CN113865602A

CN113865602A - Vehicle positioning method, device, equipment and storage medium

Info

Publication number: CN113865602A
Application number: CN202110949929.9A
Authority: CN
Inventors: 聂泳忠; 王博
Original assignee: Xiren Ma Diyan Beijing Technology Co ltd
Current assignee: Xiren Ma Diyan Beijing Technology Co ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2021-12-31

Abstract

The embodiment of the application discloses a vehicle positioning method, a vehicle positioning device, vehicle positioning equipment and a storage medium. The method is applied to the positioning process of the vehicle in the preset area. In the positioning process, when the deviation between the vehicle positioning information (second positioning information) determined according to the data collected by the vehicle sensor and the predicted positioning information is small, the second positioning information is corrected according to the area map corresponding to the first positioning information in the preset area, so that the target positioning information of the vehicle in the area map is accurately obtained. Therefore, in the vehicle positioning method, not only the positioning device of the vehicle, but also the positioning device arranged in the preset area and the area map of the preset area are applied, so that the positioning accuracy of the vehicle in the preset area is improved.

Description

Vehicle positioning method, device, equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of automatic driving, in particular to a vehicle positioning method, device, equipment and storage medium.

Background

For an automatic driving vehicle, the accurate positioning of the position of the vehicle is a precondition for the automatic driving.

At present, vehicle positioning is mainly carried out based on sensors such as a laser radar, a camera or a wheel speed meter installed in a vehicle, and the accuracy is poor.

Content of application

The embodiment of the application provides a vehicle positioning method, a vehicle positioning device, equipment and a storage medium, and can improve the accuracy of a vehicle positioning result.

In a first aspect, an embodiment of the present application provides a vehicle positioning method, including:

acquiring first positioning information of a vehicle in a preset area and data acquired by a vehicle sensor, wherein the first positioning information is obtained according to a positioning device arranged in the preset area;

determining second positioning information of the vehicle in a preset area according to data acquired by the vehicle sensor;

under the condition that the deviation between the second positioning information and the predicted positioning information is smaller than a set threshold value, determining an area map corresponding to the first positioning information according to the first positioning information and a map of a preset area, wherein the predicted positioning information is obtained according to the running information of the vehicle and the initial positioning information of the vehicle entering the preset area;

and correcting the second positioning information according to the regional map to obtain the target positioning information of the vehicle in the regional map.

In a second aspect, an embodiment of the present application provides a vehicle positioning method, including:

acquiring vehicle data acquired by a positioning device in a preset area;

determining first positioning information of a corresponding vehicle in a preset area according to the vehicle data;

and under the condition of receiving a first positioning information acquisition request sent by the vehicle, sending corresponding first positioning information to the vehicle so as to position the vehicle according to the first positioning information.

In a third aspect, an embodiment of the present application provides a vehicle positioning apparatus, including:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring first positioning information of a vehicle in a preset area and data acquired by a vehicle sensor, and the first positioning information is acquired according to a positioning device arranged in the preset area;

the positioning information determining module is used for determining second positioning information of the vehicle in a preset area according to data acquired by the vehicle sensor;

the regional map determining module is used for determining a regional map corresponding to the first positioning information according to the first positioning information and a map of a preset region under the condition that the deviation between the second positioning information and the predicted positioning information is smaller than a set threshold value, wherein the predicted positioning information is obtained according to the running information of the vehicle and the initial positioning information of the vehicle entering the preset region;

and the correction module is used for correcting the second positioning information according to the regional map to obtain the target positioning information of the vehicle in the regional map.

In a fourth aspect, an embodiment of the present application provides a vehicle positioning apparatus, including:

the acquisition module is used for acquiring vehicle data acquired by a positioning device in a preset area;

the positioning information determining module is used for determining first positioning information of a corresponding vehicle in a preset area according to the vehicle data;

the sending module is used for sending corresponding first positioning information to the vehicle under the condition of receiving a first positioning information obtaining request sent by the vehicle, so that the vehicle can be positioned according to the first positioning information.

In a fifth aspect, an embodiment of the present application provides an electronic device, including:

a sensor for collecting data;

a processor;

a memory for storing computer program instructions;

the computer program instructions, when executed by a processor, implement the method as described in the first aspect.

In a sixth aspect, an embodiment of the present application provides an electronic device, including:

the positioning device is used for acquiring vehicle data;

a processor;

a memory for storing computer program instructions;

the computer program instructions, when executed by a processor, implement the method as described in the second aspect.

In a seventh aspect, the present application provides a computer-readable storage medium, on which computer program instructions are stored, which when executed by a processor implement the method according to the first aspect, or the method according to the second aspect.

The vehicle positioning method, the vehicle positioning device, the vehicle positioning equipment and the storage medium are applied to a positioning process of a vehicle in a preset area. In the positioning process, when the deviation between the vehicle positioning information (second positioning information) determined according to the data collected by the vehicle sensor and the predicted positioning information is small, the second positioning information is corrected according to the area map corresponding to the first positioning information in the preset area, so that the target positioning information of the vehicle in the area map is accurately obtained. Therefore, in the vehicle positioning method, not only the positioning device of the vehicle, but also the positioning device arranged in the preset area and the area map of the preset area are applied, so that the positioning accuracy of the vehicle in the preset area is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of a scene of a vehicle positioning method according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of a vehicle positioning method provided by an embodiment of the present application;

FIG. 3 is a flow chart of another vehicle locating method provided by the embodiments of the present application;

FIG. 4 is a flow chart of another vehicle locating method provided by the embodiments of the present application;

FIG. 5 is a flow chart of another vehicle locating method provided by the embodiments of the present application;

FIG. 6 is a block diagram of a vehicle positioning device according to an embodiment of the present disclosure;

FIG. 7 is a block diagram of another vehicle alignment device provided in an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present disclosure;

fig. 9 is a block diagram of another electronic device according to an embodiment of the present application.

Detailed Description

Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

When carrying out vehicle location, mainly realize based on single sensor such as laser radar, camera or wheel speed meter in the vehicle at present, the accuracy is relatively poor.

Therefore, the embodiment of the application provides a vehicle positioning method, which can improve the accuracy of a vehicle positioning result. The vehicle positioning method provided by the embodiment of the application can be applied to the scene shown in FIG. 1.

The scenario may include a server 11, a vehicle 12, and an electronic device 13, the vehicle 12 communicating with the server 11 and the electronic device 13, respectively.

The server 11 may be a cloud server, and is configured to store maps, for example, a parking lot map of a parking lot, a cell map of a cell, a campus map of an industrial campus, and the like. The map stored in the server 11 may be created by a preset map creation method, for example, a map of different areas may be created by a simultaneous localization and mapping (SLAM) technique. Of course, the method and the device can be created in other ways, and the embodiment of the present application is not particularly limited.

The vehicle 12 may be an autonomous vehicle, for example, the vehicle 12 may be controlled to travel along a predetermined route; the vehicle 12 may also be automatically stopped in an area of free space. Therefore, the driver can be liberated, traffic accidents caused by long-time driving of the driver can be avoided, and the problems of difficulty in parking, long queuing time and the like can be relieved to a certain extent.

The vehicle 12 is equipped with sensors such as a laser radar and a camera, and the sensors can be used for self-positioning.

The electronic device 13 may be an intelligent device for locating the vehicle 12 within a preset area, for example, may determine area information of the vehicle within the preset area. The preset area may be an area such as a parking lot, a cell, a company park, a roadside, etc., and the area information may be information corresponding to a local preset area.

When positioning the vehicle, the vehicle 12 can communicate with the server 11 to obtain a map of the relevant area; on the other hand, the positioning result of the vehicle 12 by the electronic device 13 can be obtained by communicating with the electronic device 13.

According to the positioning result of the electronic device 13, the vehicle 12 can obtain the final positioning result by combining the positioning result of the vehicle with the positioning result of the electronic device.

When the vehicle 12 is located, the locating device of the vehicle 12 is used, the locating device arranged in the preset area, namely the electronic device 13, is also used, and the area map of the preset area is used, so that the accuracy of locating the vehicle in the preset area is improved.

Based on the above scenario, the following describes a vehicle positioning method provided in the embodiment of the present application with reference to a specific embodiment, which may be performed by the vehicle in fig. 1.

Fig. 2 is a flowchart of a vehicle positioning method according to an embodiment of the present application.

As shown in fig. 2, the vehicle positioning method may include the steps of:

s210, acquiring first positioning information of the vehicle in a preset area and data acquired by a vehicle sensor.

The first positioning information is obtained according to a positioning device arranged in a preset area.

And S220, determining second positioning information of the vehicle in a preset area according to the data collected by the vehicle sensor.

And S230, under the condition that the deviation between the second positioning information and the predicted positioning information is smaller than a set threshold value, determining an area map corresponding to the first positioning information according to the first positioning information and a map of a preset area.

The predicted positioning information is obtained according to the running information of the vehicle and the initial positioning information of the vehicle entering the preset area.

S240, correcting the second positioning information according to the regional map to obtain the target positioning information of the vehicle in the regional map.

Therefore, when the deviation between the vehicle positioning information (second positioning information) determined according to the data collected by the vehicle sensor and the predicted positioning information is small, the second positioning information is corrected according to the area map corresponding to the first positioning information in the preset area, and therefore the target positioning information of the vehicle in the area map is accurately obtained. Therefore, in the vehicle positioning method, not only the positioning device of the vehicle is applied, but also the positioning device arranged in the preset area and the area map of the preset area are adopted, so that the positioning accuracy of the vehicle in the preset area is improved.

The above steps are described in detail below, specifically as follows:

in S210, the preset area may be an area where a positioning device is disposed, and may be, for example, a cell, a parking lot, a company park, or a roadside.

The positioning device may be a device capable of positioning the vehicle, and may be, for example, a camera module, a Road Side Unit (RSU), or the like. The installation position and the number of the positioning devices can be set according to actual needs.

The first positioning information may be area information of an area where the vehicle is located, where the area may be a local area of the preset area, where the local area may also be referred to as a sub-area, for example, an a area where the vehicle is currently located in the preset area, and the first positioning information may be the a area or other information that may indicate that the vehicle is currently located in the a area.

The preset region may include a plurality of sub-regions, and the number of the sub-regions may be determined according to the size of the preset region. The greater the number of sub-regions, the greater the accuracy of the positioning results when positioning the vehicle.

The vehicle sensor may include, but is not limited to, a laser radar, a camera, a combined navigation, a wheel speed meter, etc., and the self-positioning may be achieved by using data collected by the vehicle sensor.

In one embodiment, the vehicle 12 may communicate with the electronic device 13 of fig. 1 to obtain first positioning information of the vehicle 12 in a preset area.

In S220, the second positioning information is a positioning result obtained by the vehicle based on the data collected by the vehicle sensor, and may include, for example, a pose of the vehicle in a preset area.

In one embodiment, where the vehicle sensor includes a wheel speed meter, the second positioning information may be derived based on a differential model.

In case the vehicle sensor comprises a lidar or a camera, the second positioning information may be derived based on SLAM technology.

Where the vehicle sensor includes integrated navigation, the second positioning information may be derived based on a track recursion method.

It should be noted that the above positioning manner is only an example, and in practical application, other manners may also be used to position the vehicle, and the embodiment of the present application is not particularly limited.

In one embodiment, self-positioning can be realized based on data acquired by multiple vehicle sensors, so that the situation that self-positioning cannot be carried out due to failure of a single sensor can be avoided, and the robustness of a positioning result is improved.

For example, in some areas where satellite signals are blocked, data of Inertial sensor (IMU) in combined navigation and data of wheel speed meter can be combined, so that the situation that combined navigation positioning fails due to satellite signal failure can be avoided.

In S230, the driving information of the vehicle may include information such as a driving direction and a speed of the vehicle.

The initial positioning information may be a pose when the vehicle enters the preset area, for example, the pose when the vehicle enters the preset area for the first time may be used as the initial positioning information; the pose of the vehicle when the vehicle reaches the specified position of the preset area can also be used as initial positioning information.

In one embodiment, the position and posture of the vehicle at the next time can be predicted according to the initial positioning information of the vehicle and the driving direction and speed of the vehicle, so as to obtain the predicted positioning information described in the embodiment of the application.

The map of the preset area may be obtained by the vehicle interacting with the server 11 in fig. 1, for example, the vehicle may enter the preset area for the first time, or interact with the server 11 if necessary, so as to obtain the map of the preset area.

The map can comprise point cloud information and semantic information, the point cloud information is used for representing position coordinates of each data point, the semantic information is used for representing an object to which the data point belongs, the object can be a parking space, a column or other marks with special meanings, and the like, and the accuracy of a positioning result can be improved by calibrating the semantic information.

In practice, the second positioning information may be disabled due to a failure of a vehicle sensor or other reasons, and based on this, in one embodiment, the second positioning information may be compared with the predicted positioning information to determine whether the second positioning information is disabled.

For example, in the case where the deviation between the second positioning information and the predicted positioning information is smaller than a set threshold, it may be considered that the second positioning information is not invalid; otherwise, the second positioning information is considered invalid. The size of the set threshold can be set according to actual needs.

In a case that the second positioning information is available, that is, the second positioning information is not invalid, in an embodiment, the area map corresponding to the first positioning information may be determined according to the first positioning information and the map of the preset area, so that the range of the vehicle in the preset area may be reduced, and the accuracy of the positioning result may be improved.

For example, if the first positioning information is the area a, the map of the area a may be obtained from the map of the preset area, and the positioning result is determined by combining the map of the area a, so that the interference of other areas may be reduced, and the accuracy of the positioning result may be improved.

In S240, in an embodiment, the second positioning information may be matched with the area map by using a preset algorithm, so as to obtain the pose of the vehicle in the area map. The process of matching the second positioning information with the area map may also be referred to as a process of correcting the second positioning information.

In one embodiment, in the case that the second positioning information is obtained based on data collected by the lidar, a Normal Distribution Transform (NDT) algorithm may be used to match the second positioning information with the area map.

In one embodiment, in the case that the second positioning information is obtained based on the image acquired by the camera, a peer-n-point (pnp) algorithm may be used to match the second positioning information with the area map.

In one embodiment, in the case where the second positioning information is obtained based on the IMU and the wheel speed meter, an Error-state Kalman Filter (ESKF) algorithm may be employed to match the second positioning information with the area map.

Therefore, the second positioning information is corrected by using the map of the reduced area and adopting a mode corresponding to the second positioning information, and the accuracy of the positioning result is improved.

In one embodiment, the first positioning information may be obtained by:

the method comprises the steps that when a vehicle reaches a preset area, a first positioning information obtaining request is sent to a processor in the preset area, and the first positioning information obtaining request is used for requesting to obtain first positioning information of the vehicle in the preset area; and receiving the first positioning information sent by the processor.

The processor within the predetermined area may be provided in the electronic device 13 shown in fig. 1.

The first positioning information acquisition request may include, but is not limited to, a vehicle identification and request content. The embodiment of the present application does not limit the specific form of the first positioning information obtaining request.

Therefore, when the vehicle is positioned, the positioning information of the vehicle in the preset area is determined by using the positioning device arranged in the preset area, namely the electronic equipment 13, and the positioning area of the vehicle is reduced, so that the accuracy of the positioning result is improved when the vehicle is positioned based on the reduced positioning area.

In one embodiment, the map of the preset area may be obtained by:

sending a map acquisition request to a server under the condition that the vehicle reaches a preset area, wherein the map acquisition request is used for requesting to acquire a map of the preset area;

and receiving and storing a map of the preset area sent by the server, wherein the map comprises area maps corresponding to different areas in the preset area.

The server is the server 11 in fig. 1.

In one embodiment, a map of a preset area may be acquired before the first positioning information is acquired; or after the first positioning information is acquired, acquiring a map of a preset area; the first positioning information and the map of the preset area can be acquired simultaneously.

The map acquisition request may include, but is not limited to, a vehicle identification, an identification of a preset area, and the like.

In one embodiment, the server may store the map of the preset area in different areas, so that the server may send the map of the preset area to the vehicle in different areas based on the received map obtaining request when receiving the map obtaining request sent by the vehicle, thereby facilitating storage of the vehicle. The map acquisition request here may be a request to acquire a map of the entire preset area.

In view of the limited storage capability of some vehicles, in one embodiment, the vehicle may also request to acquire a map of a partial area, for example, the vehicle may send a map acquisition request corresponding to the first positioning information to the server to request to acquire a map corresponding to the first positioning information in the case of acquiring the first positioning information.

Under the condition that the vehicle reaches the preset area, the area map of the preset area is obtained through interaction with the server, so that when the vehicle is positioned, not only the positioning device of the vehicle is applied, but also the area map of the preset area is applied, and the positioning accuracy of the vehicle in the preset area is improved.

It should be understood that, as time goes on, the external environment may change, for example, the preset area is modified or repaired, and the map of the preset area also changes. Therefore, the map stored by the server needs to be updated to improve the accuracy of the positioning result.

In one embodiment, the map of the preset area may be updated periodically, for example, the map of the preset area may be updated once every month in units of months.

In one embodiment, the map of the preset area may also be updated by means of human intervention. For example, when the preset area changes, the server may update the map of the preset area by manually sending a map update instruction to the server.

In one embodiment, the map of the preset area can be updated in an intelligent identification mode, for example, when the current environment is determined to be inconsistent with a previously stored map through a perception algorithm or the vehicle fails to be frequently positioned on the basis of the map sent by the server, a map updating operation is triggered, and the map of the preset area is updated.

Therefore, the map stored by the server is updated in time, the map acquired by the vehicle can be the latest map of the preset area, and the accuracy of the positioning result can be improved when the vehicle is positioned based on the map.

In the case where a vehicle is equipped with a plurality of vehicle sensors, for example, at least two types of vehicle sensors are mounted as follows: in the case of a laser radar, a camera, a wheel speed meter, and an inertial sensor, the vehicle positioning method provided in the embodiment of the present application may include the steps as shown in fig. 3:

s310, acquiring first positioning information of the vehicle in a preset area and data collected by a vehicle sensor.

S320, respectively determining the positioning information of the vehicle in a preset area according to data collected by at least two vehicle sensors in the laser radar, the camera, the wheel speed meter and the inertial sensor to obtain at least two types of positioning information.

S330, determining the weight of at least two kinds of positioning information according to a preset fusion algorithm.

Wherein the weight is used to represent the confidence level of the positioning information.

S340, weighting the at least two kinds of positioning information respectively according to the weights of the at least two kinds of positioning information to obtain a weighting result.

And S350, determining the weighted result as second positioning information of the vehicle in the preset area.

And S360, whether the deviation of the second positioning information and the predicted positioning information is smaller than a set threshold value or not is judged, if yes, S370 is executed, and if not, S390 is executed.

And S370, determining an area map corresponding to the first positioning information according to the first positioning information and the map of the preset area.

And S380, correcting the second positioning information according to the regional map to obtain the target positioning information of the vehicle in the regional map.

And S390, determining the second positioning information as the target positioning information of the vehicle.

The processes of S310, S370, and S380 are the same as the processes of S210, S230, and S240 in fig. 2, and for details, refer to the descriptions of S210, S230, and S240, which are not repeated herein for brevity.

The other steps in fig. 3 are described in detail below, specifically as follows:

in S320, taking the vehicle sensor including the wheel speed meter and the inertial sensor as an example, specifically, the positioning information of the vehicle in the preset area may be determined based on the data collected by the wheel speed meter and the inertial sensor, respectively, so as to obtain the positioning information corresponding to the wheel speed meter and the positioning information corresponding to the inertial sensor. The specific process can be seen in the above examples.

Of course, the combination is not limited to the above one, and other combinations may be adopted, for example, a combination of a laser radar and a camera, or a combination of a camera, a wheel speed meter, and an inertial sensor may be adopted.

In S330, the fusion algorithm may adopt an ESKF algorithm.

Still taking the wheel speed meter and the inertial sensor as examples, for convenience of description, the positioning information obtained based on the wheel speed meter may be referred to as third positioning information, and the positioning information obtained based on the inertial sensor may be referred to as fourth positioning information.

The reliability of the third positioning information and the fourth positioning information can be determined through an ESKF algorithm, weights can be distributed to different positioning information based on the reliability, and the higher the weight is, the higher the reliability of the positioning information is. The sum of the weights of the positioning information is 1.

Therefore, the positioning results of the plurality of vehicle sensors are fused, the situation that the positioning cannot be carried out due to the fault of a single vehicle sensor can be avoided, and the robustness of the positioning results is improved.

In S340, the positioning information corresponding to different vehicle sensors and the weight corresponding to the positioning information may be weighted, and the weighted values corresponding to the vehicle sensors may be accumulated to obtain the weighted result.

For example, the wheel speed meter corresponds to the positioning information a1 with a weight n1, the inertial sensor corresponds to the positioning information B1 with a weight n2, and the weighting result may be a1 × n1+ B1 × n2, that is, the second positioning information a1 × n1+ B1 × n 2.

Therefore, self-positioning is carried out based on data acquired by various vehicle sensors, the situation that positioning cannot be carried out due to single sensor faults can be avoided, and the robustness of positioning results is improved.

In S360, whether the second positioning information is valid or not may affect the determination method of the target positioning information, for example, in a case that the second positioning information is valid, the target positioning information may be determined based on the second positioning information in combination with the first positioning information; in the case where the second positioning information is invalid, the first positioning information may be regarded as target positioning information. The accuracy of the positioning result corresponding to different positioning modes is different.

In one embodiment, after obtaining the second positioning information, the second positioning information may be compared with the predicted positioning information, and whether the second positioning information is invalid may be determined based on a deviation of the second positioning information and the predicted positioning information. For example, when the deviation between the two is smaller than a set threshold, the second positioning information is considered to be invalid, otherwise, the second positioning information is considered to be invalid.

In S390, when the second positioning information is invalid, the first positioning information may be determined as the target positioning information, that is, when the vehicle itself cannot perform positioning, the auxiliary positioning may still be performed based on the first positioning information.

Taking the example that the preset area includes the area where the preset parking lot is located, the preset parking lot may be, for example, an underground parking lot or an above-ground parking lot. Based on this, in one embodiment, the vehicle positioning method provided by the embodiment of the present application may include the steps as shown in fig. 4:

s410, acquiring first positioning information of the vehicle in a preset area and data collected by a vehicle sensor.

And S420, determining second positioning information of the vehicle in the preset area according to the data acquired by the vehicle sensor.

S430, whether a deviation between the second positioning information and the predicted positioning information is smaller than a set threshold, if so, performing S440, otherwise, performing S460.

And S440, determining an area map corresponding to the first positioning information according to the first positioning information and the map of the preset area.

S450, correcting the second positioning information according to the regional map to obtain the target positioning information of the vehicle in the regional map.

And S460, determining the second positioning information as the target positioning information of the vehicle.

And S470, determining the driving path of the vehicle according to the target positioning information and the target parking space.

And S480, controlling the vehicle to run to the target parking space according to the running path.

The processes of S410-S460 may refer to the above embodiments, and are not described herein again for brevity.

The other steps in fig. 4 are described in detail below, and are specifically as follows:

in S470, in one embodiment, automatic parking may be implemented based on the target location information of the vehicle, that is, the vehicle may be automatically parked to an idle parking space without manual control, thereby freeing the driver and alleviating the problems of difficult parking, long queuing time, and the like.

The target parking space is an empty space in the preset parking lot, and the number and the position of the empty spaces may be determined by the processor in the preset parking lot based on the current parking condition, for example, when a certain empty space is occupied, the number of the empty spaces may be reduced by 1, and the position of the empty space may be updated.

In the case where the vehicle enters the preset parking lot, the processor may transmit the position of the vacant parking space to the vehicle.

The vehicle can determine a target parking space based on the position of the free parking space, for example, when only one free parking space exists, the free parking space can be used as the target parking space; under the condition that a plurality of free parking spaces exist, the nearest free parking space can be selected as the target parking space.

After the target parking space is determined, the driving path of the vehicle can be planned according to the target positioning information and the position of the target parking space.

In S480, after the driving path is determined, the vehicle may be controlled to drive along the driving path until the target parking space is reached.

Therefore, the positioning information of the preset parking lot for the vehicle and the positioning information of the vehicle are fused, the positioning information of the vehicle is corrected based on the map of the reduced area, the accuracy of the target positioning information is improved, and the automatic parking effect is improved when the automatic parking is carried out based on the target positioning information.

The following describes a vehicle positioning method provided in an embodiment of the present application, with the electronic device in fig. 1 as an execution subject. The electronic device may be an intelligent device comprising a positioning means, a processor, etc. in a predetermined area.

Fig. 5 is a flowchart of another vehicle positioning method according to an embodiment of the present disclosure.

As shown in fig. 5, the vehicle positioning method may include the steps of:

and S510, acquiring vehicle data acquired by a positioning device in a preset area.

S520, determining first positioning information of the corresponding vehicle in the preset area according to the vehicle data.

And S530, under the condition that a first positioning information acquisition request sent by the vehicle is received, sending corresponding first positioning information to the vehicle so as to position the vehicle according to the first positioning information.

From this, utilize the data of predetermineeing regional positioner collection to fix a position the vehicle, obtain first locating information to send first locating information for the vehicle, make the vehicle when fixing a position, not only can use the locating information of self, can also use the locating information that predetermines regional positioner and confirm, improved the accuracy of vehicle location in predetermineeing the region.

The steps in fig. 5 are described in detail below, specifically as follows:

in S510, the vehicle data may be data capable of locating the vehicle, for example, in the case where the locating device is a camera module, the vehicle data may be an image containing the vehicle, that is, the position of the vehicle may be determined based on the image.

For another example, in the case that the positioning device is an RSU, the vehicle data may be interaction data of the RSU with the vehicle, i.e., the position of the vehicle may be determined based on the interaction data of the RSU with the vehicle.

In one embodiment, vehicle data collected by the locating device may be acquired in real-time.

In S520, the first positioning information may be a sub-area of the vehicle in the preset area, so that the positioning area of the vehicle may be reduced, and the accuracy of the vehicle positioning result may be improved when the vehicle is positioned based on the first positioning information.

In one embodiment, in the case that the vehicle data includes an image of the vehicle, the pose of the vehicle relative to the camera module may be determined based on a monocular camera ranging principle, and in the case that the pose of the camera module is known, the pose of the vehicle may be obtained, and based on the pose, the sub-region in which the vehicle is currently located may be determined.

In one embodiment, when the vehicle data is the interaction data of the RSU and the vehicle, the pose of the vehicle may be determined based on the interaction data, and the sub-region where the vehicle is currently located may be determined according to the pose.

After the first positioning information is determined, the first positioning information and the corresponding vehicle can be stored in an associated mode, follow-up searching is facilitated, and time is saved.

In S530, when a first positioning information obtaining request sent by a vehicle is received, a vehicle identifier of the requesting vehicle may be determined based on the first positioning information obtaining request, and then, based on the vehicle identifier, first positioning information corresponding to the vehicle identifier is obtained in a searching manner and sent to the vehicle corresponding to the vehicle identifier, so that the vehicle may be positioned based on the received first positioning information.

Taking the example that the positioning device includes a camera module, in one embodiment, S510 may include the following steps:

the method comprises the steps of obtaining images collected by each camera module in a preset area, wherein the images comprise vehicle identifications, and the positions of the camera modules in the preset area are fixed.

The camera module of this application embodiment can be the camera that is used for gathering the image, and this camera can be the lower monocular camera of cost for example.

The vehicle identifier may be, for example, a license plate number, so that the first positioning information may be stored in association with the vehicle, which facilitates subsequent searching for the first positioning information corresponding to a certain vehicle.

The preset area can comprise a plurality of camera modules, so that the vehicle can be ensured to be at any position of the preset area and at least under the visual field of one camera module.

The position of each camera module in the preset area is fixed, so that the unique pose of the vehicle can be ensured when the vehicle is positioned based on the camera modules.

In the case where the positioning device includes a camera module, S520 may include the steps of:

determining relative positioning information of the vehicle relative to the camera module according to the image;

and determining first positioning information of the vehicle in a preset area according to the relative positioning information.

The relative positioning information can be the pose of the vehicle relative to the camera module, and the position of the camera module is fixed and known, so that after the pose of the vehicle relative to the camera module is determined, the pose of the vehicle in the preset area can be determined according to the position of the camera module, and further the sub-area where the vehicle is located, namely the first positioning information, is obtained.

Taking the camera module as a monocular camera as an example, in one embodiment, the relative positioning information of the vehicle relative to the camera module can be determined based on a monocular camera ranging principle, that is, the relative positioning information of the vehicle relative to the camera module is determined by using the relationship between the height and pitch angle of the monocular camera and the image, and then the first positioning information is obtained based on the relative positioning information.

From this, install the condition of making a video recording the module in presetting the region, can realize the location to the vehicle based on monocular camera range finding principle, with low costs, efficient.

Taking the example that the positioning device includes an RSU, in one embodiment, S510 may include the following steps:

the method comprises the steps of obtaining first data transmitted by a drive test unit in a preset area and second data received by the drive test unit, wherein the second data is sent by a corresponding vehicle based on the received first data.

The working principle of the drive test unit can be referred to in the prior art, and is not described in detail here.

In case the positioning device comprises an RSU, S520 may comprise the steps of:

and determining first positioning information of the corresponding vehicle in the preset area according to the first data and the second data.

Therefore, under the condition that the drive test unit is installed in the preset area, the vehicle can be positioned based on the interaction between the drive test unit and the vehicle, and the accuracy is higher.

Based on the same application concept, the embodiment of the application also provides a vehicle positioning device which can be arranged in a vehicle, wherein the vehicle can be a vehicle with an automatic driving function. The following describes in detail a vehicle positioning device provided in an embodiment of the present application with reference to fig. 6.

Fig. 6 is a structural diagram of a vehicle positioning device according to an embodiment of the present application.

As shown in fig. 6, the vehicle positioning apparatus may include:

the acquisition module 61 is configured to acquire first positioning information of a vehicle in a preset area and data acquired by a vehicle sensor, where the first positioning information is obtained according to a positioning device arranged in the preset area;

the positioning information determining module 62 is configured to determine second positioning information of the vehicle in the preset area according to data collected by the vehicle sensor;

the regional map determining module 63 is configured to determine a regional map corresponding to the first positioning information according to the first positioning information and a map of a preset region when a deviation between the second positioning information and the predicted positioning information is smaller than a set threshold, where the predicted positioning information is obtained according to driving information of the vehicle and initial positioning information of the vehicle entering the preset region;

and the correcting module 64 is used for correcting the second positioning information according to the regional map to obtain the target positioning information of the vehicle in the regional map.

In one embodiment, the vehicle sensors include at least two of: the system comprises a laser radar, a camera, a wheel speed meter and an inertial sensor;

the positioning information determining module 62 is specifically configured to:

respectively determining the positioning information of the vehicle in a preset area according to data collected by at least two vehicle sensors in a laser radar, a camera, a wheel speed meter and an inertial sensor to obtain at least two types of positioning information;

determining the weights of at least two kinds of positioning information according to a preset fusion algorithm, wherein the weights are used for representing the credibility of the positioning information;

weighting the at least two kinds of positioning information respectively according to the weights of the at least two kinds of positioning information to obtain a weighting result;

and determining the weighted result as second positioning information of the vehicle in the preset area.

In an embodiment, the obtaining module 61 is specifically configured to:

the method comprises the steps that when a vehicle reaches a preset area, a first positioning information obtaining request is sent to a processor in the preset area, and the first positioning information obtaining request is used for requesting to obtain first positioning information of the vehicle in the preset area;

and receiving the first positioning information sent by the processor.

In one embodiment, the apparatus may further comprise:

the map acquisition request sending module is used for sending a map acquisition request to the server under the condition that the vehicle reaches the preset area, wherein the map acquisition request is used for requesting to acquire a map of the preset area;

and the receiving module is used for receiving and storing the map of the preset area sent by the server, wherein the map comprises area maps corresponding to different areas in the preset area.

In one embodiment, the apparatus may further comprise:

and the target positioning information determining module is used for determining the second positioning information as the target positioning information of the vehicle under the condition that the deviation of the second positioning information and the predicted positioning information is greater than or equal to a set threshold value.

In one embodiment, the preset area includes an area where a preset parking lot is located.

In one embodiment, the apparatus may further comprise:

the route determining module is used for determining a driving route of the vehicle according to the target positioning information and the target parking stall after the second positioning information is corrected according to the regional map to obtain the target positioning information of the vehicle in the regional map;

and the control module is used for controlling the vehicle to run to the target parking space according to the running path.

Therefore, when the deviation between the vehicle positioning information (second positioning information) determined according to the data collected by the vehicle sensor and the predicted positioning information is small, the second positioning information is corrected according to the area map corresponding to the first positioning information in the preset area, and therefore the target positioning information of the vehicle in the area map is accurately obtained. Therefore, in the vehicle positioning method, not only the positioning device of the vehicle, but also the positioning device arranged in the preset area and the area map of the preset area are applied, so that the positioning accuracy of the vehicle in the preset area is improved.

Each module in the apparatus shown in fig. 6 has a function of implementing each step in fig. 2 to fig. 4 and can achieve a corresponding technical effect, and for brevity, the description is not repeated here.

Based on the same inventive concept, the embodiment of the present application further provides a vehicle positioning apparatus, which may be disposed in the electronic device shown in fig. 1, where the electronic device may be an intelligent device located in a preset area. The following describes in detail a vehicle positioning device provided in an embodiment of the present application with reference to fig. 7.

Fig. 7 is a structural diagram of another vehicle positioning device according to an embodiment of the present application.

As shown in fig. 7, the vehicle positioning apparatus may include:

the acquiring module 71 is configured to acquire vehicle data acquired by a positioning device in a preset area;

the positioning information determining module 72 is configured to determine first positioning information of a corresponding vehicle in a preset area according to the vehicle data;

the sending module 73 is configured to send corresponding first positioning information to the vehicle when receiving a first positioning information obtaining request sent by the vehicle, so that the vehicle performs positioning according to the first positioning information.

In an embodiment, the obtaining module 71 is specifically configured to:

In one embodiment, the positioning information determining module 72 is specifically configured to:

In an embodiment, the obtaining module 71 is specifically configured to:

Each module in the apparatus shown in fig. 7 has a function of implementing each step in fig. 5 and can achieve a corresponding technical effect, and is not described herein again for brevity.

Based on the same inventive concept, the embodiment of the present application further provides an electronic device, which may be a vehicle with an automatic driving function, and the electronic device provided in the embodiment of the present application is described in detail below with reference to fig. 8.

As shown in fig. 8, the electronic device may include a sensor 81, a processor 82, and a memory 83 for storing computer program instructions.

The sensor 81 may include a laser radar, a camera, a wheel speed meter, a combination navigation, etc.

The processor 82 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of embodiments of the present Application.

Memory 83 may include mass storage for data or instructions. By way of example, and not limitation, memory 83 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. In one example, memory 83 may include removable or non-removable (or fixed) media, or memory 83 is non-volatile solid-state memory. In one example, Memory 83 may be a Read Only Memory (ROM). In one example, the ROM may be mask programmed ROM, programmable ROM (prom), erasable prom (eprom), electrically erasable prom (eeprom), electrically rewritable ROM (earom), or flash memory, or a combination of two or more of these.

The processor 82 reads and executes the computer program instructions stored in the memory 83 to implement the method in the embodiment shown in fig. 2 to 4, and achieve the corresponding technical effect achieved by the embodiment shown in fig. 2 to 4 executing the method, which is not described herein again for brevity.

In one example, the electronic device may also include a communication interface 84 and a bus 85. As shown in fig. 8, the sensor 81, the processor 82, the memory 83, and the communication interface 84 are connected via a bus 85 to complete communication therebetween.

The communication interface 84 is mainly used for implementing communication between modules, apparatuses, and/or devices in the embodiment of the present application.

The bus 85 comprises hardware, software, or both to couple the various components of the electronic device to one another. By way of example, and not limitation, Bus 85 may include an Accelerated Graphics Port (AGP) or other Graphics Bus, an Enhanced Industry Standard Architecture (EISA) Bus, a Front-Side Bus (Front Side Bus, FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) Bus, an InfiniBand interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a Micro Channel Architecture (MCA) Bus, a Peripheral Component Interconnect (PCI) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, a video electronics standards Association local (VLB) Bus, or other suitable Bus or a combination of two or more of these. Bus 85 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The electronic device may execute the vehicle positioning method in the embodiment of the present application based on the acquired first positioning information of the vehicle in the preset area and the data collected by the vehicle sensor, so as to implement the vehicle positioning method described in conjunction with fig. 2 to 4 and the vehicle positioning apparatus described in fig. 6.

Based on the same application concept, the embodiment of the application further provides the electronic equipment which is arranged in the preset area and used for positioning the vehicle entering the preset area. The electronic device provided by the embodiment of the present application is described in detail below with reference to fig. 9.

As shown in fig. 9, the electronic device may comprise a positioning means 91, a processor 92 and a memory 93 for storing computer program instructions.

The positioning device 91 may include a camera module, RSU, etc.

The processor 92 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present Application.

Memory 93 may include mass storage for data or instructions. By way of example, and not limitation, memory 93 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. In one example, memory 93 may include removable or non-removable (or fixed) media, or memory 93 is non-volatile solid-state memory. In one example, the Memory 93 may be a Read Only Memory (ROM). In one example, the ROM may be mask programmed ROM, programmable ROM (prom), erasable prom (eprom), electrically erasable prom (eeprom), electrically rewritable ROM (earom), or flash memory, or a combination of two or more of these.

The processor 92 reads and executes the computer program instructions stored in the memory 93 to implement the method in the embodiment shown in fig. 5, and achieve the corresponding technical effect achieved by the embodiment shown in fig. 5 executing the method, which is not described herein again for brevity.

In one example, the electronic device may also include a communication interface 94 and a bus 95. As shown in fig. 9, the positioning device 91, the processor 92, the memory 93, and the communication interface 94 are connected by a bus 95 to complete mutual communication.

The communication interface 94 is mainly used for implementing communication between modules, apparatuses and/or devices in the embodiment of the present application.

The bus 95 includes hardware, software, or both to couple the various components of the electronic device to one another. By way of example, and not limitation, Bus 95 may include an Accelerated Graphics Port (AGP) or other Graphics Bus, an Enhanced Industry Standard Architecture (EISA) Bus, a Front-Side Bus (Front Side Bus, FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) Bus, an InfiniBand interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a Micro Channel Architecture (MCA) Bus, a Peripheral Component Interconnect (PCI) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, a video electronics standards Association local (VLB) Bus, or other suitable Bus or a combination of two or more of these. Bus 95 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The electronic device may execute the vehicle positioning method in the embodiment of the present application based on the acquired first positioning information of the vehicle in the preset area and the data collected by the vehicle sensor, so as to implement the vehicle positioning method described in conjunction with fig. 5 and the vehicle positioning apparatus described in fig. 7.

In addition, in combination with the data transmission method in the foregoing embodiments, the embodiments of the present application may provide a computer storage medium to implement. The computer storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement any of the data transmission methods in the above embodiments.

It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

Aspects of embodiments of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.

As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.

Claims

1. A vehicle positioning method, characterized by comprising:

acquiring first positioning information of a vehicle in a preset area and data acquired by a vehicle sensor, wherein the first positioning information is acquired according to a positioning device arranged in the preset area;

according to the data collected by the vehicle sensor, second positioning information of the vehicle in the preset area is determined;

determining an area map corresponding to the first positioning information according to the first positioning information and the map of the preset area under the condition that the deviation between the second positioning information and the predicted positioning information is smaller than a set threshold, wherein the predicted positioning information is obtained according to the running information of the vehicle and the initial positioning information of the vehicle entering the preset area;

2. The method of claim 1, wherein the vehicle sensors comprise at least two of: the system comprises a laser radar, a camera, a wheel speed meter and an inertial sensor;

the determining second positioning information of the vehicle in the preset area according to the data collected by the vehicle sensor comprises:

respectively determining the positioning information of the vehicle in the preset area according to data collected by at least two vehicle sensors in the laser radar, the camera, the wheel speed meter and the inertial sensor to obtain at least two types of positioning information;

determining the weights of the at least two kinds of positioning information according to a preset fusion algorithm, wherein the weights are used for representing the credibility of the positioning information;

3. The method of claim 1, wherein the obtaining first positioning information of the vehicle in a preset area comprises:

sending a first positioning information acquisition request to a processor in the preset area under the condition that the vehicle reaches the preset area, wherein the first positioning information acquisition request is used for requesting to acquire first positioning information of the vehicle in the preset area;

and receiving first positioning information sent by the processor.

4. The method of claim 1, further comprising:

sending a map acquisition request to a server under the condition that the vehicle reaches the preset area, wherein the map acquisition request is used for requesting to acquire a map of the preset area;

and receiving and storing the map of the preset area sent by the server, wherein the map comprises area maps corresponding to different areas in the preset area.

5. The method according to any one of claims 1-4, further comprising:

and determining the second positioning information as the target positioning information of the vehicle when the deviation of the second positioning information and the predicted positioning information is larger than or equal to a set threshold value.

6. The method according to any one of claims 1 to 4, wherein the preset area comprises an area where a preset parking lot is located;

after the second positioning information is corrected according to the area map, and the target positioning information of the vehicle in the area map is obtained, the method further comprises the following steps:

determining a driving path of the vehicle according to the target positioning information and the target parking space;

and controlling the vehicle to run to the target parking space according to the running path.

7. A vehicle positioning method, characterized by comprising:

acquiring vehicle data acquired by a positioning device in a preset area;

determining first positioning information of a corresponding vehicle in the preset area according to the vehicle data;

under the condition of receiving a first positioning information acquisition request sent by a vehicle, sending corresponding first positioning information to the vehicle so as to position the vehicle according to the first positioning information.

8. The method of claim 7, wherein the acquiring vehicle data collected by a positioning device in a predetermined area comprises:

acquiring images collected by all camera modules in the preset area, wherein the images comprise vehicle identifications, and the positions of all the camera modules in the preset area are fixed;

the determining first positioning information of the corresponding vehicle in the preset area according to the vehicle data comprises:

and determining first positioning information of the vehicle in the preset area according to the relative positioning information.

9. The method of claim 7, wherein the acquiring vehicle data collected by a positioning device in a predetermined area comprises:

acquiring first data transmitted by a drive test unit in the preset area and second data received by the drive test unit, wherein the second data is transmitted by a corresponding vehicle based on the received first data;

10. A vehicle positioning device, comprising:

the positioning information determining module is used for determining second positioning information of the vehicle in the preset area according to the data acquired by the vehicle sensor;

the regional map determining module is used for determining a regional map corresponding to the first positioning information according to the first positioning information and a map of the preset region under the condition that the deviation between the second positioning information and predicted positioning information is smaller than a set threshold, wherein the predicted positioning information is obtained according to the driving information of the vehicle and the initial positioning information of the vehicle entering the preset region;

11. A vehicle positioning device, comprising:

the acquisition module is used for acquiring vehicle data acquired by positioning equipment in a preset area;

the positioning information determining module is used for determining first positioning information of a corresponding vehicle in the preset area according to the vehicle data;

12. An electronic device, comprising:

a sensor for collecting data;

a processor;

a memory for storing computer program instructions;

the computer program instructions, when executed by the processor, implement the method of any of claims 1-6.

13. An electronic device, comprising:

the positioning device is used for acquiring vehicle data;

a processor;

a memory for storing computer program instructions;

the computer program instructions, when executed by the processor, implement the method of any of claims 7-9.

14. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor, implement the method of any of claims 1-6, or the method of any of claims 7-9.