CN114117257A - Processing method, device and equipment for generating positioning information of high-precision map - Google Patents

Processing method, device and equipment for generating positioning information of high-precision map Download PDF

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CN114117257A
CN114117257A CN202111429352.5A CN202111429352A CN114117257A CN 114117257 A CN114117257 A CN 114117257A CN 202111429352 A CN202111429352 A CN 202111429352A CN 114117257 A CN114117257 A CN 114117257A
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frame
information
positioning information
positioning
global positioning
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吴启扬
侯深化
周尧
彭亮
万国伟
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Apollo Intelligent Technology Beijing Co Ltd
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Apollo Intelligent Technology Beijing Co Ltd
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Abstract

The disclosure provides a processing method, a processing device and processing equipment for generating positioning information of a high-precision map, and relates to the field of artificial intelligence, in particular to the field of automatic driving. The specific implementation scheme is as follows: acquiring historical positioning information of the vehicle on a historical track, wherein the historical positioning information comprises global positioning information and interframe positioning information of each frame of the vehicle on the historical track; determining weight information of the frame according to the strength of a positioning signal corresponding to the frame and indicated by the global positioning information of the frame; determining optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.

Description

Processing method, device and equipment for generating positioning information of high-precision map
Technical Field
The disclosure relates to the field of artificial intelligence, in particular to a processing method, a processing device and processing equipment for generating positioning information of a high-precision map, and the processing method, the processing device and the processing equipment can be used in the field of automatic driving.
Background
With the rapid development of artificial intelligence, the demand for automatic driving is also increasing day by day. Autonomous vehicles are typically driven on the basis of a high-precision map that has been generated on the basis of the positioning information of the vehicle.
At present, when the positioning information of a vehicle is collected, the vehicle can be positioned according to the vehicle so as to obtain the positioning information of the vehicle; or, the positioning information of the vehicle is obtained by a method of resolving after a Global Navigation Satellite System-Inertial Measurement Unit (GNSS-IMU for short).
However, in the above methods, positioning information needs to be obtained based on a positioning signal (a positioning signal, such as a positioning signal of a global positioning system, or a positioning signal of a base station); if the positioning signal is missing, the positioning information of the obtained vehicle is inaccurate, and further, the generated high-precision map is not accurate.
Disclosure of Invention
The disclosure provides a processing method, a device and equipment for generating positioning information of a high-precision map.
According to a first aspect of the present disclosure, there is provided a processing method for generating positioning information of a high-precision map, including:
acquiring historical positioning information of a vehicle on a historical track, wherein the historical positioning information comprises global positioning information and interframe positioning information of each frame of the vehicle on the historical track;
determining weight information of the frame according to the strength of a positioning signal corresponding to the frame and indicated by the global positioning information of the frame;
determining optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
According to a second aspect of the present disclosure, there is provided a processing apparatus for positioning information, including:
the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring historical positioning information of a vehicle on a historical track, and the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track;
a first determining unit, configured to determine weight information of a frame according to strength of a positioning signal corresponding to the frame, which is indicated by global positioning information of the frame;
the second determining unit is used for determining the optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
According to a third aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.
The technology according to the present disclosure solves the problem that the generated high-precision map is not accurate due to inaccurate positioning information of the vehicle.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic illustration of one usage scenario illustrated in accordance with the present disclosure;
FIG. 2 is a schematic diagram according to a first embodiment of the present disclosure;
FIG. 3 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a third embodiment of the present disclosure;
FIG. 5 is a schematic diagram according to a fourth embodiment of the present disclosure;
FIG. 6 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 7 is a schematic diagram according to a sixth embodiment of the present disclosure;
FIG. 8 is a schematic diagram according to a seventh embodiment of the present disclosure;
FIG. 9 is a schematic block diagram of an example electronic device used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The disclosure provides a processing method, a processing device and processing equipment for generating positioning information of a high-precision map, which are applied to the field of automatic driving in the field of artificial intelligence so as to achieve the purpose of improving the accuracy of the positioning information of a vehicle and further improve the precision of the generated high-precision map.
The use scene of the method is under the condition that GPS signals or base station signals are weak, such as tunnels and malls, and the accuracy of global positioning information of the vehicle is low. Therefore, how to improve the accuracy of the global positioning information of the vehicle in this scenario is a problem to be solved by the present disclosure.
In particular, a usage scenario of the present disclosure may be seen in fig. 1, where fig. 1 is a schematic diagram of one usage scenario illustrated according to the present disclosure. The schematic includes, among other things, a vehicle 101, a road, and a large number of trees. In fig. 1, the vehicle 101 travels to a road with a large number of trees, and at this time, the GPS signal of the vehicle 101 is not good due to the occlusion of tree shadows, so the accuracy of the global positioning information of the vehicle 101 is reduced, and the method of the present disclosure is required to process the positioning information at this time so as to improve the accuracy of the positioning information at this time.
According to an embodiment of the present disclosure, the present disclosure further provides a processing method for generating positioning information of a high-precision map, and fig. 2 is a schematic diagram according to a first embodiment of the present disclosure, including:
s201, obtaining historical positioning information of the vehicle on the historical track, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track.
Illustratively, the historical track is a track traveled by the vehicle in a past time period, and the historical positioning information is information contained in the historical track and capable of representing the position of each frame of the historical track. For example, the historical positioning information may be longitude and latitude information of each frame, and specific national road, provincial road information, and the like.
In this embodiment, the frame is a unit of each time on the historical track, and in one example, the frame may also be a unit representing each point on the historical track. The global positioning information of each frame comprises global pose information, and further the global pose information comprises position information and attitude information. For example, the global pose information is position information of longitude 30 and latitude 60, and pose information of vehicle speed 60 in a straight-ahead state. It should be noted that the location information may be various information representing the specific geographic location of the vehicle, and is not limited to longitude and latitude information, provincial city information, and the like. The attitude information may include direction, acceleration, angular velocity, and the like. Wherein, the global positioning information is obtained by GPS, base station or based on high-precision map stored in the server.
In this embodiment, the inter-frame positioning information is acquired by a sensor mounted on the vehicle, and the sensor includes: cameras, rangefinders, wheel speed gauges, and the like. Specifically, the interframe positioning information is acquired by an inertial measurement unit, a wheel speed meter and a camera. The inter-frame positioning information is information that the vehicle can acquire at any time and is not limited by the external environment.
S202, determining the weight information of the frame according to the strength of the positioning signal corresponding to the frame and indicated by the global positioning information of the frame.
For example, the strength of the positioning signal is used to represent the strength of the positioning signal corresponding to the frame, specifically, the strength levels may be different, for example, the strength level is 12 levels, and the strength levels are respectively strength level 1 level, strength level 2 level, strength level 3 level, strength level 4 level, strength level 5 level, and the like, and so on, and thus, the details are not described herein again. In this case, the intensity level of 12 may be higher than the intensity level of 11, and the intensity levels are gradually decreased according to the size of the number.
In this embodiment, the intensities of different frames may be the same or different. Further, the weight information of different frames is different according to the strength of the positioning signal of the frame. Wherein the weight information is a measure for characterizing the strength of the positioning signal of the frame. Further, signals with strong positioning signal strength can be represented by large values in the weight information.
S203, determining optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
Illustratively, the optimized positioning information of the frame is positioning information obtained by adjusting the positioning information of the original frame, wherein the accuracy of the optimized positioning information of the frame is relatively high. A high-precision map is a map that can represent specific positioning information.
The present disclosure provides a processing method for generating positioning information of a high-precision map, including: the method comprises the steps of obtaining historical positioning information of a vehicle on a historical track, determining weight information of a frame according to the strength of a positioning signal corresponding to the frame and indicated by global positioning information of the frame, and determining optimized positioning information of the frame according to the global positioning information, interframe positioning information and weight information of the frame. By the technical scheme, inaccurate positioning information in the driving process of the vehicle can be corrected, and the accuracy of the generated high-precision map is further improved.
According to an embodiment of the present disclosure, the present disclosure further provides a processing method for generating positioning information of a high-precision map, and fig. 3 is a schematic diagram according to a second embodiment of the present disclosure, including:
s301, obtaining historical positioning information of the vehicle on the historical track, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track.
For example, this step may refer to step S101, which is not described herein again.
And S302, if the global positioning information representation frame of the frame has a positioning signal, the weight information of the frame is first preset value information. If the global positioning information representation frame of the frame does not have the positioning signal, the weight information of the frame is second preset value information; and the first preset value information and the second preset value information represent different numerical values.
For example, the positioning signal is a signal that can represent a specific position, and both the first preset value information and the second preset value information are preset values, where the number of the first preset value information and the number of the second preset value information are not limited. For example, if the first preset value information is a, when the global positioning information of the fifth frame indicates that the fifth frame has a positioning signal, the weight information of the fifth frame is a. And if the second preset value information is b, setting the weight information of the sixth frame as b when the global positioning information of the sixth frame indicates that the sixth frame does not have the positioning signal. The method has the advantages that adjustment in different degrees is carried out according to the existence of the positioning signals in the global positioning information of different frames, and the global position problem caused by vehicle end positioning drift can be effectively corrected due to the adjustment carried out aiming at the frames.
In one example, the global positioning information includes map indication data, a solution of a global positioning system GPS signal, and a global positioning standard deviation; wherein the map indication data is used to indicate whether the frame has corresponding high-precision map data; the global positioning standard deviation represents a difference between the measured positioning information corresponding to the frame and the real positioning information corresponding to the frame.
In this embodiment, whether the frame has corresponding high-precision map data or not can be obtained from the map instruction data, and digital information, graphic information, and the like which can be used as map specification can be included in the map instruction data. The solution of the GPS signal includes any of: fixed solution, floating solution, difference decomposition, and single point solution. Where the fixed solution is the ambiguity when using carrier phase observations for positioning, and the ambiguity is theoretically an integer. After the ambiguity of the integer is solved through the algorithm, the positioning precision can be greatly improved. The solution that the GPS signal cannot solve for the integer at times is a floating solution. The 3D coordinates calculated by the GPS signal receiver without any differential correction information are single point solutions. In this embodiment, for example, if the measured positioning information corresponding to the frame is a, and the real positioning information corresponding to the frame is b, the difference between the two is the global positioning standard deviation, and it should be noted that the difference is not limited to a one-dimensional difference, and may be a three-dimensional difference, or may be a difference between positions of rigid bodies.
The advantage of setting up like this is that the information in the global positioning information is not single, can judge whether possess global positioning information through more than one kind mode, when one of them judgement mode can't be in effect, can also judge whether have global positioning information through other modes, and then can guarantee going on smoothly of follow-up work.
In one example, a frame is determined to have a positioning signal if the map indication data of the frame characterizes the frame as having corresponding high precision map data; or if the solution of the GPS signal of the frame is determined to be a real-time dynamic RTK fixed solution and the global positioning standard deviation of the frame is smaller than a preset value, determining that the frame has the positioning signal.
For example, a specific frame is determined, and whether corresponding high-precision map data exists in the map indication data of the frame, if so, the frame can be determined to be provided with a positioning signal acquired by a GPS or a base station.
In one example, a way to determine that a frame has a positioning signal is to determine whether a solution of a GPS signal of the frame is Real-time kinematic (RTK), and a global positioning standard deviation of the frame is smaller than a preset value.
In one example, if it is determined that the global positioning information of the frame indicates that the frame meets the preset condition, it is determined that the frame does not have the positioning signal.
Wherein the preset conditions include one or more of the following: the map indication data representation frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is larger than or equal to a preset value. The advantage of this arrangement is that the function of acquiring information using the in-vehicle sensor can be fully exploited and the information of the high-precision map can be fully utilized.
Exemplarily, the frame without the positioning signal may be the following case:
the first case is: when the map indication data representation frame does not have corresponding high-precision map data.
The second case is: the solution of the GPS signal of the frame is not an RTK fixed solution. In this case, the solution of the GPS signal may be a floating point solution, a difference solution, and a single point solution.
The third case is: the global positioning standard deviation of the frame is larger than or equal to a preset value.
The fourth case is: when the map indicating data represents that the solution of the GPS signal of the frame does not have the corresponding high-precision map data is not the RTK fixed solution.
The fifth case is: when the map indicating data representation frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is more than or equal to a preset value.
The sixth case is: the solution of the GPS signal of the frame is not an RTK fixed solution and the global positioning standard deviation of the frame is more than or equal to a preset value. It should be noted that the case where the frame does not have the positioning signal is not limited to the above-mentioned manner, and the above-mentioned case is only for the purpose of more clearly explaining. The advantage of this kind of setting is that the judgement of positioning signal is realized through multiple mode, and the flexibility is higher.
S303, determining optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
For example, this step may refer to step S103, which is not described herein again.
The present disclosure provides a processing method for generating positioning information of a high-precision map, including: and acquiring historical positioning information of the vehicle on a historical track, wherein if the global positioning information representation frame of the frame has a positioning signal, the weight information of the frame is first preset value information. If the global positioning information representation frame of the frame does not have the positioning signal, the weight information of the frame is second preset value information; the first preset value information and the second preset value information represent different values, and the optimized positioning information of the frame is determined according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map. By the technical scheme, whether the positioning signal exists or not can be determined according to the global positioning information of different frames, and then the weight information of the frame is determined. The advantage of this arrangement is that it can solve the problem of positioning information deviation caused by the absence of global positioning information, and can optimize the positioning information of the part.
According to an embodiment of the present disclosure, the present disclosure further provides a processing method for generating positioning information of a high-precision map, and fig. 4 is a schematic diagram according to a third embodiment of the present disclosure, including:
s401, obtaining historical positioning information of the vehicle on a historical track, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track.
For example, this step may refer to step S101, which is not described herein again.
S402, determining the weight information of the frame according to the strength of the positioning signal corresponding to the frame and indicated by the global positioning information of the frame.
For example, this step may refer to step S102, which is not described herein again.
S403, according to the global positioning information of the frame, the inter-frame positioning information of the frame, the to-be-determined optimized positioning information of the frame, and the to-be-determined optimized positioning information of the next frame adjacent to the frame, the constraint condition information of the frame is established.
Illustratively, the to-be-determined optimized positioning information of the frame is positioning information obtained by optimizing current positioning information of the frame, and the to-be-determined optimized positioning information of the frame includes to-be-determined optimized global positioning information of the frame and to-be-determined optimized inter-frame positioning information of the frame. Further, the optimized positioning information to be determined of the next frame adjacent to the frame also includes the optimized global positioning information to be determined and the optimized inter-frame positioning information to be determined of the next frame adjacent to the frame.
In this embodiment, for example, if the current frame is the 3 rd frame, the constraint condition information of the 3 rd frame is established according to the global positioning information of the 3 rd frame, the inter-frame positioning information of the 3 rd frame, the to-be-determined optimized positioning information of the 3 rd frame, and the to-be-determined optimized positioning information of the 4 th frame. The advantage of this arrangement is that the optimized positioning information of the frame can be determined according to the different positioning information of the frame and the adjacent frame, and the accuracy of the constraint condition information of the frame can be improved due to the consideration of the positioning information of various aspects of the frame.
Illustratively, wherein the constraint information includes an inter-frame positioning constraint, a global positioning constraint, and a relative constraint; according to the global positioning information of the frame, the inter-frame positioning information of the frame, the optimal positioning information to be determined of the frame and the optimal positioning information to be determined of the next frame adjacent to the frame, the constraint condition information of the frame is established, and the constraint condition information comprises the following steps:
establishing an interframe positioning constraint condition of the frame according to interframe positioning information of the frame, to-be-determined optimized positioning information of the frame and to-be-determined optimized positioning information of a next frame adjacent to the frame; establishing a global positioning constraint condition of the frame according to the global positioning information of the frame and the optimized positioning information to be determined of the frame; establishing relative constraint conditions of frames according to interframe positioning information of the frames, preset parameters of the frames, optimized positioning information to be determined of the frames and optimized positioning information to be determined of the next frame adjacent to the frames; the preset parameter representation frame has no preset offset set when the positioning signal exists; the relative constraint condition represents the constraint of the global positioning information on the inter-frame positioning information.
Illustratively, the inter-frame positioning information of a frame, the optimal positioning information to be determined of the frame, and the optimal positioning information to be determined of a next frame adjacent to the frame together determine an inter-frame positioning constraint condition of the frame, wherein the optimal positioning information to be determined of the frame and the optimal positioning information to be determined of the next frame adjacent to the frame are numerical quantities to be determined, and the inter-frame positioning information of the frame is acquired by a sensor mounted on a vehicle, so that the information can be acquired for each frame.
Illustratively, the global positioning constraint condition of the frame may be obtained from global positioning information of the frame, the optimal positioning information to be determined of the frame is a numerical quantity to be determined, and in the presence of the global positioning information, the global positioning constraint condition of the frame may be used due to the presence of the global positioning information of the frame.
For example, the relative constraint condition of the frame may be determined by two to-be-determined numerical quantities, namely, the to-be-determined optimized positioning information of the frame, the to-be-determined optimized positioning information of the next frame adjacent to the frame, the preset parameter of the frame, and the inter-frame positioning information of the frame. The purpose of setting the preset parameters of the frame is that the inter-frame positioning information of the frame needs to be adjusted through the preset parameters of the frame because the inter-frame positioning information of the frame has deviation under the condition that the global positioning information does not exist, so that the accuracy is improved. The advantage of this arrangement is that each type of constraint in the constraint information is calculated, so that the final constraint is objective and comprehensive.
Illustratively, the weight information includes a first weight corresponding to the global positioning constraint and a second weight corresponding to the relative constraint; if the global positioning information representation frame of the frame has a positioning signal, the value of the first weight of the frame is a first value, and the value of the second weight of the frame is a second value; wherein the second value is less than the first value; if the global positioning information representation frame of the frame does not have the positioning signal, the value of the first weight of the frame is a second value, and the value of the second weight of the frame is a third value; wherein the second value is less than the third value. The advantage of setting up like this is, when having the locating signal, then can strengthen the weight of global positioning constraint, when not having the locating signal, then weakens the weight of global positioning constraint, is more reasonable and actual a mode like this, and the result that obtains just can more laminate actual conditions.
In this embodiment, the weight information is determined by the global positioning constraint and the relative constraint, and in one example, may be composed of the sum of the global positioning constraint and the relative constraint, and different weights are set for the global positioning constraint and the relative constraint.
In this embodiment, when the global positioning information of the frame determines that the frame has the positioning signal, it may be indicated that the current frame has the GPS signal, and the value of the first weight may be set as the first value and the value of the second weight may be set as the second value accordingly. For example, if it is determined that the positioning signal is present in the global positioning information of the fifth frame, the first value of the fifth frame may be set to 3, and the second value of the fifth frame may be set to a value smaller than 3. When the frame does not have the positioning signal, it may be determined that the current frame does not have the GPS signal, and the second value of the fifth frame may be set to 0, and the third value of the fifth frame may be set to a value greater than 0.
In one example, the second value is zero and the first and third values are both positive numbers.
For example, the numerical values of the first and third values are not limited and may be the same positive number or different positive numbers. The advantage of setting up like this is through the difference of first value and third value numerical value, can play the effect of the adjustment of different degrees, is a more intelligent mode.
S404, determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame.
Illustratively, after the constraint condition information and the weight information of the frame are obtained, the constraint condition information of the frame and the weight information matched with the constraint condition are combined, and then the optimized positioning information of the frame is determined.
In one example, the inter-frame positioning constraint information of the frame is determined according to the inter-frame positioning constraint condition of the frame and a preset third weight corresponding to the inter-frame positioning constraint condition of the frame.
Illustratively, the inter-frame positioning constraint condition of the frame and the preset third weight together determine the inter-frame positioning constraint condition of the frame, and further, the inter-frame positioning constraint condition of the frame and the preset third weight together determine the inter-frame positioning constraint information of the frame.
In one example, global localization constraint information for a frame is determined based on a global localization constraint for the frame and a first weight corresponding to the global localization constraint for the frame.
Illustratively, the global localization constraint of the frame and the first weight together determine the global localization constraint information of the frame, and further, the global localization constraint of the frame and the product of the global localization constraint of the frame and the first weight together determine the global localization constraint information of the frame.
In this embodiment, the relative constraint information of the frame is determined according to the relative constraint condition of the frame and the second weight corresponding to the relative constraint condition of the frame.
Illustratively, the relative constraint of the frame and the second weight together determine the relative constraint information of the frame, and further, the product of the relative constraint of the frame and the second weight together determine the relative constraint information of the frame.
In this embodiment, the interframe positioning constraint information, the global positioning constraint information, and the relative constraint information of the frame are processed in a least square manner to obtain the optimized positioning information of the frame.
Illustratively, the optimized positioning information of the frame is determined by the interframe positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame, and in one example, the optimized positioning information of the frame may be determined by summing the interframe positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame to obtain a final result and then determining the result in a least square manner. The advantage of the arrangement is that the solution obtained by the least square method is the optimal solution obtained under various constraint conditions, and the optimal positioning information can be represented, and the solution has the minimum variance.
Illustratively, the inter-frame positioning constraint of the ith frame is
Figure BDA0003379653260000111
The global positioning constraint of the ith frame is
Figure BDA0003379653260000112
The relative constraint of the ith frame is
Figure BDA0003379653260000113
Figure BDA0003379653260000114
Wherein, TiOptimizing positioning information to be determined for the ith frame; t isjThe optimized positioning information to be determined for the jth frame; the jth frame is the next frame adjacent to the ith frame;
Figure BDA0003379653260000115
locating information between frames of the ith frame;
Figure BDA0003379653260000116
global positioning information for the ith frame;
Figure BDA0003379653260000117
presetting parameters for the ith frame; i. j is a positive integer greater than or equal to 1.
Exemplarily, let ith frame e ═ eriThird weight + egiFirst weight + eoiSecond weight, determining optimized positioning information of frame by taking e as minimum value, and further determining T when e is minimum valueiAnd TjThe value of (a) is the final optimized positioning information of the frame of the ith frame and the optimized positioning information of the frame of the jth frame. The advantage of this setting is that the inter-frame positioning constraint of the ith frame, the global positioning constraint of the ith frame and the relative constraint of the ith frame can be accurately obtained through specific formulas.
Illustratively, the inter-frame positioning information of each frame is determined according to the global positioning information of each frame and the global positioning information of the next frame adjacent to each frame.
In this embodiment, the inter-frame positioning information may represent a difference of positioning information between different frames, and further, may be determined by a difference of global positioning information between adjacent frames. For example, the inter-frame positioning information of the 3 rd frame is determined by the global positioning information of the 3 rd frame and the global positioning information of the 4 th frame. The advantage of this arrangement is that the adjacent frame matching can be carried out by utilizing the characteristics of the image shot by the vehicle-mounted camera, and the sensor of the vehicle can be fully utilized.
S405, obtaining original data of the map, and generating the high-precision map according to the optimized positioning information and the original data of the frame.
In this embodiment, after the original data of the map is acquired, where the original data of the map is three-dimensional data information or specific building information in the map, the high-precision map is determined together according to the optimized positioning information of the frame and the original data. The method has the advantages that accurate positioning information is provided for the server side to manufacture the high-precision map, and therefore failure caused by incompatibility of global positioning information in the process of manufacturing the high-precision map is avoided.
The present disclosure provides a processing method for generating positioning information of a high-precision map, including: acquiring historical positioning information of the vehicle on a historical track, wherein the historical positioning information comprises global positioning information and interframe positioning information of each frame of the vehicle on the historical track; determining weight information of the frame according to the strength of a positioning signal corresponding to the frame and indicated by the global positioning information of the frame; according to the global positioning information of the frame, the inter-frame positioning information of the frame, the optimized positioning information to be determined of the frame and the optimized positioning information to be determined of the next frame adjacent to the frame, the constraint condition information of the frame is established; and determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame. By adopting the technical scheme, the optimal positioning information to be determined of the frame can be adaptively adjusted according to different weight information and constraint condition information, so that the positioning information of each frame can be adjusted, and the accuracy of the positioning information of each frame is improved.
Fig. 5 is a schematic diagram according to a fourth embodiment of the present disclosure, and in particular, fig. 5 shows a schematic diagram of a trajectory. The method comprises the steps of obtaining a track consisting of global positioning information before optimized positioning, obtaining a track consisting of inter-frame positioning information before optimized positioning and obtaining a track consisting of optimized positioning information.
For convenience of explanation, the portion shown in fig. 5 is divided into 3 segments, which are a first portion with a positioning signal, a second portion without a positioning signal, and a third portion with a positioning signal, respectively. Three tracks are arranged in the first part, the second part and the third part, and the three tracks are respectively composed of global positioning information, interframe positioning information and optimized positioning information. As can be seen from fig. 5, in the first portion having the localization signal, the track formed by the global localization information and the inter-frame localization information is relatively stable, but in the second portion not having the localization signal, the track formed by the global localization information and the inter-frame localization information is gradually unstable in the early stage of the second portion, and relatively large jitter occurs in the later stage, and after the second portion not having the localization signal is passed, when the vehicle travels to the third portion having the localization signal again, the track formed by the global localization information jumps, and the track formed by the inter-frame localization information has a certain deviation.
The optimized positioning information obtained after the processing method for generating the positioning information of the high-precision map is used for processing can be seen that a track formed by the optimized positioning information is in a relatively stable state no matter the track is in a first part with a positioning signal, a second part without the positioning signal and a third part with the positioning signal.
According to an embodiment of the present disclosure, the present disclosure further provides a device for processing positioning information, fig. 6 is a schematic diagram according to a fifth embodiment of the present disclosure, and the device 60 includes:
an obtaining unit 601, configured to obtain historical positioning information of a vehicle on a historical track, where the historical positioning information includes global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track;
a first determining unit 602, configured to determine weight information of a frame according to strength of a positioning signal corresponding to the frame, which is indicated by global positioning information of the frame;
a second determining unit 603, configured to determine, according to the global positioning information, the inter-frame positioning information, and the weight information of the frame, optimized positioning information of the frame; and the optimized positioning information is used for generating a high-precision map.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
According to an embodiment of the present disclosure, the present disclosure further provides a device for processing positioning information, and fig. 7 is a schematic diagram according to a sixth embodiment of the present disclosure, where the device 70 includes:
an obtaining unit 701, configured to obtain historical positioning information of a vehicle on a historical track, where the historical positioning information includes global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track;
a first determining unit 702, configured to determine weight information of a frame according to an intensity of a positioning signal corresponding to the frame, which is indicated by global positioning information of the frame;
a second determining unit 703, configured to determine optimal positioning information of the frame according to the global positioning information, the inter-frame positioning information, and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
In one example, the first determining unit 702 includes:
a first determining module 7021, configured to determine, if the global positioning information representation frame of the frame has a positioning signal, that the weight information of the frame is first preset value information;
a second determining module 7022, configured to determine, if the global positioning information representation frame of the frame does not have a positioning signal, that the weight information of the frame is second preset value information; and the first preset value information and the second preset value information represent different numerical values.
In one example, the global positioning information includes, among other things, map indication data, a solution of global positioning system GPS signals, and a global positioning standard deviation;
wherein the map indication data is used to indicate whether the frame has corresponding high-precision map data; the global positioning standard deviation represents a difference between the measured positioning information corresponding to the frame and the real positioning information corresponding to the frame.
In one example, the apparatus further comprises:
a third determining unit 704, configured to determine that the frame has the positioning signal if the map indication data of the frame indicates that the frame has the corresponding high-precision map data; or if the solution of the GPS signal of the frame is determined to be a real-time dynamic RTK fixed solution and the global positioning standard deviation of the frame is smaller than a preset value, determining that the frame has the positioning signal.
In one example, the apparatus further comprises:
the fourth determining unit 705 is configured to determine that the frame does not have the positioning signal if it is determined that the global positioning information representation frame of the frame meets the preset condition.
Wherein the preset conditions include one or more of the following: the map indication data representation frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is larger than or equal to a preset value.
In an example, the second determining unit 703 includes:
an establishing module 7031, configured to establish constraint condition information of a frame according to the global positioning information of the frame, the inter-frame positioning information of the frame, the to-be-determined optimized positioning information of the frame, and the to-be-determined optimized positioning information of a next frame adjacent to the frame.
A third determining module 7032, configured to determine the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame.
In one example, the constraint information includes inter-frame positioning constraints, global positioning constraints, and relative constraints; a setup module 7031, comprising:
the first establishing sub-module 70311 is configured to establish an inter-frame positioning constraint condition of a frame according to the inter-frame positioning information of the frame, the optimal positioning information to be determined of the frame, and the optimal positioning information to be determined of a next frame adjacent to the frame.
The second establishing sub-module 70312 is configured to establish a global positioning constraint condition of the frame according to the global positioning information of the frame and the optimal positioning information to be determined of the frame.
A third establishing submodule 70313, configured to establish a relative constraint condition of a frame, where the relative constraint condition is established by inter-frame positioning information of the frame, preset parameters of the frame, to-be-determined optimized positioning information of the frame, and to-be-determined optimized positioning information of a next frame adjacent to the frame; the preset parameter representation frame has no preset offset set when the positioning signal exists; the relative constraint condition represents the constraint of the global positioning information on the inter-frame positioning information.
In one example, the weight information includes a first weight corresponding to a global positioning constraint and a second weight corresponding to a relative constraint.
If the global positioning information representation frame of the frame has a positioning signal, the value of the first weight of the frame is a first value, and the value of the second weight of the frame is a second value; wherein the second value is less than the first value. If the global positioning information representation frame of the frame does not have the positioning signal, the value of the first weight of the frame is a second value, and the value of the second weight of the frame is a third value; wherein the second value is less than the third value.
In one example, where the second value is zero, the first and third values are both positive numbers. In one example, wherein the third determining module 7032 comprises:
the first determining submodule 70321 is configured to determine interframe positioning constraint information of the frame according to the interframe positioning constraint condition of the frame and a preset third weight corresponding to the interframe positioning constraint condition of the frame.
The second determining submodule 70322 is configured to determine global positioning constraint information of the frame according to the global positioning constraint of the frame and the first weight corresponding to the global positioning constraint of the frame.
The third determining submodule 70323 is configured to determine the relative constraint information of the frame according to the relative constraint of the frame and the second weight corresponding to the relative constraint of the frame.
And the fourth determining submodule 70324 is configured to process the inter-frame positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame in a least square manner, so as to obtain the optimal positioning information of the frame.
In one example, the inter-frame positioning constraint for the ith frame is
Figure BDA0003379653260000151
The global positioning constraint of the ith frame is
Figure BDA0003379653260000152
The relative constraint of the ith frame is
Figure BDA0003379653260000153
Figure BDA0003379653260000154
Wherein, TiOptimizing positioning information to be determined for the ith frame; t isjOptimized positioning to be determined for the jth frameInformation; the jth frame is the next frame adjacent to the ith frame;
Figure BDA0003379653260000155
locating information between frames of the ith frame;
Figure BDA0003379653260000161
global positioning information for the ith frame;
Figure BDA0003379653260000162
presetting parameters for the ith frame; i. j is a positive integer greater than or equal to 1.
In one example, inter-frame positioning information for each frame is determined according to global positioning information for each frame and global positioning information for a next frame adjacent to each frame.
In one example, the apparatus further comprises:
and the generating unit 706 is configured to obtain original data of the map, and generate a high-precision map according to the optimized positioning information of the frame and the original data.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.
Fig. 8 is a schematic diagram according to a seventh embodiment of the present disclosure, and as shown in fig. 8, a server 800 in the present disclosure may include: a processor 801 and a memory 802.
A memory 802 for storing programs; the Memory 802 may include a volatile Memory (RAM), such as a Static Random Access Memory (SRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), and the like; the memory may also comprise a non-volatile memory, such as a flash memory. The memory 802 is used to store computer programs (e.g., applications, functional modules, etc. that implement the above-described methods), computer instructions, etc., which may be stored in one or more of the memories 802 in a partitioned manner. And the above-described computer programs, computer instructions, data, and the like can be called by the processor 801.
The computer programs, computer instructions, etc. described above may be stored in one or more memories 802 in partitions. And the above-mentioned computer program, computer instruction, or the like can be called by the processor 801.
A processor 801 for executing the computer program stored in the memory 802 to implement the steps of the method according to the above embodiments.
Reference may be made in particular to the description relating to the preceding method embodiment.
The processor 801 and the memory 802 may be separate structures or may be integrated structures integrated together. When the processor 801 and the memory 802 are separate structures, the memory 802 and the processor 801 may be coupled by a bus 803.
The server of this embodiment may execute the technical solution in the method, and the specific implementation process and the technical principle are the same, which are not described herein again.
According to an embodiment of the present disclosure, there is also provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the solution provided by the above respective embodiments.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the server can read the computer program, the at least one processor executing the computer program to cause the server to perform the solution provided by the respective embodiments described above.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of a control device of a vehicle can read the computer program, the execution of which by the at least one processor causes the control device of the vehicle to carry out the solution provided by the respective embodiments described above.
FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, electronic devices, blade electronics, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the electronic apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
A number of components in the electronic device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the electronic device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 executes the respective methods and processes described above, such as a processing method for generating positioning information of a high-precision map. For example, in some embodiments, the method model training for image processing may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the method described above for model training for image processing may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured by any other suitable means (e.g., by means of firmware) to perform the method for model training of image processing.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or electronic device.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data electronic device), or that includes a middleware component (e.g., an application electronic device), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include a client and an electronic device. The client and the electronic device are generally remote from each other and typically interact through a communication network. The relationship of client and electronic device arises by virtue of computer programs running on the respective computers and having a client-electronic device relationship to each other. The electronic device may be a cloud electronic device, which is also called a cloud computing electronic device or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in a traditional physical host and a VPS service ("Virtual Private Server", or "VPS" for short). The electronic device may also be a distributed system of electronic devices or an electronic device incorporating a blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims (29)

1. A processing method for generating positioning information of a high-precision map, comprising:
acquiring historical positioning information of a vehicle on a historical track, wherein the historical positioning information comprises global positioning information and interframe positioning information of each frame of the vehicle on the historical track;
determining weight information of the frame according to the strength of a positioning signal corresponding to the frame and indicated by the global positioning information of the frame;
determining optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
2. The method of claim 1, wherein determining weight information for a frame according to a strength of a positioning signal corresponding to the frame indicated by global positioning information for the frame comprises:
if the global positioning information representation frame of the frame has a positioning signal, the weight information of the frame is first preset value information;
if the global positioning information representation frame of the frame does not have a positioning signal, the weight information of the frame is second preset value information; and the first preset value information and the second preset value information represent different numerical values.
3. The method of claim 2, wherein the global positioning information includes map indication data, a solution of Global Positioning System (GPS) signals, and a global positioning standard deviation;
wherein the map indication data is used to indicate whether a frame has corresponding high precision map data; the global positioning standard deviation represents a difference between the measured positioning information corresponding to the frame and the real positioning information corresponding to the frame.
4. The method of claim 3, further comprising:
if the map indication data of the frame is determined to represent that the frame has corresponding high-precision map data, determining that the frame has a positioning signal;
alternatively, the first and second electrodes may be,
and if the solution of the GPS signal of the frame is determined to be a real-time dynamic RTK fixed solution and the global positioning standard deviation of the frame is smaller than a preset value, determining that the frame has a positioning signal.
5. The method of claim 3 or 4, further comprising:
if the fact that the global positioning information of the frame represents that the frame meets a preset condition is determined, determining that the frame does not have a positioning signal;
wherein the preset conditions include one or more of the following: the map indication data representation frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is larger than or equal to a preset value.
6. The method according to any one of claims 2-5, wherein determining the optimized positioning information for the frame based on the global positioning information, the inter-frame positioning information, and the weight information for the frame comprises:
according to the global positioning information of the frame, the inter-frame positioning information of the frame, the optimized positioning information to be determined of the frame and the optimized positioning information to be determined of the next frame adjacent to the frame, the constraint condition information of the frame is established;
and determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame.
7. The method of claim 6, wherein the constraint information comprises an inter-frame positioning constraint, a global positioning constraint, and a relative constraint; according to the global positioning information of the frame, the inter-frame positioning information of the frame, the optimized positioning information to be determined of the frame and the optimized positioning information to be determined of the next frame adjacent to the frame, establishing constraint condition information of the frame, including:
establishing an inter-frame positioning constraint condition of the frame according to the inter-frame positioning information of the frame, the optimized positioning information to be determined of the frame and the optimized positioning information to be determined of the next frame adjacent to the frame;
establishing a global positioning constraint condition of the frame according to the global positioning information of the frame and the optimized positioning information to be determined of the frame;
establishing relative constraint conditions of the frames according to inter-frame positioning information of the frames, preset parameters of the frames, optimal positioning information to be determined of the frames and optimal positioning information to be determined of the next frame adjacent to the frames; the preset parameter representation frame has no preset offset set when the positioning signal is not available; the relative constraint condition represents the constraint of the global positioning information on the inter-frame positioning information.
8. The method of claim 7, wherein the weight information comprises a first weight corresponding to a global positioning constraint and a second weight corresponding to a relative constraint;
if the global positioning information representation frame of the frame has a positioning signal, the value of the first weight of the frame is a first value, and the value of the second weight of the frame is a second value; wherein the second value is less than the first value;
if the global positioning information representation frame of the frame does not have a positioning signal, the value of the first weight of the frame is a second value, and the value of the second weight of the frame is a third value; wherein the second value is less than the third value.
9. The method of claim 8, wherein the second value is zero and the first and third values are both positive numbers.
10. The method of claim 8 or 9, wherein determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame comprises:
determining interframe positioning constraint information of the frame according to the interframe positioning constraint condition of the frame and a preset third weight corresponding to the interframe positioning constraint condition of the frame;
determining global positioning constraint information of the frame according to the global positioning constraint condition of the frame and a first weight corresponding to the global positioning constraint condition of the frame;
determining relative constraint information of the frame according to the relative constraint condition of the frame and a second weight corresponding to the relative constraint condition of the frame;
and processing the interframe positioning constraint information of the frame, the global positioning constraint information of the frame and the relative constraint information of the frame in a least square mode to obtain the optimized positioning information of the frame.
11. The method according to any of claims 7-10, wherein the inter-frame positioning constraint of the i-th frame is
Figure FDA0003379653250000031
The global positioning constraint of the ith frame is
Figure FDA0003379653250000032
Relative approximation of ith frameUnder the condition of bundling
Figure FDA0003379653250000033
Wherein, TiOptimizing positioning information to be determined for the ith frame; t isjThe optimized positioning information to be determined for the jth frame; the jth frame is the next frame adjacent to the ith frame;
Figure FDA0003379653250000034
locating information between frames of the ith frame;
Figure FDA0003379653250000035
global positioning information for the ith frame;
Figure FDA0003379653250000036
presetting parameters for the ith frame; i. j is a positive integer greater than or equal to 1.
12. The method according to any one of claims 1-11, wherein the inter-frame positioning information of each frame is determined according to the global positioning information of each frame and the global positioning information of the next frame adjacent to each frame.
13. The method of any of claims 1-12, further comprising:
and acquiring original data of the map, and generating the high-precision map according to the optimized positioning information of the frame and the original data.
14. A processing apparatus for generating positioning information of a high-precision map, comprising:
the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring historical positioning information of a vehicle on a historical track, and the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track;
a first determining unit, configured to determine weight information of a frame according to strength of a positioning signal corresponding to the frame, which is indicated by global positioning information of the frame;
the second determining unit is used for determining the optimized positioning information of the frame according to the global positioning information, the interframe positioning information and the weight information of the frame; and the optimized positioning information is used for generating a high-precision map.
15. The apparatus of claim 14, wherein the first determining unit comprises:
the first determining module is used for determining that the weight information of the frame is first preset value information if the global positioning information representation frame of the frame has a positioning signal;
the second determining module is used for determining that the weight information of the frame is second preset value-taking information if the global positioning information representation frame of the frame does not have a positioning signal; and the first preset value information and the second preset value information represent different numerical values.
16. The apparatus of claim 15, wherein the global positioning information comprises map indication data, a solution of Global Positioning System (GPS) signals, and a global positioning standard deviation;
wherein the map indication data is used to indicate whether a frame has corresponding high precision map data; the global positioning standard deviation represents a difference between the measured positioning information corresponding to the frame and the real positioning information corresponding to the frame.
17. The apparatus of claim 16, the apparatus further comprising:
a third determining unit, configured to determine that the frame has a positioning signal if it is determined that the map indication data of the frame indicates that the frame has corresponding high-precision map data; or if the solution of the GPS signal of the frame is determined to be a real-time dynamic RTK fixed solution and the global positioning standard deviation of the frame is smaller than a preset value, determining that the frame has the positioning signal.
18. The apparatus of claim 16 or 17, further comprising:
a fourth determining unit, configured to determine that the frame does not have a positioning signal if it is determined that the global positioning information of the frame indicates that the frame meets a preset condition;
wherein the preset conditions include one or more of the following: the map indication data representation frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is larger than or equal to a preset value.
19. The apparatus according to any of claims 15-18, wherein the second determining unit comprises:
the establishing module is used for establishing constraint condition information of the frame according to the global positioning information of the frame, the interframe positioning information of the frame, the to-be-determined optimized positioning information of the frame and the to-be-determined optimized positioning information of the next frame adjacent to the frame;
and the third determining module is used for determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame.
20. The apparatus of claim 19, wherein the constraint information comprises an inter-frame positioning constraint, a global positioning constraint, and a relative constraint; the establishing module comprises:
the first establishing submodule is used for establishing an interframe positioning constraint condition of the frame according to interframe positioning information of the frame, to-be-determined optimized positioning information of the frame and to-be-determined optimized positioning information of a next frame adjacent to the frame;
the second establishing submodule is used for establishing a global positioning constraint condition of the frame according to the global positioning information of the frame and the optimized positioning information to be determined of the frame;
a third establishing submodule, configured to establish a relative constraint condition of the frame, based on inter-frame positioning information of the frame, preset parameters of the frame, to-be-determined optimized positioning information of the frame, and to-be-determined optimized positioning information of a next frame adjacent to the frame; the preset parameter representation frame has no preset offset set when the positioning signal is not available; the relative constraint condition represents the constraint of the global positioning information on the inter-frame positioning information.
21. The apparatus of claim 20, wherein the weight information comprises a first weight corresponding to a global positioning constraint and a second weight corresponding to a relative constraint;
if the global positioning information representation frame of the frame has a positioning signal, the value of the first weight of the frame is a first value, and the value of the second weight of the frame is a second value; wherein the second value is less than the first value;
if the global positioning information representation frame of the frame does not have a positioning signal, the value of the first weight of the frame is a second value, and the value of the second weight of the frame is a third value; wherein the second value is less than the third value.
22. The apparatus of claim 21, wherein the second value is zero and the first and third values are both positive numbers.
23. The apparatus of claim 21 or 22, wherein the third determining means comprises:
the first determining submodule is used for determining interframe positioning constraint information of the frame according to the interframe positioning constraint condition of the frame and a preset third weight corresponding to the interframe positioning constraint condition of the frame;
the second determining submodule is used for determining the global positioning constraint information of the frame according to the global positioning constraint condition of the frame and the first weight corresponding to the global positioning constraint condition of the frame;
a third determining submodule, configured to determine relative constraint information of the frame according to the relative constraint condition of the frame and a second weight corresponding to the relative constraint condition of the frame;
and the fourth determining submodule is used for processing the interframe positioning constraint information of the frame, the global positioning constraint information of the frame and the relative constraint information of the frame in a least square mode to obtain the optimized positioning information of the frame.
24. The apparatus according to any of claims 20-23, wherein the inter-frame positioning constraint of the i-th frame is
Figure FDA0003379653250000061
The global positioning constraint of the ith frame is
Figure FDA0003379653250000062
The relative constraint of the ith frame is
Figure FDA0003379653250000063
Wherein, TiOptimizing positioning information to be determined for the ith frame; t isjThe optimized positioning information to be determined for the jth frame; the jth frame is the next frame adjacent to the ith frame;
Figure FDA0003379653250000064
locating information between frames of the ith frame;
Figure FDA0003379653250000065
global positioning information for the ith frame;
Figure FDA0003379653250000066
presetting parameters for the ith frame; i. j is a positive integer greater than or equal to 1.
25. The apparatus according to any of claims 14-24, wherein the inter-frame positioning information of each frame is determined according to the global positioning information of each frame and the global positioning information of the next frame adjacent to each frame.
26. The apparatus of any of claims 14-25, further comprising:
and the generating unit is used for acquiring the original data of the map and generating the high-precision map according to the optimized positioning information of the frame and the original data.
27. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-13.
28. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-13.
29. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of any one of claims 1 to 13.
CN202111429352.5A 2021-11-29 2021-11-29 Processing method, device and equipment for generating positioning information of high-precision map Pending CN114117257A (en)

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