CN113932834A - Method and device for testing fusion positioning equipment, electronic equipment and storage medium - Google Patents
Method and device for testing fusion positioning equipment, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a method and a device for testing fusion positioning equipment, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment; generating a corresponding positioning track according to the fusion positioning data; and checking whether the positioning track corresponding to the first original positioning data and the fusion positioning data meets the fusion positioning requirement preset by the first preset driving condition or not to obtain a checking result of the fusion positioning equipment. The method and the device have the advantages that the accuracy of the fusion positioning device and the fusion positioning algorithm is simply and quickly checked, true value equipment or a high-precision map is not needed, efficiency is higher, and cost is lower.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for testing a fusion positioning device, an electronic device, and a storage medium.
Background
With the rapid development of the automatic driving technology, the demand for high-precision positioning equipment and positioning algorithms is increasing. High precision positioning is the most basic and critical capability in the whole automatic driving process. With reliable positioning information, the autonomous vehicle can only run according to a correct track to ensure the functions of subsequent modules such as perception, planning and control, and therefore the positioning capability of the fusion positioning equipment needs to be checked in advance.
The current mainstream method for testing the positioning capability of the fusion positioning device measures the capability of the self-researched fusion positioning device and positioning algorithm by using a true value device or a high-precision map as a reference. Although the truth device or the high-precision map has high precision and the output position can be used as a reference, the two schemes have at least the following problems:
1) true value equipment and corresponding post-calculation software are expensive, the cost of equipping true value equipment for each automatic driving vehicle is too high, and base station information is required as a premise;
2) the high-precision map is high in cost, high in confidentiality and complex in use process.
Disclosure of Invention
The embodiment of the application provides a method and a device for testing fusion positioning equipment, electronic equipment and a storage medium, so as to simply and quickly test the positioning capability of the fusion positioning equipment.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for inspecting a fusion positioning device, where the method includes:
acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
generating a current corresponding positioning track of the automatic driving vehicle according to the fusion positioning data;
and checking whether the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fusion positioning data meet the fusion positioning requirement preset by the first preset driving condition or not to obtain the checking result of the fusion positioning equipment.
Optionally, the first preset driving condition includes a first test starting point and a first test route, and the generating of the currently corresponding location track of the autonomous vehicle according to the fused location data includes:
converting the fusion positioning data into a coordinate system of the northeast by taking the first test starting point as an origin;
and generating an automatic driving vehicle positioning track corresponding to the fusion positioning data according to the fusion positioning data in the northeast coordinate system.
Optionally, the fused positioning requirement preset by the first preset driving condition includes a normal value threshold of original positioning data corresponding to a test route set by the fused positioning device, and the step of checking whether an automatic driving vehicle positioning track corresponding to the first original positioning data and the fused positioning data meets the fused positioning requirement preset by the first preset driving condition obtains a checking result of the fused positioning device, where the checking result includes:
verifying whether the first raw positioning data is within a normal value threshold range of the raw positioning data;
obtaining an inspection passing result of the fusion positioning device under the condition that the first original positioning data is within a normal value threshold range of the original positioning data;
otherwise, obtaining the test failure result of the fusion positioning equipment, and checking the configuration and connection state of the fusion positioning equipment.
Optionally, the preset fusion positioning requirement of the first preset running condition includes a test route set by the fusion positioning device, and the step of checking whether the positioning track of the autonomous vehicle corresponding to the first original positioning data and the fusion positioning data meets the preset fusion positioning requirement of the first preset running condition includes the step of:
checking whether the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route;
obtaining a checking passing result of the fusion positioning equipment under the condition that the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route;
otherwise, obtaining the test failure result of the fusion positioning equipment, and checking a fusion positioning algorithm built in the fusion positioning equipment.
Optionally, the normal value threshold of the raw positioning data is obtained by:
acquiring second positioning data acquired by the fusion positioning device under a second preset driving condition, wherein the second positioning data comprises second original positioning data obtained based on an inertia measurement unit arranged in the fusion positioning device;
performing statistical analysis on the second original positioning data to obtain data distribution of the second original positioning data;
and determining a normal value threshold of the second original positioning data according to the data distribution of the second original positioning data, wherein the normal value threshold of the second original positioning data is used as the normal value threshold of the original positioning data.
Optionally, the second raw positioning data includes three-axis acceleration and three-axis angular velocity output by the inertial measurement unit, and the normal value threshold of the raw positioning data is obtained by:
respectively carrying out statistical analysis on the triaxial acceleration and the triaxial angular velocity to obtain data distribution of the triaxial acceleration and data distribution of the triaxial angular velocity;
and determining a normal value threshold value of the triaxial acceleration and a normal value threshold value of the triaxial angular velocity according to the data distribution of the triaxial acceleration and the data distribution of the triaxial angular velocity.
Optionally, the second preset driving condition includes a second test starting point and a second test route, and the second preset driving condition is obtained by:
setting a plurality of second test starting points and a second test route corresponding to the second test starting points;
wherein the second test route comprises a route shape and a travel speed, the travel speed comprising any one or more of a constant speed, a constant acceleration, and a variable acceleration.
In a second aspect, an embodiment of the present application further provides an inspection apparatus for a fusion positioning device, where the apparatus includes:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
the generating unit is used for generating a current corresponding automatic driving vehicle positioning track according to the fusion positioning data;
and the inspection unit is used for inspecting whether the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fusion positioning data meet the fusion positioning requirement preset by the first preset driving condition or not, and obtaining the inspection result of the fusion positioning equipment.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: the method for detecting the fusion positioning device comprises the steps of firstly obtaining first positioning data output by the fusion positioning device of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning device is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning device and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning device; then generating a corresponding automatic driving vehicle positioning track according to the fusion positioning data; and finally, checking whether the positioning track of the automatic driving vehicle corresponding to the first original positioning data and the fusion positioning data meets the fusion positioning requirement preset by the first preset driving condition or not to obtain the checking result of the fusion positioning equipment. According to the inspection method for the fusion positioning equipment, the positioning data output by the fusion positioning equipment under the preset running condition is analyzed, so that the fusion positioning equipment and the accuracy of a fusion positioning algorithm can be simply and quickly inspected, true value equipment or a high-precision map is not needed, the efficiency is higher, and the cost is lower.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a method for inspecting a fusion positioning device according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an inspection apparatus incorporating a positioning device in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
An embodiment of the present application provides a method for inspecting a fusion positioning device, and as shown in fig. 1, a flow diagram of the method for inspecting a fusion positioning device in the embodiment of the present application is provided, where the method at least includes the following steps S110 to S130:
step S110, acquiring first positioning data output by a fusion positioning device of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning device is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning device and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning device.
Before the fusion positioning capability of the fusion positioning equipment is checked, the fusion positioning equipment is required to be installed at the corresponding position of the automatic driving vehicle in advance, the fusion positioning equipment can comprise inertial navigation equipment capable of realizing a combined navigation positioning function, a fusion positioning algorithm is further built in the fusion positioning equipment, and the high-precision positioning of the automatic driving vehicle is realized through the fusion positioning algorithm. The method and the device for testing the fusion positioning capability of the fusion positioning device can test the fusion positioning device and can also test internal logic of a fusion positioning algorithm.
When the fusion positioning capability of the fusion positioning device is checked, first positioning data output by the fusion positioning device under a first preset driving condition needs to be obtained first, wherein the first preset driving condition may be a set driving mode of the autonomous vehicle, and a person skilled in the art may flexibly set the first positioning data according to actual test requirements, which is not specifically limited herein.
The first positioning data specifically can comprise original positioning data and fusion positioning data, and the fusion positioning data can be obtained after fusion of the first original positioning data and positioning data output by other sensors by using a fusion positioning algorithm. For example, if the fusion positioning device is composed of an Inertial Measurement Unit (IMU) and a Real-Time differential positioning device (RTK), the first raw positioning data may be the positioning data originally output by the IMU, and the fusion positioning data may be the positioning data output after the positioning data originally output by the IMU and the positioning data output by the RTK are fused by using a kalman filter.
And step S120, generating a current corresponding positioning track of the automatic driving vehicle according to the fusion positioning data.
After the first original positioning data and the fusion positioning data are obtained, a visual automatic driving vehicle positioning track can be generated based on the fusion positioning data, and whether the automatic driving vehicle positioning track is accurate or not can be conveniently and visually checked subsequently.
Step S130, checking whether the positioning trajectory of the autonomous vehicle corresponding to the first original positioning data and the fused positioning data meets a fused positioning requirement preset by the first preset driving condition, to obtain a checking result of the fused positioning device.
Under the actual test scene, it can be many to predetermine the condition of traveling, and the requirement of the positioning accuracy that the different predetermined condition of traveling corresponds is also different, consequently this application embodiment is obtaining to merge after the automatic driving vehicle positioning track that the first initial positioning data of positioning device output and the fusion positioning data correspond, need to inspect respectively whether the automatic driving vehicle positioning track that first initial positioning data and fusion positioning data correspond all satisfies the corresponding integration positioning requirement of first predetermined condition of traveling to obtain final inspection result that fuses the positioning device.
According to the inspection method for the fusion positioning equipment, the positioning data output by the fusion positioning equipment under the preset running condition is analyzed, so that the fusion positioning equipment and the accuracy of a fusion positioning algorithm can be simply and quickly inspected, true value equipment or a high-precision map is not needed, the efficiency is higher, and the cost is lower.
In an embodiment of the present application, the first preset driving condition includes a first test starting point and a first test route, and the generating of the current corresponding location track of the autonomous vehicle according to the fused location data includes: converting the fusion positioning data into a coordinate system of the northeast by taking the first test starting point as an origin; and generating an automatic driving vehicle positioning track corresponding to the fusion positioning data according to the fusion positioning data under the northeast coordinate system.
The first preset driving condition of the embodiment of the present application may include a first test starting point, which is a starting position of the autonomous vehicle, and may further include a first test route, which is a route shape and a driving speed according to which the autonomous vehicle is driven. When the automatic driving vehicle positioning track is generated, the first test starting point can be used as an origin, the fusion positioning data output by the fusion positioning equipment is converted to be in an East-North-Up (ENU for short) coordinate system, and then the fusion positioning data in the ENU coordinate system of the northeast are processed to generate the visual automatic driving vehicle positioning track.
In an embodiment of the present application, the predetermined fused positioning requirement of the first preset driving condition includes a normal value threshold of the original positioning data corresponding to the testing route set by the fused positioning device, and the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fused positioning data are checked to determine whether the fused positioning requirement of the first preset driving condition is met, and the check result of the fused positioning device includes: verifying whether the first raw positioning data is within a normal value threshold range of the raw positioning data; obtaining an inspection passing result of the fusion positioning device under the condition that the first original positioning data is within a normal value threshold range of the original positioning data; otherwise, obtaining the test failure result of the fusion positioning equipment, and checking the configuration and connection state of the fusion positioning equipment.
The predetermined fusion location requirement of first predetermined condition of traveling of this application embodiment can include the normal value threshold value of the original positioning data of fusion positioning device output under the test route of presetting, when the location ability of the current fusion positioning device is examined, can analyze the current location data of fusing the location output, for example, judge whether the original location data of output of fusion positioning device is in above-mentioned normal value threshold value scope of setting for, if at, show that fusion positioning device does not have the problem, otherwise, need to inspect the circumstances such as connection, configuration of fusion positioning device, in order to guarantee that fusion positioning device has normal output.
In an embodiment of the present application, the predetermined fused positioning requirement of the first preset driving condition includes the testing route set by the fused positioning device, and the checking whether the first original positioning data and the positioning track of the autopilot vehicle corresponding to the fused positioning data satisfy the predetermined fused positioning requirement of the first preset driving condition is to obtain the checking result of the fused positioning device includes: checking whether the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route; obtaining a checking passing result of the fusion positioning equipment under the condition that the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route; otherwise, obtaining the test failure result of the fusion positioning equipment, and checking a fusion positioning algorithm built in the fusion positioning equipment.
The preset fusion positioning requirement of the first preset running condition can further comprise a test route set by the fusion positioning equipment, and the automatic driving vehicle positioning track is generated based on the fusion positioning data, and the fusion positioning data is obtained by calculating the positioning data collected according to the set test route through the fusion positioning algorithm, so that the automatic driving vehicle positioning track generated based on the fusion positioning data is compared with the set test route, and whether the internal implementation logic of the fusion positioning algorithm has a problem can be determined according to the comparison result.
The dimensions of the comparison may include whether the autonomous vehicle position track is smooth and whether the shape of the autonomous vehicle position track conforms to the test route. If the positioning track of the automatic driving vehicle is smooth and the shape of the automatic driving vehicle is consistent with the test route, the fusion positioning algorithm can be considered to have no problem; however, if the positioning track of the autonomous vehicle is not smooth or the shape of the positioning track does not conform to the test route, for example, the shape of the preset test route is an L shape, and the positioning track of the actual autonomous vehicle is a V shape, the fusion positioning algorithm is considered to have a problem, and the internal logic of the fusion positioning algorithm needs to be further checked. In addition, whether the angle fusion, the speed fusion, the positioning frequency and the like are accurate or not can be verified.
In an embodiment of the present application, the normal value threshold of the raw positioning data is obtained by: acquiring second positioning data acquired by the fusion positioning device under a second preset driving condition, wherein the second positioning data comprises second original positioning data obtained based on an inertia measurement unit arranged in the fusion positioning device; performing statistical analysis on the second original positioning data to obtain data distribution of the second original positioning data; and determining a normal value threshold of the second original positioning data according to the data distribution of the second original positioning data, wherein the normal value threshold of the second original positioning data is used as the normal value threshold of the original positioning data.
When the normal value threshold value of the original positioning data is determined, in order to avoid loss of generality, a large amount of original positioning data can be collected through normal fusion positioning equipment under different second preset driving conditions, for example, a large amount of original IMU positioning data is collected through an IMU in the fusion positioning equipment, then the collected original positioning data is subjected to statistical analysis by using a data statistical analysis method, the data distribution condition of the original positioning data is obtained, and the normal value threshold value of the original positioning data is determined according to the data distribution condition.
In an embodiment of the present application, the second raw positioning data includes three-axis acceleration and three-axis angular velocity output by the inertial measurement unit, and the normal value threshold of the raw positioning data is obtained by: respectively carrying out statistical analysis on the triaxial acceleration and the triaxial angular velocity to obtain data distribution of the triaxial acceleration and data distribution of the triaxial angular velocity; and determining a normal value threshold value of the triaxial acceleration and a normal value threshold value of the triaxial angular velocity according to the data distribution of the triaxial acceleration and the data distribution of the triaxial angular velocity.
As described above, the fusion positioning device according to the embodiment of the present application may include an IMU, and the second original positioning data acquired by the IMU may specifically include three-axis acceleration and three-axis angular velocity originally output by the IMU, count numerical distributions of the three-axis acceleration and the three-axis angular velocity, and determine normal value thresholds of the three-axis acceleration and the three-axis angular velocity of the IMU according to the numerical distributions.
It should be noted that the distribution conditions of the positioning data acquired under different driving conditions may be different, and therefore, the normal value thresholds of the corresponding original positioning data may also be different, and in an actual test scenario, the normal value thresholds of the original positioning data corresponding to different driving conditions may be determined according to specific conditions.
In one embodiment of the present application, the second preset driving condition includes a second test starting point and a second test route, and the second preset driving condition is obtained by: setting a plurality of second test starting points and a second test route corresponding to the second test starting points; wherein the second test route comprises a route shape and a travel speed, the travel speed comprising any one or more of a constant speed, a constant acceleration, and a variable acceleration.
In setting the driving conditions, a plurality of test starting points and corresponding test routes may be set, each of which may correspond to one or more different test routes, where the test routes may include a route shape and a driving speed on the route, the route shape and the driving speed are required to include as many cases as possible that the autonomous vehicle may encounter in actual driving, for example, the route shape may include a straight shape, an S shape, an L shape, an O shape, a V shape, etc., and the driving speed may include a constant speed, a constant acceleration, a variable acceleration, etc.
By combining the above-mentioned dimensions, various driving scenes such as acceleration and deceleration straight running, turning, passing, and winding can be basically covered, for example, constant speed straight running at a plurality of different speeds on a straight driving route, constant speed straight running at a plurality of different constant acceleration on a straight driving route, constant speed driving on an L-shaped driving route, constant speed driving on an S-shaped or O-shaped driving route, and the like.
By setting multiple sets of running conditions, the embodiment of the application can include various positioning errors which may occur in an actual scene, such as:
1) the test route of the O shape or the S shape can verify whether the angle fusion is correct or not;
2) the straight-line running line runs straight at a plurality of groups of constant speeds, and whether the positioning frequency is correct can be verified through visual positioning intervals;
3) the straight-line running can be accelerated at multiple groups of different speeds on the straight-line running route, and whether the speed fusion is correct can be verified.
The embodiment of the present application further provides an inspection apparatus 200 for a fusion positioning device, as shown in fig. 2, which provides a schematic structural diagram of the inspection apparatus for a fusion positioning device in the embodiment of the present application, where the apparatus 200 includes: acquisition unit 210, generate unit 220 and inspection unit 230, wherein:
the system comprises an acquisition unit 210, a processing unit and a processing unit, wherein the acquisition unit 210 is used for acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
the generating unit 220 is configured to generate a current corresponding positioning track of the autonomous vehicle according to the fusion positioning data;
the checking unit 230 is configured to check whether the positioning track of the autonomous vehicle corresponding to the first original positioning data and the fused positioning data meets a fused positioning requirement preset by the first preset driving condition, so as to obtain a checking result of the fused positioning device.
In an embodiment of the present application, the generating unit 220 is specifically configured to: converting the fusion positioning data into a coordinate system of the northeast by taking the first test starting point as an origin; and generating an automatic driving vehicle positioning track corresponding to the fusion positioning data according to the fusion positioning data under the northeast coordinate system.
In an embodiment of the application, the fused positioning requirement preset by the first preset driving condition includes a normal value threshold of the original positioning data corresponding to the test route set by the fused positioning device, and the checking unit 230 is specifically configured to: verifying whether the first raw positioning data is within a normal value threshold range of the raw positioning data; obtaining an inspection passing result of the fusion positioning device under the condition that the first original positioning data is within a normal value threshold range of the original positioning data; otherwise, obtaining the test failure result of the fusion positioning equipment, and checking the configuration and connection state of the fusion positioning equipment.
In an embodiment of the application, the fusion positioning requirement preset by the first preset driving condition includes a test route set by the fusion positioning device, and the checking unit 230 is specifically configured to: checking whether the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route; obtaining a checking passing result of the fusion positioning equipment under the condition that the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route; otherwise, obtaining the test failure result of the fusion positioning equipment, and checking a fusion positioning algorithm built in the fusion positioning equipment.
In an embodiment of the present application, the normal value threshold of the raw positioning data is obtained by: acquiring second positioning data acquired by the fusion positioning device under a second preset driving condition, wherein the second positioning data comprises second original positioning data obtained based on an inertia measurement unit arranged in the fusion positioning device; performing statistical analysis on the second original positioning data to obtain data distribution of the second original positioning data; and determining a normal value threshold of the second original positioning data according to the data distribution of the second original positioning data, wherein the normal value threshold of the second original positioning data is used as the normal value threshold of the original positioning data.
In one embodiment of the present application, the second positioning data comprises first raw positioning data of an inertial measurement unit IMU, the first raw positioning data of the IMU comprises acceleration of the IMU and angular velocity of the IMU, and a normal value threshold of the raw positioning data is obtained by: respectively carrying out statistical analysis on the triaxial acceleration and the triaxial angular velocity to obtain data distribution of the triaxial acceleration and data distribution of the triaxial angular velocity; and determining a normal value threshold value of the triaxial acceleration and a normal value threshold value of the triaxial angular velocity according to the data distribution of the triaxial acceleration and the data distribution of the triaxial angular velocity.
In one embodiment of the present application, the second preset driving condition includes a second test starting point and a second test route, and the second preset driving condition is obtained by: setting a plurality of second test starting points and a second test route corresponding to the second test starting points; wherein the second test route comprises a route shape and a travel speed, the travel speed comprising any one or more of a constant speed, a constant acceleration, and a variable acceleration.
It can be understood that the above-mentioned inspection apparatus for fusion positioning device can implement each step of the inspection method for fusion positioning device provided in the foregoing embodiments, and the explanations related to the inspection method for fusion positioning device are applicable to the inspection apparatus for fusion positioning device, and are not described herein again.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 3, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 3, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the checking device of the fusion positioning equipment on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
generating a current corresponding positioning track of the automatic driving vehicle according to the fusion positioning data;
and checking whether the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fusion positioning data meet the fusion positioning requirement preset by the first preset driving condition or not to obtain the checking result of the fusion positioning equipment.
The method executed by the inspection device of the fusion positioning apparatus as disclosed in the embodiment of fig. 1 of the present application can be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the inspection apparatus of the fusion positioning device in fig. 1, and implement the functions of the inspection apparatus of the fusion positioning device in the embodiment shown in fig. 1, which are not described herein again in this embodiment of the present application.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to perform the method performed by the inspection apparatus for a fusion positioning device in the embodiment shown in fig. 1, and are specifically configured to perform:
acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
generating a current corresponding positioning track of the automatic driving vehicle according to the fusion positioning data;
and checking whether the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fusion positioning data meet the fusion positioning requirement preset by the first preset driving condition or not to obtain the checking result of the fusion positioning equipment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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, embedded processor, 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of inspection of a fusion localization apparatus, wherein the method comprises:
acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, wherein the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
generating a current corresponding positioning track of the automatic driving vehicle according to the fusion positioning data;
and checking whether the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fusion positioning data meet the fusion positioning requirement preset by the first preset driving condition or not to obtain the checking result of the fusion positioning equipment.
2. The method of claim 1, wherein the first preset driving condition comprises a first test starting point and a first test route, and the generating a current corresponding autonomous vehicle positioning track from the fused positioning data comprises:
converting the fusion positioning data into a coordinate system of the northeast by taking the first test starting point as an origin;
and generating an automatic driving vehicle positioning track corresponding to the fusion positioning data according to the fusion positioning data in the northeast coordinate system.
3. The method according to claim 1, wherein the fused positioning requirement preset by the first preset driving condition includes a normal value threshold of the original positioning data corresponding to the test route set by the fused positioning device, and the checking whether the positioning track of the autonomous vehicle corresponding to the first original positioning data and the fused positioning data meets the fused positioning requirement preset by the first preset driving condition includes:
verifying whether the first raw positioning data is within a normal value threshold range of the raw positioning data;
obtaining an inspection passing result of the fusion positioning device under the condition that the first original positioning data is within a normal value threshold range of the original positioning data;
otherwise, obtaining the test failure result of the fusion positioning equipment, and checking the configuration and connection state of the fusion positioning equipment.
4. The method according to claim 1, wherein the fused positioning requirement preset by the first preset driving condition includes a test route set by the fused positioning device, and the checking whether the positioning track of the autonomous vehicle corresponding to the first original positioning data and the fused positioning data meets the fused positioning requirement preset by the first preset driving condition includes:
checking whether the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route;
obtaining a checking passing result of the fusion positioning equipment under the condition that the positioning track of the automatic driving vehicle corresponding to the fusion positioning data conforms to the test route;
otherwise, obtaining the test failure result of the fusion positioning equipment, and checking a fusion positioning algorithm built in the fusion positioning equipment.
5. The method of claim 3, wherein the normal value threshold of the raw positioning data is obtained by:
acquiring second positioning data acquired by the fusion positioning device under a second preset driving condition, wherein the second positioning data comprises second original positioning data obtained based on an inertia measurement unit arranged in the fusion positioning device;
performing statistical analysis on the second original positioning data to obtain data distribution of the second original positioning data;
and determining a normal value threshold of the second original positioning data according to the data distribution of the second original positioning data, wherein the normal value threshold of the second original positioning data is used as the normal value threshold of the original positioning data.
6. The method of claim 5, wherein the second raw positioning data comprises three-axis acceleration and three-axis angular velocity output by the inertial measurement unit, and the normal value threshold of the raw positioning data is obtained by:
respectively carrying out statistical analysis on the triaxial acceleration and the triaxial angular velocity to obtain data distribution of the triaxial acceleration and data distribution of the triaxial angular velocity;
and determining a normal value threshold value of the triaxial acceleration and a normal value threshold value of the triaxial angular velocity according to the data distribution of the triaxial acceleration and the data distribution of the triaxial angular velocity.
7. The method of claim 5, wherein the second preset driving condition comprises a second test starting point and a second test route, and the second preset driving condition is obtained by:
setting a plurality of second test starting points and a second test route corresponding to the second test starting points;
wherein the second test route comprises a route shape and a travel speed, the travel speed comprising any one or more of a constant speed, a constant acceleration, and a variable acceleration.
8. An inspection apparatus of a fusion positioning device, wherein the apparatus comprises:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring first positioning data output by fusion positioning equipment of an automatic driving vehicle under a first preset driving condition, the fusion positioning equipment is installed on the automatic driving vehicle in advance, and the first positioning data comprises first original positioning data obtained based on an inertia measurement unit built in the fusion positioning equipment and fusion positioning data obtained based on a fusion positioning algorithm built in the fusion positioning equipment;
the generating unit is used for generating a current corresponding automatic driving vehicle positioning track according to the fusion positioning data;
and the inspection unit is used for inspecting whether the first original positioning data and the positioning track of the automatic driving vehicle corresponding to the fusion positioning data meet the fusion positioning requirement preset by the first preset driving condition or not, and obtaining the inspection result of the fusion positioning equipment.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.
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