimensional coordinate data of sub- map can be converted to normal distribution using a variety of methods by the embodiment of the present application Parameter value.
As an implementation, S1014 is specifically as follows: being based on voxelization processing method, vehicle service end will be each The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in sub- map.
S102: the first normal distribution that the vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map Parameter sets are matched in normal state parameter attribute library, obtain the second Parameters of Normal Distribution set of successful match.
S102 can use numerous embodiments, below will in one embodiment for be explained and illustrated.
As an implementation, when normal state parameter attribute library includes at least one Parameters of Normal Distribution value, S102 is specifically as follows: the vehicle service end is by the Parameters of Normal Distribution value in the first Parameters of Normal Distribution set and just Parameters of Normal Distribution value in state parameter attribute library is matched, and the Parameters of Normal Distribution value of successful match is obtained；Then, described Vehicle service end obtains the second Parameters of Normal Distribution set according to the Parameters of Normal Distribution value of the successful match.
It in this embodiment, can be by the part Parameters of Normal Distribution value and normal state in the first Parameters of Normal Distribution set Parameters of Normal Distribution value in parameter attribute library is matched, wherein the part in the first Parameters of Normal Distribution set is just State distribution parameter value can be determined according to practical application scene, can also be preset；It can also be by the first Parameters of Normal Distribution All Parameters of Normal Distribution values in set are matched with the Parameters of Normal Distribution value in normal state parameter attribute library.
As an example, S102 is specifically as follows: vehicle service end by each of first Parameters of Normal Distribution set just State distribution parameter value is matched with the Parameters of Normal Distribution value in normal state parameter attribute library respectively, obtains each successful match Parameters of Normal Distribution value, and the second Parameters of Normal Distribution set is constituted by the Parameters of Normal Distribution value of all successful match.
In addition, in this embodiment, normal state parameter attribute library can be stored in advance in vehicle service end, moreover, normal state The generation method in parameter attribute library, is specifically as follows:
Firstly, the whole point cloud map partitioning is multiple sub- maps by the vehicle service end, and obtain the entirety The coordinate parameters of the corresponding every sub- map of point cloud map.
Secondly, the vehicle service end turns the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map It is changed to Parameters of Normal Distribution value.
Then, the vehicle service end obtains the whole point according to the corresponding Parameters of Normal Distribution value of each sub- map Cloud map corresponding normal state parameter attribute library.
Above provide the specific implementations of the S102 when normal state parameter attribute library includes at least one Parameters of Normal Distribution value Mode, in this embodiment, S102 is by joining the Parameters of Normal Distribution value in the first Parameters of Normal Distribution set with normal state Parameters of Normal Distribution value in number feature database is matched, and is obtained with the first Parameters of Normal Distribution sets match successful second just State distribution parameter set.
In addition, the embodiment of the present application also provides the another embodiments of S102, and in this embodiment, normal state parameter Feature database includes at least one Parameters of Normal Distribution set, and each Parameters of Normal Distribution set includes multiple normal distribution ginsengs Numerical value.Thus, be based on the normal state parameter attribute library, S102 is specifically as follows: the vehicle service end is by each sub- map Parameters of Normal Distribution value constitute the first Parameters of Normal Distribution set, with the Parameters of Normal Distribution collection in normal state parameter attribute library Conjunction is matched, and the second Parameters of Normal Distribution set of successful match is obtained.
For the ease of explanation and understanding, it is illustrated below in conjunction with attached drawing.
Referring to fig. 4, a kind of flow chart for embodiment which is S102 provided by the embodiments of the present application.
As an implementation, S102 is specifically as follows:
S1021: vehicle service end constitutes the first Parameters of Normal Distribution collection according to the Parameters of Normal Distribution value of each sub- map It closes.
S1022: the normal state in the first Parameters of Normal Distribution set and normal state parameter attribute library is divided at vehicle service end Cloth parameter sets are matched, and the second Parameters of Normal Distribution set of successful match is obtained.
It include: at least one Parameters of Normal Distribution set in normal state parameter attribute library, moreover, each Parameters of Normal Distribution collection Close a corresponding block map.Described piece of map can be by carrying out division acquisition for whole point cloud map.
Normal state parameter attribute library can be stored in advance in vehicle service end, moreover, normal state parameter attribute library can be by vehicle Server-side is generated and is stored using numerous embodiments.
For the ease of explanation and understanding, will be illustrated by taking a kind of generation method in normal state parameter attribute library as an example below.
Referring to Fig. 5, which is the flow chart of the generation method in normal state parameter attribute provided by the embodiments of the present application library.
The generation method in normal state parameter attribute provided by the embodiments of the present application library, specifically:
S501: whole point cloud map partitioning is multiple pieces of maps by the vehicle service end, and obtains the whole point cloud The coordinate parameters of the corresponding each piece of map of map.
The big map that whole point cloud map can be spliced by vehicle service end according to multiframe history point cloud map.Its In, history point cloud map can be the point cloud map in historical time point, sent from vehicle to vehicle service end.
S501 can use numerous embodiments, below will in one embodiment for be explained and illustrated.
Referring to Fig. 6, a kind of flow chart for embodiment which is S501 provided by the embodiments of the present application.
As an implementation, S501 is specifically as follows:
S5011: the vehicle service end divides whole point cloud map, obtains multiple pieces of maps.
S5011 can use a variety of division methods, and the application is not specifically limited in this embodiment.
It should be noted that the content of every two block map can be completely not identical, it is identical to be also possible to partial content.
S5012: first block map in the multiple piece of map is set as origin by the vehicle service end.
As an implementation, S5012 is specifically as follows: the vehicle service end is random from the multiple piece of map A block map is selected, is set as origin as first piece of map, and by first piece of map.
As another embodiment, S5012 is specifically as follows: the vehicle service end is according to ad hoc rules from described more A block map is selected in a block map, is set as origin as first block map, and by first block map.
Wherein, ad hoc rules can be preset, be also possible to according to practical application scene determination.
As an example, ad hoc rules can be the block map that selection is located at whole point cloud map center.
As another example, ad hoc rules can be the block map that selection is located at the whole point cloud map lower left corner.
S5013: the vehicle service end is according to other block maps and first block map in addition to first block map Positional relationship, determine the coordinate parameters of the corresponding each piece of map of the whole point cloud map.
It is 3 block maps when entirety is put cloud map partitioning as an example, and from left to right successively are as follows: first block Map, second block map and third block map, and using first block map as origin, the then coordinate of first block map Parameter is (0,0), and the coordinate parameters of second block map are (1,0), and the coordinate parameters of third block map are (2,0).
S502: the vehicle service end divides each piece of map, and will divide thunder in every obtained sub- map Three-dimensional coordinate data up to scanning element is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution of each sub- map Value, obtains the corresponding Parameters of Normal Distribution set of each piece of map.
The content of S502 and the content of S101 are identical, and details are not described herein.
S503: the vehicle service end obtains the entirety according to the corresponding Parameters of Normal Distribution set of each piece of map Point cloud map corresponding normal state parameter attribute library.
Based on the Parameters of Normal Distribution set that the above method generates, S1022 can use numerous embodiments, below will be with It is illustrated for a kind of embodiment.
Referring to Fig. 7, a kind of flow chart for embodiment which is S1022 provided by the embodiments of the present application.
As an implementation, when in normal state parameter attribute library including N number of Parameters of Normal Distribution set, then S1022 It is specifically as follows:
S10221: vehicle service end is by first in the first Parameters of Normal Distribution set and normal state parameter attribute library Parameters of Normal Distribution set is matched.
S10222: vehicle service end judges whether successful match.If so, executing S10223；If it is not, then executing S10224。
S10223: vehicle service end determine first Parameters of Normal Distribution collection in normal state parameter attribute library be combined into matching at Second Parameters of Normal Distribution set of function.
S10224: vehicle service end is by second in the first Parameters of Normal Distribution set and normal state parameter attribute library Parameters of Normal Distribution set is matched.
S10225: vehicle service end judges whether successful match.If so, executing S10226；If it is not, then executing S10227。
S10226: vehicle service end determine second Parameters of Normal Distribution collection in normal state parameter attribute library be combined into matching at Second Parameters of Normal Distribution set of function.
S10227: vehicle service end is a by the third in the first Parameters of Normal Distribution set and normal state parameter attribute library Parameters of Normal Distribution set is matched.
Be repeated in execute vehicle service end will be in the first Parameters of Normal Distribution set and normal state parameter attribute library I-th of Parameters of Normal Distribution set is matched, and judges whether successful match.If so, vehicle service end determines that normal state is joined I-th of Parameters of Normal Distribution collection in number feature database is combined into the second Parameters of Normal Distribution set of successful match；If it is not, then vehicle Server-side by the i+1 Parameters of Normal Distribution set in the first Parameters of Normal Distribution set and normal state parameter attribute library into Row matching.
S10228: vehicle service end is by the N-1 in the first Parameters of Normal Distribution set and normal state parameter attribute library A Parameters of Normal Distribution set is matched.
S10229: vehicle service end judges whether successful match.If so, executing S102210；If it is not, then executing S102211。
S102210: vehicle service end determines that the N-1 Parameters of Normal Distribution collection in normal state parameter attribute library is combined into matching Successful second Parameters of Normal Distribution set.
S102211: vehicle service end is by the n-th in the first Parameters of Normal Distribution set and normal state parameter attribute library Parameters of Normal Distribution set is matched.
S102212: vehicle service end judges whether successful match.If so, executing S102213；If it is not, then executing S102214。
S102213: vehicle service end determine the n-th Parameters of Normal Distribution collection in normal state parameter attribute library be combined into matching at Second Parameters of Normal Distribution set of function.
S102214: vehicle service end determines that the first Parameters of Normal Distribution set and normal state parameter attribute storehouse matching fail.
It should be noted that above embodiment be with vehicle service end by the first Parameters of Normal Distribution set successively It is illustrated for being matched with the Parameters of Normal Distribution set in normal state parameter attribute library.However, implementing in the application Example in, vehicle service end can according to different matching order by the first Parameters of Normal Distribution set successively with normal state parameter Parameters of Normal Distribution set in feature database is matched.The application is not specifically limited in this embodiment.
In embodiment provided above, provide not only when normal state parameter attribute library includes at least one normal distribution The specific embodiment of S102 when parameter value is additionally provided when normal state parameter attribute library includes at least one normal distribution ginseng The specific embodiment of S102 when manifold is closed.In addition, due in any embodiment of above-mentioned offer, when being matched A variety of matching process can be used.For example, the matching process can be Newton optimization method.
For the ease of explanation and understanding, will be illustrated for being matched using Newton optimization method below.
As an implementation, in order to further increase matched accuracy, S102 is specifically as follows: excellent based on newton Change method, the first Parameters of Normal Distribution collection that the vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map It closes, is matched in normal state parameter attribute library, obtain the second Parameters of Normal Distribution set of successful match.
In this embodiment, when normal state parameter attribute library includes at least one Parameters of Normal Distribution value, in order to Further increase matched accuracy, S102 is specifically as follows: firstly, based on Newton optimization method, the vehicle service end is by institute State Parameters of Normal Distribution value in the first Parameters of Normal Distribution set and the Parameters of Normal Distribution value in normal state parameter attribute library into Row matching, obtains the Parameters of Normal Distribution value of successful match；Then, the vehicle service end is according to the normal state of the successful match Distribution parameter value obtains the second Parameters of Normal Distribution set.
When normal state parameter attribute library includes at least one Parameters of Normal Distribution set, in order to further increase matching Accuracy, S102 is specifically as follows: based on Newton optimization method, the normal state of each sub- map is divided at the vehicle service end The first Parameters of Normal Distribution set that cloth parameter value is constituted, with the Parameters of Normal Distribution set progress in normal state parameter attribute library Match, obtains the second Parameters of Normal Distribution set of successful match.
S103: the vehicle service end is according to the corresponding coordinate parameters of the second Parameters of Normal Distribution set, in entirety Vehicle position information is determined in point cloud map.
Whole point cloud map is corresponding with normal state parameter attribute library, thus, it is corresponding according to the second Parameters of Normal Distribution set Coordinate parameters, just can integrally point cloud map in be positioned.
Normal state point when normal state parameter attribute library includes at least one Parameters of Normal Distribution value, in normal state parameter attribute library The corresponding sub- map obtained by integrally putting cloud map partitioning of cloth parameter value, at this point, due to the second Parameters of Normal Distribution collection Conjunction is made of multiple Parameters of Normal Distribution values in normal state parameter attribute library, and each Parameters of Normal Distribution is worth corresponding sub- map A coordinate parameters are all had, thus, the corresponding coordinate parameters of the second Parameters of Normal Distribution set are a coordinate parameters Set, moreover, the Parameters of Normal Distribution that the coordinate parameters set includes all successful match is worth the coordinate ginseng of corresponding sub- map Number.
Thus, when normal state parameter attribute library includes at least one Parameters of Normal Distribution value, S103 is specifically as follows: vehicle Server-side determines vehicle location in integrally point cloud map according to the corresponding coordinate parameters set of the second Parameters of Normal Distribution set Information.
In addition, when normal state parameter attribute library includes at least one Parameters of Normal Distribution set, in normal state parameter attribute library The corresponding block map obtained by integrally putting cloud map partitioning of Parameters of Normal Distribution set, at this point, due to the second normal distribution A coordinate parameters in the corresponding whole point cloud data of parameter sets, thus, S103 is specifically as follows: the vehicle service end according to According to the corresponding coordinate parameters of the second Parameters of Normal Distribution set, vehicle position information is determined in integrally point cloud map.
Wherein, the corresponding coordinate parameters of the second Parameters of Normal Distribution set, for indicating the second Parameters of Normal Distribution set Position of the corresponding piece of map on integrally point cloud map.
It should be noted that vehicle service end can be by vehicle location after vehicle service end obtains vehicle position information Information is sent to vehicle, can also be sent to other devices, and the application is not specifically limited in this embodiment.
In localization method provided by the embodiments of the present application, since the data volume of Parameters of Normal Distribution value is than radar in sub- map The data volume of the three-dimensional coordinate data of scanning element is much smaller, thus, the data volume of the first Parameters of Normal Distribution set is than first point The data volume of cloud map is much smaller, and the data volume of the data volume in normal state parameter attribute library also more corresponding than its cloud map is small very It is more, to reduce a data volume for cloud map.In this way, when the first Parameters of Normal Distribution be integrated into normal state parameter attribute library into When row matching, the calculating required when also cloud map in difference is matched than in the prior art of calculation amount needed for the matching process Measure it is much smaller, moreover, the time that the time needed for the process is required when also cloud map in difference is matched than in the prior art It is few very much, to reduce a calculation amount when cloud map is matched and calculate the time, and then improve vehicle location Real-time.
In the localization method that above embodiments provide, first cloud map is sent to vehicle service end by vehicle, and by vehicle Server-side obtains the first Parameters of Normal Distribution set, according to first cloud map will pass through the first Parameters of Normal Distribution collection The matching with the Parameters of Normal Distribution set in normal state parameter attribute library is closed, determines vehicle position information.
In addition, in order to improve the efficiency of transmission of vehicle Yu vehicle service end the first normal distribution can also be obtained by vehicle Parameter sets, and the first Parameters of Normal Distribution set is sent to vehicle service end, to reduce the biography of vehicle Yu vehicle service end Transmission of data to improve efficiency of transmission, and then improves location efficiency.Therefore, the embodiment of the present application also provides localization methods Another embodiment is explained and illustrated below in conjunction with attached drawing.
Embodiment of the method two
Embodiment of the method two is identical as the partial content of embodiment of the method one, for the sake of brevity, embodiment of the method two with The identical part of one content of embodiment of the method, details are not described herein.
Referring to Fig. 8, which is the flow chart of the another embodiment of localization method provided by the embodiments of the present application.
Localization method provided by the embodiments of the present application, comprising:
S801: the vehicle is scanned using radar, obtains first cloud map.
The content of S801 and the content of S1011 are identical, and details are not described herein.
S802: the vehicle divides first cloud map, and will divide thunder in every obtained sub- map Three-dimensional coordinate data up to scanning element is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution of each sub- map Value, obtains the first Parameters of Normal Distribution set.
S803: the first Parameters of Normal Distribution set is sent to vehicle service end by the vehicle.
As an implementation, S803 is specifically as follows: the vehicle is joined first normal distribution by network Manifold conjunction is sent to vehicle service end.
S804: the first Parameters of Normal Distribution that vehicle service end sends the vehicle is integrated into normal state parameter attribute library It is matched, is obtained with successful second Parameters of Normal Distribution set.
The content of S804 and the content of S1022 are identical, and details are not described herein.
S805: the vehicle service end is according to the corresponding coordinate parameters of the second Parameters of Normal Distribution set, in entirety Vehicle position information is determined in point cloud map.
The content of S805 and the content of S103 are identical, and details are not described herein.
In localization method provided by the embodiments of the present application, first cloud map is divided by vehicle, and will The three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is converted to Parameters of Normal Distribution value, and according to each The corresponding Parameters of Normal Distribution value of sub- map, obtains the first Parameters of Normal Distribution set.In this way, vehicle only need to be to vehicle service end The first Parameters of Normal Distribution set is sent, without sending first cloud map to vehicle service end.Since the first normal distribution is joined The data volume that manifold is closed is more much smaller than the data volume of first cloud map, thus, vehicle transmits the first normal state to vehicle service end Required transmission when the data volume of required transmission transmits first cloud map to vehicle service end than vehicle when distribution parameter set Data volume is much smaller, so that the transmitted data amount between vehicle and vehicle service end is reduced, to improve vehicle and vehicle Efficiency of transmission between server-side, and then location efficiency is improved, further improve the real-time of positioning.
It is that the first Parameters of Normal Distribution is integrated into normal state ginseng by vehicle service end in the method that above embodiments provide It is matched in number feature database, and according to the corresponding coordinate parameters of the second Parameters of Normal Distribution set of successful match, determines vehicle Location information.
In addition, in order to further increase location efficiency, the first Parameters of Normal Distribution set can also be carried out by vehicle Match, and vehicle location is determined according to the Parameters of Normal Distribution set of successful match, therefore, the embodiment of the present application also provides positioning Another embodiment of method, is explained and illustrated below in conjunction with attached drawing.
Embodiment of the method three
Embodiment of the method three is identical as the partial content of embodiment of the method one, for the sake of brevity, embodiment of the method two with The identical part of one content of embodiment of the method, details are not described herein.
Referring to Fig. 9, which is the flow chart of another embodiment of localization method provided by the embodiments of the present application.
Localization method provided by the embodiments of the present application, comprising:
S901: the vehicle is scanned using radar, obtains first cloud map.
The content of S901 and the content of S1011 are identical, and details are not described herein.
S902: the vehicle divides first cloud map, and will divide thunder in every obtained sub- map Three-dimensional coordinate data up to scanning element is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution of each sub- map Value, obtains the first Parameters of Normal Distribution set.
S903: first Parameters of Normal Distribution is integrated into the normal state parameter attribute of vehicle service end transmission by the vehicle It is matched in library, obtains the second Parameters of Normal Distribution set of successful match.
S903 can execute matching after vehicle receives entire normal state parameter attribute library again；Vehicle can also be received with side The normal state parameter attribute library that server-side is sent, while being matched.
As an implementation, S903 is specifically as follows: when vehicle has received the normal state parameter of vehicle service end transmission When feature database, first Parameters of Normal Distribution is integrated into normal state parameter attribute library and matches by the vehicle, obtains To the second Parameters of Normal Distribution set of successful match.
In order to improve matching efficiency, S903 can receive the normal state parameter attribute library that vehicle service end is sent, Bian Jin with side Row matching.
It will include below at least one Parameters of Normal Distribution set with normal state parameter attribute library for the ease of explanation and understanding For be illustrated.
S903 can use numerous embodiments, below will in one embodiment for be explained and illustrated.
Referring to Figure 10, a kind of flow chart for embodiment which is S903 provided by the embodiments of the present application.
As an implementation, when normal state parameter attribute library includes N number of Parameters of Normal Distribution set,
S903 is specifically as follows:
S9031: first normal distribution that vehicle sends the first Parameters of Normal Distribution set and vehicle service end Parameter sets are matched.
S9032: vehicle judges whether successful match.If so, executing S9033；If it is not, then executing S9034.
S9033: first Parameters of Normal Distribution collection that vehicle determines that vehicle service end is sent is combined into the second of successful match Parameters of Normal Distribution set.
S9034: second normal distribution that vehicle sends the first Parameters of Normal Distribution set and vehicle service end Parameter sets are matched.
S9035: vehicle judges whether successful match.If so, executing S9036；If it is not, then executing S9037.
S9036: second Parameters of Normal Distribution collection that vehicle determines that vehicle service end is sent is combined into the second of successful match Parameters of Normal Distribution set.
S9037: the third normal distribution that vehicle sends the first Parameters of Normal Distribution set and vehicle service end Parameter sets are matched.
It is repeated in and executes i-th of the normal state that vehicle sends the first Parameters of Normal Distribution set and vehicle service end Distribution parameter set is matched, and judges whether successful match.If so, vehicle determines i-th that vehicle service end is sent Parameters of Normal Distribution collection is combined into the second Parameters of Normal Distribution set of successful match；If it is not, then vehicle divides first normal state Cloth parameter sets are matched with the i+1 Parameters of Normal Distribution set that vehicle service end is sent.
S9038: the N-1 normal distribution that vehicle sends the first Parameters of Normal Distribution set and vehicle service end Parameter sets are matched.
S9039: vehicle judges whether successful match.If so, executing S90310；If it is not, then executing S90311.
S90310: vehicle determines that the N-1 Parameters of Normal Distribution collection that vehicle service end is sent is combined into the of successful match Two Parameters of Normal Distribution set.
S90311: the n-th normal distribution that vehicle sends the first Parameters of Normal Distribution set and vehicle service end Parameter sets are matched.
S90312: vehicle judges whether successful match.If so, executing S90313；If it is not, then executing S90314.
S90313: the n-th Parameters of Normal Distribution collection that vehicle determines that vehicle service end is sent is combined into the second of successful match Parameters of Normal Distribution set.
S90314: vehicle determines that the first Parameters of Normal Distribution sets match fails.
In above embodiment, vehicle divides the normal state that the first Parameters of Normal Distribution set is successively sent with vehicle service end Cloth parameter sets are matched, and the second Parameters of Normal Distribution set of successful match is obtained.
It should be noted that it includes at least one Parameters of Normal Distribution collection that above embodiment, which is with normal state parameter attribute library, Example is combined into be illustrated.However, can also be used upper when normal state parameter attribute library includes at least one Parameters of Normal Distribution value The embodiment stated, for the sake of brevity, the application repeats no more.
S904: the vehicle is according to the corresponding coordinate information of the second Parameters of Normal Distribution set, in integrally point cloud Vehicle position information is determined in figure.
S904 can use numerous embodiments, will be explained and illustrated by taking two kinds of embodiments as an example below.
Referring to Figure 11, a kind of flow chart for embodiment which is S904 provided by the embodiments of the present application.
As an implementation, S904 is specifically as follows:
S9041: the vehicle receives the whole point cloud map that vehicle service end is sent.
S9042: the vehicle is according to the corresponding coordinate information of the second Parameters of Normal Distribution set, in integrally point cloud Vehicle position information is determined in figure.
Referring to Figure 12, which is the flow chart of the another embodiment of S904 provided by the embodiments of the present application.
As another embodiment, S904 is specifically as follows:
S904a: the vehicle obtains whole point cloud map out of its memory space；
S904b: the vehicle is according to the corresponding coordinate information of the second Parameters of Normal Distribution set, in integrally point cloud Vehicle position information is determined in figure.
Localization method provided by the embodiments of the present application obtains the first normal distribution ginseng according to first cloud map by vehicle Manifold is closed, and determines vehicle location according to the successful second Parameters of Normal Distribution set of the first Parameters of Normal Distribution sets match Information.In the process, vehicle service end only needs to send Parameters of Normal Distribution set to be matched to vehicle, is not necessarily to and vehicle Other communications are carried out, the number of communications between vehicle and vehicle service end is reduced, are reduced between vehicle and vehicle service end The number of data transmission, and then the efficiency of transmission between vehicle and vehicle service end is improved, further improve location efficiency. In addition, matched due to vehicle by the first Parameters of Normal Distribution and with the Parameters of Normal Distribution set of vehicle service end transmission, Rather than match first cloud map with the point cloud map that vehicle service end is sent, thus, it reduces in matching process Calculation amount, decrease and calculate the time needed for matching process, to improve location efficiency, and then improve positioning Real-time.
A kind of localization method provided based on the above embodiment, the embodiment of the present application provide a kind of positioning device.Below It will be explained and illustrated in conjunction with attached drawing.
Installation practice one
Referring to Figure 13, which is a kind of structural schematic diagram of embodiment of positioning device provided by the embodiments of the present application.
Positioning device provided by the embodiments of the present application, comprising:
First converting unit 1301, first cloud map for sending vehicle for the vehicle service end divide, And the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is converted into Parameters of Normal Distribution value；
First acquisition unit 1302, for the vehicle service end by the Parameters of Normal Distribution value structure of each sub- map At the first Parameters of Normal Distribution set, matched in normal state parameter attribute library, obtain the second normal state point of successful match Cloth parameter sets；
First determination unit 1303, it is corresponding according to the second Parameters of Normal Distribution set for the vehicle service end Coordinate parameters determine vehicle position information in integrally point cloud map.
In order to further increase location efficiency, and then the real-time of positioning is improved, first converting unit 1301, packet It includes:
First divides subelement, sends vehicle according to square templates or rectangle template for the vehicle service end First cloud map divided.
In order to further increase location efficiency, and then the real-time of positioning is improved, when normal state parameter attribute library includes When at least one Parameters of Normal Distribution value, the first acquisition unit 1302, specifically:
First coupling subelement divides the normal state in the first Parameters of Normal Distribution set for the vehicle service end Cloth parameter value is matched with the Parameters of Normal Distribution value in normal state parameter attribute library, obtains the Parameters of Normal Distribution of successful match Value；
First acquisition subelement is obtained for the vehicle service end according to the Parameters of Normal Distribution value of the successful match To the second Parameters of Normal Distribution set.
In order to further increase location efficiency, and then improve the real-time of positioning, the generation in normal state parameter attribute library Method, specifically:
The whole point cloud map partitioning is multiple sub- maps by the vehicle service end, and with obtaining the whole point cloud Scheme the coordinate parameters of corresponding every sub- map；
The vehicle service end is converted to the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map Parameters of Normal Distribution value；
The vehicle service end obtains the whole point cloud map according to the corresponding Parameters of Normal Distribution value of each sub- map Corresponding normal state parameter attribute library.
In order to further increase location efficiency, and then the real-time of positioning is improved, when normal state parameter attribute library includes When at least one Parameters of Normal Distribution set, the first acquisition unit 1302, specifically:
The first normal distribution for constituting the Parameters of Normal Distribution value of each sub- map for the vehicle service end Parameter sets are matched with the Parameters of Normal Distribution set in normal state parameter attribute library, obtain the second normal state of successful match Distribution parameter set.
In order to further increase location efficiency, and then improve the real-time of positioning, the generation in normal state parameter attribute library Method, specifically:
The whole point cloud map partitioning is multiple pieces of maps by the vehicle service end, and with obtaining the whole point cloud Scheme the coordinate parameters of corresponding each piece of map；
The vehicle service end divides each piece of map, and will divide radar scanning in every obtained sub- map The three-dimensional coordinate data of point is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtains To the corresponding Parameters of Normal Distribution set of each piece of map；
The vehicle service end is according to the corresponding Parameters of Normal Distribution set of each piece of map, with obtaining the whole point cloud Scheme corresponding normal state parameter attribute library.
In order to further increase location efficiency, and then the real-time of positioning is improved, the first acquisition unit 1302, specifically Are as follows:
For being based on Newton optimization method, the vehicle service end constitutes the Parameters of Normal Distribution value of each sub- map The first Parameters of Normal Distribution set, matched in normal state parameter attribute library, obtain the second normal distribution of successful match Parameter sets.
Positioning device provided by the embodiments of the present application, comprising: the first converting unit 1301, first acquisition unit 1302 and One determination unit 1303.In the apparatus, since the data volume of Parameters of Normal Distribution value is than three of radar scanning point in sub- map The data volume for tieing up coordinate data is much smaller, thus, the number of the data volume of the first Parameters of Normal Distribution set than first cloud map It is much smaller according to measuring, and the data volume of the data volume in normal state parameter attribute library also more corresponding than its cloud map is much smaller, to drop The data volume of low a bit cloud map.In this way, when the first Parameters of Normal Distribution is integrated into and is matched in normal state parameter attribute library, The calculation amount required when also cloud map in difference is matched than in the prior art of calculation amount needed for the matching process is much smaller, Moreover, time required when also cloud map in difference is matched than in the prior art time needed for the process is few very much, from And it reduces a calculation amount when cloud map is matched and calculates the time, and then improve the real-time of vehicle location.
A kind of localization method provided based on the above embodiment and a kind of positioning device, the embodiment of the present application also provides The another embodiment of positioning device, is explained and illustrated below in conjunction with attached drawing.
Installation practice two
Referring to Figure 14, which is the structural representation of the another embodiment of positioning device provided by the embodiments of the present application Figure.
Positioning device provided by the embodiments of the present application, comprising:
Second acquisition unit 1401 is scanned for the vehicle using radar, is obtained with current vehicle location and is First cloud map of the heart；
Third acquiring unit 1402 divides first cloud map for the vehicle, and division is obtained Every sub- map in the three-dimensional coordinate data of radar scanning point be converted to Parameters of Normal Distribution value, and according to each sub- map pair The Parameters of Normal Distribution value answered obtains the first Parameters of Normal Distribution set；
The first Parameters of Normal Distribution set is sent to vehicle service for the vehicle by the first transmission unit 1403 End, matches, and foundation so that first Parameters of Normal Distribution is integrated into normal state parameter attribute library by vehicle service end Coordinate parameters corresponding with the successful second Parameters of Normal Distribution set of the first Parameters of Normal Distribution sets match, in entirety Vehicle position information is determined in point cloud map.
In order to further increase location efficiency, and then the real-time of positioning is improved, the third acquiring unit 1402, packet It includes:
Second divides subelement, sends vehicle according to square templates or rectangle template for the vehicle service end First cloud map divided.
Positioning device provided by the embodiments of the present application, comprising: second acquisition unit 1401, third acquiring unit 1402 and One transmission unit 1403.In the apparatus, first cloud map is divided by vehicle, and will divide obtain it is every The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in a sub- map, and corresponding according to each sub- map Parameters of Normal Distribution value obtains the first Parameters of Normal Distribution set.In this way, vehicle only need to send the first normal state to vehicle service end Distribution parameter set, without sending first cloud map to vehicle service end.Due to the data of the first Parameters of Normal Distribution set Amount is more much smaller than the data volume of first cloud map, thus, vehicle transmits the first Parameters of Normal Distribution set to vehicle service end The data volume of the data volume of Shi Suoxu transmission required transmission when transmitting first cloud map to vehicle service end than vehicle is much smaller, To reduce the transmitted data amount between vehicle and vehicle service end, to improve the biography between vehicle and vehicle service end Defeated efficiency, and then location efficiency is improved, further improve the real-time of positioning.
A kind of localization method provided based on the above embodiment and a kind of positioning device, the embodiment of the present application also provides Another embodiment of positioning device, is explained and illustrated below in conjunction with attached drawing.
Installation practice three
Referring to Figure 15, which is the structural representation of another embodiment of positioning device provided by the embodiments of the present application Figure.
Positioning device provided by the embodiments of the present application, comprising:
4th acquiring unit 1501 is scanned for the vehicle using radar, is obtained with current vehicle location and is First cloud map of the heart；
5th acquiring unit 1502 divides first cloud map for the vehicle, and division is obtained Every sub- map in the three-dimensional coordinate data of radar scanning point be converted to Parameters of Normal Distribution value, and according to each sub- map pair The Parameters of Normal Distribution value answered obtains the first Parameters of Normal Distribution set；
6th acquiring unit 1503 sends out the first Parameters of Normal Distribution set and vehicle service end for the vehicle The Parameters of Normal Distribution set sent is matched, and the second Parameters of Normal Distribution set of successful match is obtained；
Second determination unit 1504, for the vehicle according to the corresponding coordinate letter of the second Parameters of Normal Distribution set Breath determines vehicle position information in integrally point cloud map.
In order to further increase location efficiency, and then the real-time of positioning is improved, the 5th acquiring unit 1502, packet It includes:
Third divides subelement, sends vehicle according to square templates or rectangle template for the vehicle service end First cloud map divided.
In order to further increase location efficiency, and then the real-time of positioning is improved, when normal state parameter attribute library includes When at least one Parameters of Normal Distribution value, the 6th acquiring unit 1503, specifically:
Second coupling subelement, for the vehicle by the Parameters of Normal Distribution in the first Parameters of Normal Distribution set Value is matched with the Parameters of Normal Distribution value in normal state parameter attribute library, obtains the Parameters of Normal Distribution value of successful match；
Second acquisition subelement obtains second for the vehicle according to the Parameters of Normal Distribution value of the successful match Parameters of Normal Distribution set.
In order to further increase location efficiency, and then the real-time of positioning is improved, when normal state parameter attribute library includes When at least one Parameters of Normal Distribution set, the 6th acquiring unit 1503, specifically:
For the vehicle by the first Parameters of Normal Distribution set, the normal state parameter attribute sent with vehicle service end Parameters of Normal Distribution set in library is matched, and the second Parameters of Normal Distribution set of successful match is obtained.
In order to further increase location efficiency, and then the real-time of positioning is improved, the 6th acquiring unit 1503, specifically Are as follows:
For being based on Newton optimization method, first Parameters of Normal Distribution is integrated into vehicle service end and sent by the vehicle Normal state parameter attribute library in matched, obtain the second Parameters of Normal Distribution set of successful match.
Positioning device provided by the embodiments of the present application, comprising: the 4th acquiring unit 1501, the 5th acquiring unit 1502, Six acquiring units 1503 and the second determination unit 1504.In the apparatus, first is obtained according to first cloud map by vehicle Parameters of Normal Distribution set, and according to true with the successful second Parameters of Normal Distribution set of the first Parameters of Normal Distribution sets match Determine vehicle position information.In the process, vehicle service end only needs to send Parameters of Normal Distribution set to be matched to vehicle, Without carrying out other communications with vehicle, reduces the number of communications between vehicle and vehicle service end, reduce vehicle and vehicle The number that data are transmitted between server-side, and then the efficiency of transmission between vehicle and vehicle service end is improved, it further increases Location efficiency.In addition, due to vehicle by the first Parameters of Normal Distribution and with vehicle service end send Parameters of Normal Distribution collection Conjunction is matched, rather than first cloud map is matched with the point cloud map that vehicle service end is sent, thus, it reduces Calculation amount in matching process, decreases and calculates the time needed for matching process, so that location efficiency is improved, Jin Erti The high real-time of positioning.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c (a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also To be multiple.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent Variation and modification, all of which are still within the scope of protection of the technical scheme of the invention.

Claims (15)

1. a kind of localization method is used for vehicle service end characterized by comprising
First cloud map that vehicle is sent is divided, and three of radar scanning point in every obtained sub- map will be divided Dimension coordinate data is converted to Parameters of Normal Distribution value；
The first Parameters of Normal Distribution set that the Parameters of Normal Distribution value of each sub- map is constituted, in normal state parameter attribute It is matched in library, obtains the second Parameters of Normal Distribution set of successful match；
According to the corresponding coordinate parameters of the second Parameters of Normal Distribution set, vehicle location letter is determined in integrally point cloud map Breath.
2. the method according to claim 1, wherein when normal state parameter attribute library includes at least one normal state When distribution parameter value, the first Parameters of Normal Distribution set that the Parameters of Normal Distribution value by each sub- map is constituted, It is matched in normal state parameter attribute library, obtains the second Parameters of Normal Distribution set of successful match, specifically:
By the Parameters of Normal Distribution value in the first Parameters of Normal Distribution set and the normal distribution in normal state parameter attribute library Parameter value is matched, and the Parameters of Normal Distribution value of successful match is obtained；
According to the Parameters of Normal Distribution value of the successful match, the second Parameters of Normal Distribution set is obtained.
3. according to the method described in claim 2, it is characterized in that, the generation method in normal state parameter attribute library, specifically:
It is multiple sub- maps by the whole point cloud map partitioning, and obtains the corresponding every sub- map of the whole point cloud map Coordinate parameters；
The three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is converted into Parameters of Normal Distribution value；
According to the corresponding Parameters of Normal Distribution value of each sub- map, the corresponding normal state parameter attribute of the whole point cloud map is obtained Library.
4. the method according to claim 1, wherein when normal state parameter attribute library includes at least one normal state When distribution parameter set, the first Parameters of Normal Distribution collection of the Parameters of Normal Distribution value composition by each sub- map It closes, is matched in normal state parameter attribute library, obtain the second Parameters of Normal Distribution set of successful match, specifically:
The first Parameters of Normal Distribution set that the Parameters of Normal Distribution value of each sub- map is constituted, with normal state parameter attribute Parameters of Normal Distribution set in library is matched, and the second Parameters of Normal Distribution set of successful match is obtained.
5. according to the method described in claim 4, it is characterized in that, the generation method in normal state parameter attribute library, specifically:
It is multiple pieces of maps by the whole point cloud map partitioning, and obtains the corresponding each piece of map of the whole point cloud map Coordinate parameters；
Each piece of map is divided, and the three-dimensional coordinate data for dividing radar scanning point in every obtained sub- map is turned It is changed to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtains each piece of map pair The Parameters of Normal Distribution set answered；
According to the corresponding Parameters of Normal Distribution set of each piece of map, it is special to obtain the corresponding normal state parameter of the whole point cloud map Levy library.
6. the method according to claim 1, wherein the Parameters of Normal Distribution value by each sub- map The the first Parameters of Normal Distribution set constituted, is matched in normal state parameter attribute library, obtains the second normal state of successful match Distribution parameter set, specifically:
Based on Newton optimization method, the first Parameters of Normal Distribution collection that the Parameters of Normal Distribution value of each sub- map is constituted It closes, is matched in normal state parameter attribute library, obtain the second Parameters of Normal Distribution set of successful match.
7. the method according to claim 1, wherein first cloud map that vehicle is sent is drawn Point, specifically:
It is divided according to first cloud map that square templates or rectangle template send vehicle.
8. a kind of localization method is used for vehicle characterized by comprising
It is scanned using radar, obtains first cloud map；
The three-dimensional coordinate that first cloud map is divided, and radar scanning point in every obtained sub- map will be divided Data are converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtain the first normal state point Cloth parameter sets；
The first Parameters of Normal Distribution set is sent to vehicle service end, so that first normal state is divided at vehicle service end Cloth parameter sets are matched in normal state parameter attribute library, and according to successful with the first Parameters of Normal Distribution sets match The corresponding coordinate parameters of the second Parameters of Normal Distribution set, integrally point cloud map in determine vehicle position information.
9. a kind of localization method is used for vehicle characterized by comprising
It is scanned using radar, obtains first cloud map；
The three-dimensional coordinate that first cloud map is divided, and radar scanning point in every obtained sub- map will be divided Data are converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution value of each sub- map, obtain the first normal state point Cloth parameter sets；
First Parameters of Normal Distribution is integrated into the normal state parameter attribute library of vehicle service end transmission and is matched, obtained Second Parameters of Normal Distribution set of successful match；
According to the corresponding coordinate information of the second Parameters of Normal Distribution set, vehicle location letter is determined in integrally point cloud map Breath.
10. according to the method described in claim 9, it is characterized in that, when normal state parameter attribute library include at least one just When state distribution parameter value, the normal state parameter attribute library that first Parameters of Normal Distribution is integrated into the transmission of vehicle service end In matched, obtain the second Parameters of Normal Distribution set of successful match, specifically:
By the Parameters of Normal Distribution value in the first Parameters of Normal Distribution set and the normal distribution in normal state parameter attribute library Parameter value is matched, and the Parameters of Normal Distribution value of successful match is obtained；
According to the Parameters of Normal Distribution value of the successful match, the second Parameters of Normal Distribution set is obtained.
11. according to the method described in claim 9, it is characterized in that, when normal state parameter attribute library include at least one just When state distribution parameter set, the normal state parameter attribute that first Parameters of Normal Distribution is integrated into the transmission of vehicle service end It is matched in library, obtains the second Parameters of Normal Distribution set of successful match, specifically:
The first Parameters of Normal Distribution set is matched with the Parameters of Normal Distribution set in normal state parameter attribute library, is obtained To the second Parameters of Normal Distribution set of successful match.
12. according to the method described in claim 9, it is characterized in that, described be integrated into vehicle for first Parameters of Normal Distribution It is matched in the normal state parameter attribute library that server-side is sent, obtains the second Parameters of Normal Distribution set of successful match, had Body are as follows:
Based on Newton optimization method, first Parameters of Normal Distribution is integrated into the normal state parameter attribute library of vehicle service end transmission In matched, obtain the second Parameters of Normal Distribution set of successful match.
13. a kind of positioning device, which is characterized in that be used for vehicle service end, comprising:
First converting unit, first cloud map for sending vehicle divide, and with will dividing obtained every height The three-dimensional coordinate data of radar scanning point is converted to Parameters of Normal Distribution value in scheming；
First acquisition unit, the first Parameters of Normal Distribution collection for constituting the Parameters of Normal Distribution value of each sub- map It closes, is matched in normal state parameter attribute library, obtain the second Parameters of Normal Distribution set of successful match；
First determination unit is used for according to the corresponding coordinate parameters of the second Parameters of Normal Distribution set, in integrally point cloud Vehicle position information is determined in figure.
14. a kind of positioning device, which is characterized in that be used for vehicle, comprising:
Second acquisition unit obtains first cloud map centered on current vehicle location for being scanned using radar；
Third acquiring unit for dividing to first cloud map, and will divide thunder in every obtained sub- map Three-dimensional coordinate data up to scanning element is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution of each sub- map Value, obtains the first Parameters of Normal Distribution set；
First transmission unit, for the first Parameters of Normal Distribution set to be sent to vehicle service end, so that vehicle service First Parameters of Normal Distribution is integrated into normal state parameter attribute library by end to be matched, and is divided according to first normal state The corresponding coordinate parameters of the second Parameters of Normal Distribution set of cloth parameter sets successful match determine vehicle in integrally point cloud map Location information.
15. a kind of positioning device, which is characterized in that be used for vehicle, comprising:
4th acquiring unit obtains first cloud map centered on current vehicle location for being scanned using radar；
5th acquiring unit for dividing to first cloud map, and will divide thunder in every obtained sub- map Three-dimensional coordinate data up to scanning element is converted to Parameters of Normal Distribution value, and according to the corresponding Parameters of Normal Distribution of each sub- map Value, obtains the first Parameters of Normal Distribution set；
6th acquiring unit, for first Parameters of Normal Distribution to be integrated into the normal state parameter attribute of vehicle service end transmission It is matched in library, obtains the second Parameters of Normal Distribution set of successful match；
Second determination unit is used for according to the corresponding coordinate information of the second Parameters of Normal Distribution set, in integrally point cloud Vehicle position information is determined in figure.
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