CN114910928A - Method and device for positioning vehicles in tunnel and storage medium - Google Patents
Method and device for positioning vehicles in tunnel and storage medium Download PDFInfo
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- CN114910928A CN114910928A CN202210549499.6A CN202210549499A CN114910928A CN 114910928 A CN114910928 A CN 114910928A CN 202210549499 A CN202210549499 A CN 202210549499A CN 114910928 A CN114910928 A CN 114910928A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000006243 chemical reaction Methods 0.000 claims abstract description 33
- 238000012935 Averaging Methods 0.000 claims abstract description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 230000009466 transformation Effects 0.000 description 5
- 230000004927 fusion Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013501 data transformation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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Abstract
The invention discloses a method and a device for positioning vehicles in a tunnel and a storable medium, which relate to the technical field of traffic engineering and comprise the following steps: arranging a roadside laser radar at a tunnel portal and the inner wall of a tunnel, and collecting point cloud data; converting point cloud data under all laser radar coordinate systems to the same coordinate system based on different coordinate conversion methods; and acquiring coordinates of the points in the middlemost areas of the two groups of tunnels, and taking the value obtained by summing and averaging the coordinates as a final coordinate to finish long-distance positioning of the vehicles in the tunnels. The multi-path side laser radar coordinate system solves the problems that the vehicle in the tunnel cannot be positioned and the whole-course information in the tunnel cannot be acquired, and improves the precision of vehicle positioning.
Description
Technical Field
The invention relates to the technical field of traffic engineering, in particular to a method and a device for positioning vehicles in a tunnel and a storable medium.
Background
The laser radar works in infrared and visible light wave bands, laser is used as a working light beam, a detection signal is transmitted to a target, a signal reflected from the target is received, then the transmission signal and the reflected signal are correspondingly compared and processed to obtain related information of the target, and therefore the related information is displayed in a point cloud mode, and detection, tracking and identification of the target are achieved. With the aging of the laser radar detection technology, the laser radar detection technology has become a component of the vehicle-road cooperation field, the installation mode has also been developed from the traditional vehicle-mounted arrangement to the roadside arrangement, the laser radar detection technology can be generally installed at the positions of telegraph poles, signal lamp columns and the like on the roadside, and the laser radar arranged on the roadside can also be erected on a tripod if the data is temporarily collected, so the laser radar arranged on the roadside is generally called as the roadside laser radar.
The roadside laser radar has the main function of collecting relevant information of all users on a road in real time at high precision, wherein the relevant information comprises acceleration, speed, vehicle positions, driving tracks and the like. The detection range of the laser radar is limited, so that a plurality of laser radars are required to be arranged at different positions on the roadside so as to acquire the whole-course track information of the vehicle. However, the data acquired by the laser radar generally establishes a local coordinate system by taking the local coordinate system as a center, and the point cloud data acquired by a plurality of laser radars on the roadside cannot be matched to acquire relevant information of the vehicle in the whole course, so that the data acquired by the plurality of laser radars needs to be registered and converted into a geodetic coordinate system, and then the positioning and track tracking of the vehicle are realized.
At present, coordinate transformation of multi-path laser radar is realized, the laser radar can start from GPS data, a space rectangular coordinate transformation principle is introduced, the laser radar can be registered to a geodetic coordinate system through a laser radar and GPS data transformation relation based on an optimized transformation relation, and multi-path laser radar data registration based on geodetic coordinate representation is realized. However, the prior art has the following problems: the used radar is only limited to a vehicle-mounted laser radar, so that the economic benefit is not high; when bad and non-planar point cloud data are removed, the planar point cloud data are also easily removed; the point cloud registration device is large in size, cannot be applied to a tunnel, and needs to close traffic.
Therefore, how to perform vehicle positioning in a tunnel to realize long-distance target tracking is a technical problem that needs to be solved by those skilled in the art, aiming at the phenomenon that a vehicle cannot be positioned due to the fact that a GPS signal in the tunnel is lost and data of the GPS signal cannot be detected.
Disclosure of Invention
In view of the above, the invention provides a method and a device for positioning a vehicle in a tunnel and a storage medium, which solve the problem that the vehicle in the tunnel cannot be positioned, improve the positioning accuracy of the vehicle, and are convenient to move and disassemble.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method for positioning vehicles in a tunnel comprises the following steps:
arranging a roadside laser radar at a tunnel portal and the inner wall of a tunnel, and collecting point cloud data;
converting point cloud data under all laser radar coordinate systems to the same coordinate system based on different coordinate conversion methods;
and acquiring coordinates of the points in the middlemost areas of the two groups of tunnels, and taking the value obtained by summing and averaging the coordinates as a final coordinate to finish long-distance positioning of the vehicles in the tunnels.
The technical effect achieved by the technical scheme is as follows: the fusion of the multi-path side laser radar coordinate system solves the problems that a vehicle in the tunnel cannot be positioned and the whole course information in the tunnel cannot be acquired.
Optionally, when the roadside lidar is arranged at the tunnel entrance and the tunnel inner wall, an overlapping portion exists in a region swept between two adjacent lidar in the arrangement process.
Optionally, the method for converting the coordinate of the laser radar arranged at the tunnel portal specifically includes the following steps:
based on the space rectangular coordinate conversion principle, converting GPS data into a geocentric space rectangular coordinate system for representation;
and solving the mapping relation between the laser radar data based on the Cartesian coordinate system and the geocentric space rectangular coordinate system data, and registering the plurality of laser radar data to the geodetic coordinate system.
Optionally, the method for converting the coordinate of the laser radar arranged on the inner wall of the tunnel specifically includes the following steps:
erecting a roadside multi-laser radar coordinate conversion device in an overlapping area of two adjacent laser radars;
acquiring coordinates of the roadside multi-laser radar coordinate conversion device under two laser radar coordinate systems, and converting the coordinate systems under all the laser radars in the tunnel into the same coordinate system;
and (3) carrying out coordinate conversion on the laser radar arranged on the other side of the tunnel portal by using the same method to obtain the coordinates of the most middle region point of the two groups of tunnels, and summing the two groups of coordinates and averaging to obtain a value serving as a final coordinate.
Optionally, the roadside multi-lidar coordinate conversion device includes: tripod, laser instrument, lithium cell then erect many laser radar coordinate conversion equipment of roadside, specifically include following step:
fixing the tripod at a certain point of the overlapping area of the two laser radars, wherein the height of the tripod is adjustable;
the laser is installed on a tripod in a horizontal fixing or rotating fine adjustment mode; the lithium battery is arranged inside the laser; the laser and the laser radar are in the same frequency band;
the laser device transmits laser to a first laser radar, and after the first laser radar receives signals, point cloud data of the laser device under a first laser radar coordinate system are collected, and point cloud data of the laser device under a second laser radar coordinate system are collected in the same mode, so that the laser device obtains coordinates under two laser radar coordinate systems.
A vehicle positioning device in a tunnel comprises a plurality of laser radars and a roadside multi-laser radar coordinate conversion device;
the laser radar is arranged at the tunnel portal and the inner wall of the tunnel and is used for presenting relevant information of a target in a point cloud form;
the roadside multi-laser radar coordinate conversion device is erected in an overlapping area of the two laser radars and used for converting coordinate systems under all the laser radars into the same coordinate system.
Optionally, the roadside multi-lidar coordinate conversion device includes: a tripod, a laser device and a lithium battery, wherein the laser device and the laser radar have the same frequency band;
the tripod is erected at a certain point of an overlapping area of the two laser radars in the tunnel, and the height of the tripod is adjustable;
the laser is installed on a tripod in a horizontal fixing or rotating fine adjustment mode;
the lithium battery is installed inside the laser.
The invention also discloses a computer-storable medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for locating a vehicle in a tunnel as described above.
According to the technical scheme, compared with the prior art, the invention discloses a method and a device for positioning a vehicle in a tunnel and a storage medium, the coordinate transformation between two laser radars is carried out through point cloud data of an overlapped area, the whole-process positioning of the vehicle in the tunnel is realized, and the related problems that the vehicle in the tunnel cannot be positioned and the whole-process information of the vehicle in the tunnel cannot be obtained are solved through the roadside multi-laser radar coordinate system fusion; the working state of the laser design is the state that the laser must be placed horizontally, so that the positioning precision of the vehicle is improved; in addition, the device is convenient to move and detach.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a tunnel layout lidar;
FIG. 2 is a schematic diagram of laser radar determining laser Z-axis coordinates;
FIG. 3 is a schematic diagram of data acquisition of a laser radar at a tunnel portal;
FIG. 4 is a schematic diagram of the layout of a laser radar and a laser in a tunnel;
FIG. 5 is a schematic diagram of laser data acquisition by a laser radar in a tunnel;
FIG. 6 is a schematic diagram of data acquisition within a tunnel;
FIG. 7 is a schematic diagram of laser radar coordinate conversion in a tunnel;
FIG. 8 is a schematic diagram of a laser radar collecting vehicle whole-course data in a tunnel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Example 1
The embodiment of the invention discloses a method for positioning vehicles in a tunnel, which comprises the following steps:
arranging a roadside laser radar at a tunnel portal and the inner wall of a tunnel, and collecting point cloud data;
converting point cloud data under all laser radar coordinate systems to the same coordinate system based on different coordinate conversion methods;
and acquiring coordinates of the points in the middlemost areas of the two groups of tunnels, and taking the value obtained by summing and averaging the coordinates as a final coordinate to finish long-distance positioning of the vehicles in the tunnels.
The embodiment is applied to the tunnel with roadside lidar and is carried out vehicle detection and location, realizes vehicle trajectory tracking, wherein, lays roadside lidar at tunnel entrance to a cave and tunnel inner wall, and lidar's mounting height generally is 3 ~ 4m, and tunnel inner wall and entrance to a cave's lidar lay as shown in FIG. 1, and at the in-process of laying, there is the overlap portion in the region of sweeping to between the two adjacent lidar. The laser radar transmits detection signals to a target and receives signals reflected from the target, and then the transmitted signals and the reflected signals are correspondingly compared and processed to obtain related information of the target, so that the related information is presented in a point cloud form to realize positioning and tracking of vehicles in the tunnel.
Further, the coordinate conversion method of the laser radar arranged at the tunnel portal specifically comprises the following steps:
based on the space rectangular coordinate conversion principle, converting GPS data into a geocentric space rectangular coordinate system for representation;
and solving the mapping relation between the laser radar data based on the Cartesian coordinate system and the geocentric space rectangular coordinate system data, and registering the plurality of laser radar data to the geodetic coordinate system to realize multi-path side laser radar data registration based on geodetic coordinate representation.
Further, the coordinate conversion method of the laser radar arranged on the inner wall of the tunnel specifically comprises the following steps:
erecting a roadside multi-laser radar coordinate conversion device in an overlapping area of two adjacent laser radars, comprising: the tripod is fixed at a certain point of an overlapping area of the two laser radars, and the height of the tripod is adjustable; the laser is installed on a tripod in a horizontal fixing or rotating fine adjustment mode; the lithium battery is installed inside the laser.
Therefore, a laser is erected in the overlapping area of two adjacent laser radars, the three-dimensional coordinate of the laser under the laser radar is determined, and the specific process is as follows: the plane coordinate of the laser under the laser radar can be determined according to the point cloud data of the laser under the laser radar, at the moment, the Z-axis coordinate needs to be determined, as shown in fig. 2, firstly, the two lasers are ensured to be on the same vertical line, secondly, the distance between the laser radar and the two lasers, the distance between the two lasers and the horizontal plane can be directly measured, the readings of the & alpha & lt & gtthe & gamma & lt & gtthe & beta can be obtained by using a trigonometric function in a triangle formed by the laser radar and the laser, and finally, the coordinate of the laser under the laser radar can be obtained according to the measured data.
Introducing a data acquisition stage, wherein a multi-channel side laser radar coordinate conversion method based on a GPS can be applied to a laser radar arranged at a tunnel portal, firstly, the GPS data is converted into a geocentric space rectangular coordinate system for representation, then, the mapping relation between the laser radar data based on a Cartesian coordinate system and the geocentric space rectangular coordinate system data is solved, and a plurality of laser radar data can be registered to a geodetic coordinate system, as shown in FIG. 3;
the arrangement of the laser radars in the tunnel is shown in fig. 4, the data collected by the laser radars in the tunnel is shown in fig. 5 and fig. 6, wherein fig. 5 is a schematic diagram of the data collected by a single laser radar in the tunnel, and fig. 6 is a schematic diagram of the data collected by two adjacent laser radars in the tunnel after the laser emits laser and receives the laser;
next, in a coordinate conversion stage of two adjacent laser radars, according to data acquired by the laser radars at the tunnel portal, a detection target can be positioned under a geodetic coordinate system, then according to data acquired by the overlapping areas of the two adjacent laser radars, a coordinate under the other coordinate system is converted under a coordinate system of the laser radars under the geodetic coordinate system, and a coordinate system shown in fig. 7 can be obtained after the coordinate conversion in the process is completed;
and repeating the steps to convert the data coordinates of all the laser radar coordinate systems to the same coordinate system.
In order to reduce errors generated in the coordinate fusion process, the laser radars arranged on the other side of the tunnel portal and in the same frequency band are converted into a coordinate system between two adjacent laser radars by the same method, so that coordinates of the point in the middle area of the two groups of tunnels are obtained, the two groups of coordinates are summed, and the average value of the two groups of coordinates is taken as the final coordinate of the area, so that long-distance detection and positioning of vehicles in the tunnels are realized, and the complete process is shown in fig. 8.
In addition, the present embodiment also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for locating a vehicle in a tunnel described above.
Example 2
The embodiment discloses a vehicle positioning device in a tunnel, which comprises a plurality of laser radars and a roadside multi-laser radar coordinate conversion device;
the laser radar is arranged at the tunnel portal and the inner wall of the tunnel and used for presenting relevant information of a target in a point cloud form;
the roadside multi-laser radar coordinate conversion device is erected in an overlapping area of the two laser radars and used for converting coordinate systems under all the laser radars into the same coordinate system.
Further, the roadside multi-lidar coordinate conversion device includes: a tripod, a laser device and a lithium battery, wherein the laser device and the laser radar have the same frequency band;
the tripod is erected at a certain point of the overlapping area of the two laser radars in the tunnel, and the height of the tripod is adjustable;
the laser is arranged on the tripod in a horizontal fixing or rotating fine adjustment mode; the lithium battery is installed inside the laser.
According to the invention, coordinate transformation between two laser radars is carried out through point cloud data of an overlapped area, the whole-process positioning of the vehicle in the tunnel is realized, and the road side multi-laser radar coordinate system fusion solves the related problems that the vehicle in the tunnel cannot be positioned and the whole-process information of the vehicle in the tunnel cannot be obtained; the working state of the laser design is the state that the laser must be placed horizontally, so that the positioning precision of the vehicle is improved; in addition, the device is convenient to move and detach.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method for positioning a vehicle in a tunnel is characterized by comprising the following steps:
arranging roadside laser radars at a tunnel portal and the inner wall of a tunnel, and collecting point cloud data;
converting point cloud data under all laser radar coordinate systems to the same coordinate system based on different coordinate conversion methods;
and acquiring coordinates of the points in the middlemost areas of the two groups of tunnels, and taking the value obtained by summing and averaging the coordinates as a final coordinate to finish long-distance positioning of the vehicles in the tunnels.
2. The method according to claim 1, wherein when the roadside lidar is arranged at the tunnel entrance and the tunnel inner wall, the areas swept to between two adjacent radars in the arrangement process have overlapping parts.
3. The method for positioning the vehicle in the tunnel according to claim 1, wherein the method for converting the coordinates of the laser radar arranged at the tunnel entrance specifically comprises the following steps:
based on the space rectangular coordinate conversion principle, converting GPS data into a geocentric space rectangular coordinate system for representation;
and solving the mapping relation between the laser radar data based on the Cartesian coordinate system and the geocentric space rectangular coordinate system data, and registering the plurality of laser radar data to the geodetic coordinate system.
4. The method for positioning the vehicle in the tunnel according to claim 1, wherein the method for converting the coordinates of the laser radar arranged on the inner wall of the tunnel specifically comprises the following steps:
erecting a roadside multi-laser radar coordinate conversion device in an overlapping area of two adjacent laser radars;
acquiring coordinates of the roadside multi-laser radar coordinate conversion device under two laser radar coordinate systems, and converting the coordinate systems under all the laser radars in the tunnel into the same coordinate system;
and performing coordinate conversion on the laser radar arranged on the other side of the tunnel portal by using the same method to obtain coordinates of the points in the middlemost areas of the two groups of tunnels, and summing the two groups of coordinates and averaging to obtain a value serving as a final coordinate.
5. The method for locating a vehicle in a tunnel according to claim 4, wherein the roadside multi-lidar coordinate conversion device comprises: tripod, laser instrument, lithium cell then erect many laser radar coordinate conversion equipment of roadside, specifically include following step:
fixing the tripod at a certain point of an overlapping area of the two laser radars, wherein the height of the tripod is adjustable;
the laser is installed on a tripod in a horizontal fixing or rotating fine adjustment mode; the lithium battery is arranged inside the laser; the laser and the laser radar are in the same frequency band;
the laser device transmits laser to a first laser radar, and after the first laser radar receives signals, point cloud data of the laser device under a first laser radar coordinate system are collected, and point cloud data of the laser device under a second laser radar coordinate system are collected in the same mode, so that the laser device obtains coordinates under two laser radar coordinate systems.
6. A vehicle positioning device in a tunnel is characterized by comprising a plurality of laser radars and a roadside multi-laser radar coordinate conversion device;
the laser radar is arranged at the tunnel portal and the inner wall of the tunnel and is used for presenting relevant information of a target in a point cloud form;
the roadside multi-laser radar coordinate conversion device is erected in an overlapping area of the two laser radars and used for converting coordinate systems under all the laser radars into the same coordinate system.
7. The in-tunnel vehicle positioning device of claim 6, wherein the roadside multi-lidar coordinate conversion device comprises: a tripod, a laser device and a lithium battery, wherein the laser device and the laser radar have the same frequency band;
the tripod is erected at a certain point of an overlapping area of the two laser radars in the tunnel, and the height of the tripod is adjustable;
the laser is installed on a tripod in a horizontal fixing or rotating fine adjustment mode;
the lithium battery is installed inside the laser.
8. A computer-storable medium having a computer program stored thereon, wherein the computer program, when being executed by a processor, is adapted to carry out the steps of the method for locating a vehicle in a tunnel according to any one of claims 1-5.
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| CN202210549499.6A CN114910928A (en) | 2022-05-20 | 2022-05-20 | Method and device for positioning vehicles in tunnel and storage medium |
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