CN110108287A - A kind of unmanned vehicle high-precision map-matching method and system based on street lamp auxiliary - Google Patents
A kind of unmanned vehicle high-precision map-matching method and system based on street lamp auxiliary Download PDFInfo
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- CN110108287A CN110108287A CN201910474609.5A CN201910474609A CN110108287A CN 110108287 A CN110108287 A CN 110108287A CN 201910474609 A CN201910474609 A CN 201910474609A CN 110108287 A CN110108287 A CN 110108287A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The present invention relates to unmanned technical field more particularly to a kind of unmanned vehicle high-precision map-matching methods based on street lamp auxiliary.Method includes S1, and the corresponding similar map template is matched in map template；S2 is obtained and to be matched relative distance with the matching criteria point and match relative distance with the opposite side of the opposite side matching criteria point；S3, judges whether the similarity between GPS track point and match point is greater than preset value, if being judged as YES, tracing point is matched to the map template；If judging result be it is no, by map-matching algorithm carry out position adjustment after re-execute the step S2.The present invention is based on intelligent road-lamp auxiliary, obtain the positioning of higher precision, are further accurately calibrated in map, complete high-precision map match, and can exclude environment can not resist error caused by factor influence.
Description
Technical field
The present invention relates to unmanned technical field more particularly to a kind of unmanned vehicle high-precision maps based on street lamp auxiliary
Matching process and system.
Background technique
Application No. is the domestic patents of invention of CN201610348334.7 to disclose a kind of unmanned vehicle, unmanned vehicle positioning side
Method, device and system, it includes: that acquisition and the first laser point cloud of unmanned vehicle current location matches reflect that method, which specifically discloses,
Value Data, wherein first laser point cloud reflected value data include the first coordinate of each laser point and anti-with first laser point cloud
Penetrate the corresponding laser reflection intensity value of each laser point in Value Data；Ground level is converted by first laser point cloud reflection Value Data
Interior laser point cloud data for projection；Using position of the predetermined priori position location in laser point cloud reflected value map as
Initial position determines first matching probability of the laser point cloud data for projection in the preset range of laser point cloud reflected value map；
And position of the unmanned vehicle in laser point cloud reflected value map is determined based on the first matching probability.The embodiment realizes pair
The accurate positionin of unmanned vehicle current location.
But under the different service conditions of reality, due to the influence of different weather conditions and other force majeure,
Laser reflectivity under various circumstances, is had different reflectivity, is positioned using laser point reflectance data, there are certain
Deviation.
Summary of the invention
In order to solve the above-mentioned technical problem the application, proposes a kind of unmanned vehicle high-precision map based on street lamp auxiliary
Method of completing the square and system.
A kind of unmanned high-precision locating method based on street lamp auxiliary, the intelligent road-lamp with device on reason both sides are
Matching criteria point, comprising the following steps:
S1 obtains GPS track, and the corresponding similar map template is matched in map template；
S2 searches for the nearest matching criteria point of GPS track point that the unmanned vehicle is currently located and the matching of corresponding opposite side
Standard point obtains and to match relative distance with the matching criteria point and match relatively with the opposite side of the opposite side matching criteria point
Distance；
S3, judges whether the similarity between GPS track point and match point is greater than preset value, if being judged as YES, by tracing point
It is matched to the map template；If judging result be it is no, by map-matching algorithm carry out position adjustment after re-execute institute
State step S2.
The advantages of the technical program, is: it is based on intelligent road-lamp, the GPS information data of unmanned vehicle movable first, substantially
Be fitted in corresponding map template, then with unmanned vehicle short distance information exchange, obtain relative position information, due to intelligent road-lamp position
Determination is set, the GPS information data of itself are obtained in conjunction with the GPS receiver device that unmanned vehicle carries, after being calculated, is obtained higher
The positioning of precision, is further accurately calibrated in map, is completed high-precision map match, can be excluded can not resisting for environment
Error caused by factor influences.
Preferably, the step S2 includes:
S2-1 obtains the location information of all matching criteria points in preset range in the map template；
S2-2 is matched to the nearest matching criteria point according to the current GPS track point, is marked according to the matching
It is matched to corresponding opposite side matching criteria point on schedule；
S2-3, obtain the GPS track point to the matching criteria point matching relative distance, and obtain matching relative distance model
Enclosure；It obtains the GPS track point and matches relative distance to the opposite side of the opposite side matching criteria point, and obtain opposite side matching phase
Range of adjusting the distance circle.
Preferably, the step S2-2 includes:
S2-21 obtains the nearest matching criteria point；
S2-22 obtains the status information of presently described unmanned vehicle, wherein the status information includes the present bit confidence of vehicle
Breath, current driving direction；
S2-23, according to the corresponding opposite side matching criteria point of the matching criteria point and the current driving direction selection.
Preferably, all matching criteria points are equivalent sequence formal distribution on the both sides of map reason.
Preferably, the step S3 includes:
S3-1 analyzes the matching relative distance range circle and opposite side matching relative distance range circle, described in judgement
Whether matching relative distance range circle falls completely in opposite side matching relative distance range circle, if judging result be it is no,
The tracing point is matched to the map template；If the determination result is YES, then it performs the next step；
S3-2, in conjunction with the current driving directional information, recalculates to obtain described according to the matching relative distance range circle
Position of the tracing point on the matching relative distance range circle circumference, and re-execute the step S2.
Preferably, the regular self-test of matching criteria point updates, the method that the regular self-test of matching criteria point updates
The following steps are included:
SA1 acquires the real-time matching standard point position data of the matching criteria point itself；
SA2, by the installation site number of the real-time matching standard point position data and the real-time matching standard point storage inside
According to comparing, judge whether the real-time matching standard point position data is consistent with the installation position data, if judgement knot
Fruit is inconsistent, then reports error message upwards and continue to execute the step SA2 after the default inspection time again.
Preferably, the real-time street lamp position data include the intelligent road-lamp itself longitude and latitude data and high number of passes
According to.
A kind of unmanned vehicle high-precision map matching system based on street lamp auxiliary, the intelligent road-lamp with device on reason both sides
For matching criteria point, comprising:
Preliminary matches module matches the corresponding similar map template for obtaining GPS track in map template；
Calculate matching module, for search for the nearest matching criteria point of GPS track point that the unmanned vehicle is currently located and
Corresponding opposite side matching criteria point, obtain with the matching relative distance of the matching criteria point and with the opposite side matching criteria point
Opposite side match relative distance；
Matching module is judged, for judging whether the similarity between GPS track point and match point is greater than preset value, if being judged as
It is that tracing point is then matched to the map template；If judging result be it is no, pass through map-matching algorithm carry out position adjustment
After re-execute the calculating matching module.
Preferably, the calculating matching module includes:
First acquisition unit, for obtaining the location information of all matching criteria points in preset range in the map template；
Corresponding matching unit, for being matched to the nearest matching criteria point according to the current GPS track point, according to institute
It states matching criteria point and is matched to corresponding opposite side matching criteria point；
Second acquisition unit, the matching relative distance for obtaining the GPS track point to the matching criteria point, and obtain
With relative distance range circle；It obtains the GPS track point and matches relative distance to the opposite side of the opposite side matching criteria point, and obtain
Relative distance range circle is matched to opposite side.
Preferably, the judgement matching module includes:
Comparing unit is analyzed, matches relative distance range for analyzing the matching relative distance range circle and the opposite side
Circle, judges whether the matching relative distance range circle falls completely in the opposite side matching relative distance range circle, if judgement
As a result be it is no, then the tracing point is matched to the map template；If the determination result is YES, then it performs the next step；
Amending unit, for being counted again according to the matching relative distance range circle in conjunction with the current driving directional information
It calculates, amendment obtains position of the tracing point on the matching relative distance range circle circumference, and re-executes the calculating
Matching module.
In conclusion the technical program has the beneficial effect that
1, it is based on intelligent road-lamp, the GPS information data of unmanned vehicle movable first are substantially matching into corresponding map template, then
With unmanned vehicle short distance information exchange, relative position information is obtained, it is included in conjunction with unmanned vehicle since intelligent road-lamp position determines
GPS receiver device obtain itself GPS information data, after being calculated, obtain the positioning of higher precision, it is further accurate
It is calibrated in map, completes high-precision map match, can exclude environment can not resist error caused by factor influence.
2, position of the periodicity to oneself is carried out self-test by intelligent road-lamp itself, it is ensured that the real-time street lamp of each intelligent road-lamp
Position data is completely errorless, it is ensured that the validity and accuracy of subsequent calculated result.
3, it is calibrated, be further reduced to carry out precision again in the intelligent lamp of road both sides using multiple array distributions
A possibility that miscalculation, improves matching precision.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the unmanned vehicle high-precision map-matching method based on street lamp auxiliary of the present invention；
Fig. 2 is the flow chart of step S2 in Fig. 1 of the present invention；
Fig. 3 is the flow chart of step S2.2 in Fig. 2 of the present invention；
Fig. 4 is the flow chart of step S3 in Fig. 1 of the present invention；
Fig. 5 is the method flow diagram of street lamp position of the present invention self-test;
Fig. 6 is a kind of judgement figure of the unmanned high-precision locating method based on street lamp auxiliary of the present invention；
Fig. 7 is a kind of block diagram of the unmanned vehicle high-precision map matching system based on street lamp auxiliary of the present invention；
Fig. 8 is the block diagram that matching module is calculated in Fig. 7
Fig. 9 is the block diagram that matching module is judged in Fig. 7.
Specific embodiment
Term used herein is used only for the purpose of describing specific embodiments, and is not intended to limit the present invention.Unless in addition
Definition, otherwise all terms used herein have normally understood identical with those skilled in the art
Meaning.It will be further appreciated that essential term should be interpreted as having and it is in related fields and present disclosure
The consistent meaning of meaning.The disclosure will be considered as example of the invention, and is not intended to and limits the invention to particular implementation
Example.
In the description of the embodiment of the present invention, it should be noted that term " first ", " second " etc. are only used for distinguishing and retouch
It states, is not understood to indicate or imply relative importance.
Embodiment 1
It as shown in figures 1 to 6, is a kind of flow chart of unmanned vehicle high-precision map-matching method based on street lamp auxiliary.
A kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary, the intelligent road-lamp with device on reason both sides
For matching criteria point, include the following steps.
S1 obtains GPS track, and the corresponding similar map template is matched in map template.
S2 searches for the nearest matching criteria point of GPS track point and corresponding opposite side that the unmanned vehicle is currently located
Matching criteria point obtains and to match relative distance with the matching criteria point and match with the opposite side of the opposite side matching criteria point
Relative distance.
S3, judges whether the similarity between GPS track point and match point is greater than preset value, if being judged as YES, by rail
Mark point is matched to the map template；If judging result be it is no, by map-matching algorithm carry out position adjustment after hold again
The row step S2.
Based on intelligent road-lamp, the GPS information data of unmanned vehicle movable first are substantially matching into corresponding map template,
Again with unmanned vehicle short distance information exchange, relative position information is obtained, since intelligent road-lamp position determines, certainly in conjunction with unmanned vehicle
The GPS receiver device of band obtains the GPS information data of itself, after being calculated, obtains the positioning of higher precision, further accurate
Calibrated in map, complete high-precision map match, can exclude environment can not resist factor influence caused by error.
As shown in Fig. 2, the step S2 includes:
S2-1 obtains the location information of all matching criteria points in preset range in the map template.
S2-2 is matched to the nearest matching criteria point according to the current GPS track point, according to described
Corresponding opposite side matching criteria point is matched to standard point.
S2-3, obtain the GPS track point to the matching criteria point matching relative distance, and obtain matching it is opposite away from
From range circle；It obtains the GPS track point and matches relative distance to the opposite side of the opposite side matching criteria point, and obtain opposite side
With relative distance range circle.
Further, as shown in figure 3, the step S2-2 includes:
S2-21 obtains the nearest matching criteria point.
S2-22 obtains the status information of presently described unmanned vehicle, wherein the status information includes the present bit of vehicle
Confidence breath, current driving direction.
S2-23, according to the matching criteria point and the corresponding opposite side matching criteria of the current driving direction selection
Point.
All matching criteria points are equivalent sequence formal distribution on the both sides of map reason.
As shown in figure 4, the step S3 includes:
S3-1 analyzes the matching relative distance range circle and opposite side matching relative distance range circle, described in judgement
Whether matching relative distance range circle falls completely in opposite side matching relative distance range circle, if judging result be it is no,
The tracing point is matched to the map template；If the determination result is YES, then it performs the next step.
S3-2 recalculates to obtain according to the matching relative distance range circle in conjunction with the current driving directional information
Position of the tracing point on the matching relative distance range circle circumference, and re-execute the step S2.
Position of the periodicity to oneself is carried out self-test by intelligent road-lamp itself, it is ensured that the real-time street lamp position of each intelligent road-lamp
It is completely errorless to set data, it is ensured that the validity and accuracy of subsequent calculated result.As shown in figure 5, the matching criteria point is regular
Self-test updates, the method that the regular self-test of the matching criteria point updates the following steps are included:
SA1 acquires the real-time matching standard point position data of the matching criteria point itself；
SA2, by the installation site number of the real-time matching standard point position data and the real-time matching standard point storage inside
According to comparing, judge whether the real-time matching standard point position data is consistent with the installation position data, if judgement knot
Fruit is inconsistent, then reports error message upwards and continue to execute the step SA2 after the default inspection time again.
The real-time street lamp position data includes the longitude and latitude data and altitude data of the intelligent road-lamp itself.
Embodiment 2
Based on embodiment 1, with embodiment the difference is that: embodiment 2 be based on the system on embodiment 1.
As shown in fig. 7, a kind of unmanned vehicle high-precision map matching system based on street lamp auxiliary, with device on reason both sides
Intelligent road-lamp be matching criteria point, comprising:
Preliminary matches module matches the corresponding similar map template for obtaining GPS track in map template；
Calculate matching module, for search for the nearest matching criteria point of GPS track point that the unmanned vehicle is currently located and
Corresponding opposite side matching criteria point, obtain with the matching relative distance of the matching criteria point and with the opposite side matching criteria point
Opposite side match relative distance；
Matching module is judged, for judging whether the similarity between GPS track point and match point is greater than preset value, if being judged as
It is that tracing point is then matched to the map template；If judging result be it is no, pass through map-matching algorithm carry out position adjustment
After re-execute the calculating matching module.
As shown in figure 8, the calculating matching module includes:
First acquisition unit, for obtaining the location information of all matching criteria points in preset range in the map template；
Corresponding matching unit, for being matched to the nearest matching criteria point according to the current GPS track point, according to institute
It states matching criteria point and is matched to corresponding opposite side matching criteria point；
Second acquisition unit, the matching relative distance for obtaining the GPS track point to the matching criteria point, and obtain
With relative distance range circle；It obtains the GPS track point and matches relative distance to the opposite side of the opposite side matching criteria point, and obtain
Relative distance range circle is matched to opposite side.
As shown in figure 9, the judgement matching module includes:
Comparing unit is analyzed, matches relative distance range for analyzing the matching relative distance range circle and the opposite side
Circle, judges whether the matching relative distance range circle falls completely in the opposite side matching relative distance range circle, if judgement
As a result be it is no, then the tracing point is matched to the map template；If the determination result is YES, then it performs the next step；
Amending unit, for being counted again according to the matching relative distance range circle in conjunction with the current driving directional information
It calculates, amendment obtains position of the tracing point on the matching relative distance range circle circumference, and re-executes the calculating
Matching module.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those of ordinary skill in the art can be in appended power
Benefit makes various deformations or amendments in the range of requiring.
Claims (10)
1. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary, which is characterized in that with device on reason both sides
Intelligent road-lamp be matching criteria point, comprising the following steps:
S1 obtains GPS track, and the corresponding similar map template is matched in map template；
S2 searches for the nearest matching criteria point of GPS track point that the unmanned vehicle is currently located and the matching of corresponding opposite side
Standard point obtains and to match relative distance with the matching criteria point and match relatively with the opposite side of the opposite side matching criteria point
Distance；
S3, judges whether the similarity between GPS track point and match point is greater than preset value, if being judged as YES, by tracing point
It is matched to the map template；If judging result be it is no, by map-matching algorithm carry out position adjustment after re-execute institute
State step S2.
2. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary according to claim 1, feature exist
In the step S2 includes:
S2-1 obtains the location information of all matching criteria points in preset range in the map template；
S2-2 is matched to the nearest matching criteria point according to the current GPS track point, is marked according to the matching
It is matched to corresponding opposite side matching criteria point on schedule；
S2-3, obtain the GPS track point to the matching criteria point matching relative distance, and obtain matching relative distance model
Enclosure；It obtains the GPS track point and matches relative distance to the opposite side of the opposite side matching criteria point, and obtain opposite side matching phase
Range of adjusting the distance circle.
3. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary according to claim 2, feature exist
In the step S2-2 includes:
S2-21 obtains the nearest matching criteria point；
S2-22 obtains the status information of presently described unmanned vehicle, wherein the status information includes the present bit confidence of vehicle
Breath, current driving direction；
S2-23, according to the corresponding opposite side matching criteria point of the matching criteria point and the current driving direction selection.
4. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary according to claim 1, feature exist
In all matching criteria points are equivalent sequence formal distribution on the both sides of map reason.
5. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary according to claim 3, feature exist
In the step S3 includes:
S3-1 analyzes the matching relative distance range circle and opposite side matching relative distance range circle, described in judgement
Whether matching relative distance range circle falls completely in opposite side matching relative distance range circle, if judging result be it is no,
The tracing point is matched to the map template；If the determination result is YES, then it performs the next step；
S3-2, in conjunction with the current driving directional information, recalculates to obtain described according to the matching relative distance range circle
Position of the tracing point on the matching relative distance range circle circumference, and re-execute the step S2.
6. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary according to claim 1, feature exist
In, the regular self-test of the matching criteria point updates, the method that the regular self-test of matching criteria point updates the following steps are included:
SA1 acquires the real-time matching standard point position data of the matching criteria point itself；
SA2, by the installation site number of the real-time matching standard point position data and the real-time matching standard point storage inside
According to comparing, judge whether the real-time matching standard point position data is consistent with the installation position data, if judgement knot
Fruit is inconsistent, then reports error message upwards and continue to execute the step SA2 after the default inspection time again.
7. a kind of unmanned vehicle high-precision map-matching method based on street lamp auxiliary according to claim 6, feature exist
In the real-time street lamp position data includes the longitude and latitude data and altitude data of the intelligent road-lamp itself.
8. a kind of unmanned vehicle high-precision map matching system based on street lamp auxiliary, which is characterized in that with device on reason both sides
Intelligent road-lamp be matching criteria point, comprising:
Preliminary matches module matches the corresponding similar map template for obtaining GPS track in map template；
Calculate matching module, for search for the nearest matching criteria point of GPS track point that the unmanned vehicle is currently located and
Corresponding opposite side matching criteria point, obtain with the matching relative distance of the matching criteria point and with the opposite side matching criteria point
Opposite side match relative distance；
Matching module is judged, for judging whether the similarity between GPS track point and match point is greater than preset value, if being judged as
It is that tracing point is then matched to the map template；If judging result be it is no, pass through map-matching algorithm carry out position adjustment
After re-execute the calculating matching module.
9. a kind of unmanned vehicle high-precision map matching system based on street lamp auxiliary according to claim 8, feature exist
In the calculating matching module includes:
First acquisition unit, for obtaining the location information of all matching criteria points in preset range in the map template；
Corresponding matching unit, for being matched to the nearest matching criteria point according to the current GPS track point, according to institute
It states matching criteria point and is matched to corresponding opposite side matching criteria point；
Second acquisition unit, the matching relative distance for obtaining the GPS track point to the matching criteria point, and obtain
With relative distance range circle；It obtains the GPS track point and matches relative distance to the opposite side of the opposite side matching criteria point, and obtain
Relative distance range circle is matched to opposite side.
10. a kind of unmanned vehicle high-precision map matching system based on street lamp auxiliary according to claim 9, feature exist
In the judgement matching module includes:
Comparing unit is analyzed, matches relative distance range for analyzing the matching relative distance range circle and the opposite side
Circle, judges whether the matching relative distance range circle falls completely in the opposite side matching relative distance range circle, if judgement
As a result be it is no, then the tracing point is matched to the map template；If the determination result is YES, then it performs the next step；
Amending unit, for being counted again according to the matching relative distance range circle in conjunction with the current driving directional information
It calculates, amendment obtains position of the tracing point on the matching relative distance range circle circumference, and re-executes the calculating
Matching module.
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| CN108897025A (en) * | 2018-05-15 | 2018-11-27 | 艾欧创想智能科技（武汉）有限公司 | High-precision locating method, device, terminal device and computer readable storage medium |
| CN109141444A (en) * | 2018-08-28 | 2019-01-04 | 北京三快在线科技有限公司 | Localization method, device, storage medium and mobile device |
| CN109827581A (en) * | 2019-03-28 | 2019-05-31 | 北京三快在线科技有限公司 | A kind of method and device of map match |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114296115A (en) * | 2021-12-28 | 2022-04-08 | 西安易朴通讯技术有限公司 | Night motion trajectory recording method and device, mobile device and storage medium |
| CN114754778A (en) * | 2022-04-02 | 2022-07-15 | 智道网联科技(北京)有限公司 | Vehicle positioning method and device, electronic equipment and storage medium |
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