CN114526732A

CN114526732A - Vehicle positioning method and system

Info

Publication number: CN114526732A
Application number: CN202210091052.9A
Authority: CN
Inventors: 刘开; 刘会凯; 郭红雨; 刘岸晖; 付斌
Original assignee: Voyah Automobile Technology Co Ltd
Current assignee: Voyah Automobile Technology Co Ltd
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2022-05-24
Anticipated expiration: 2042-01-25
Also published as: CN114526732B

Abstract

The invention provides a vehicle positioning method and a vehicle positioning system, wherein the method comprises the following steps: judging whether the vehicle carries out an viaduct area or not based on the real-time positioning of the vehicle, wherein the viaduct area is an area which is pre-defined on a navigation map; and judging the positions of the upper and lower axles of the vehicle according to the matching relation between the pitch angle and the course information of the vehicle measured and calculated by the IMU and the gradient and the course angle at the turn road of the map, and judging the axle layer where the vehicle is positioned according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity. By the scheme, the vehicles in the viaduct area can be accurately positioned, the positioning accuracy is improved, and the problem that the vehicles in the viaduct area are not repositioned and aligned in the traditional positioning method is solved.

Description

Vehicle positioning method and system

Technical Field

The invention belongs to the field of positioning, and particularly relates to a vehicle positioning method and system.

Background

Road conditions are often complex in circle road areas such as overpasses and viaducts, GNSS signals in the areas are shielded and difficult to position seriously, and therefore the multilayer viaduct is difficult to position accurately.

At present, methods such as barometers, altitude change, inclination angle change and map matching are commonly adopted to position vehicles in an viaduct area, but whether matching succeeds before entering the viaduct area determines the positioning accuracy, and when matching fails before the viaduct ramp area, the methods cannot be repositioned or have low repositioning accuracy.

Disclosure of Invention

In view of this, the embodiment of the invention provides a vehicle positioning method and system, which are used for solving the problem that the existing viaduct area vehicle positioning method is low in repositioning accuracy.

In a first aspect of embodiments of the present invention, there is provided a vehicle positioning method including:

judging whether the vehicle carries out an viaduct area or not based on the real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map;

and judging the positions of the upper and lower axles of the vehicle according to the matching relation between the pitch angle and the course information of the vehicle measured and calculated by the IMU and the gradient and the course angle at the turn road of the map, and judging the axle layer where the vehicle is positioned according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.

In a second aspect of the embodiments of the present invention, a vehicle positioning system is provided, which at least includes a navigation map, an IMU measurement module, a GNSS positioning module, and an overhead positioning module;

the navigation map at least comprises a viaduct area, slopes and course angles at ramp positions of an upper ramp and a lower ramp, and GNSS signal intensity of each bridge layer;

the IMU measuring and calculating module is used for measuring and calculating the pitch angle and the course information of the vehicle;

the GNSS positioning module is used for acquiring vehicle GNSS positioning and GNSS signal intensity;

the elevated positioning module is used for judging the positions of the upper and lower bridges of the vehicle according to the matching relation between the vehicle pitch angle and the course information measured and calculated by the IMU and the gradient and the course angle at the turn road of the map when the vehicle is in the elevated bridge area, and judging the bridge layer where the vehicle is located according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.

In a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.

In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.

In the embodiment of the invention, the attribute values of GNSS signal intensity, ramp gradient and the like are added in map elements to assist the positioning of the vehicle, and the position of the vehicle is judged based on the matching of the vehicle attitude angle, the GNSS signal intensity and the map information, so that the problem that the vehicle cannot be accurately positioned under weak GNSS conditions such as overpasses and viaducts can be avoided, the positioning accuracy can be effectively improved, and the problem that the conventional positioning method cannot be repositioned or has low repositioning accuracy due to the failure of matching before entering the viaduct area can be solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a vehicle positioning method according to an embodiment of the present invention;

FIG. 2 is another schematic flow chart diagram of a vehicle locating method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a vehicle positioning system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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.

It should be understood that the terms "comprises" and "comprising," when used in this specification or claims and in the accompanying drawings, are intended to cover a non-exclusive inclusion, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.

Referring to fig. 1, a schematic flow chart of a vehicle positioning method according to an embodiment of the present invention includes:

s101, judging whether the vehicle carries out an viaduct area or not based on real-time positioning of the vehicle, wherein the viaduct area is a pre-defined area on a navigation map;

the position of the vehicle is obtained through GNSS (Global Navigation Satellite System) positioning, and whether the vehicle enters the area of the elevated bridge is judged according to accurate positioning at the previous moment. The viaduct area is an area which is easily shielded by a positioning signal, is defined in a navigation map, and specifically can be an area which is extended by 500 meters and takes a ramp connection position as a center. When the vehicle enters the viaduct area, the flag bit can be set to true, and when the vehicle leaves, the flag bit can be set to false.

And adding an upper bridge connection ramp and a lower bridge connection ramp to the types of the roads in the viaduct area, and adding GNSS signal intensity information (including the number of searched stars, the signal-to-noise ratio and the like) to the road attributes of the navigation map.

The navigation map is pre-marked with information such as a viaduct area, a lane type, road attributes and the like, and the road attributes comprise slope values, course angles, GNSS signal intensity and the like at ramp positions.

S102, judging the positions of the upper and lower axles of the vehicle according to the matching relation between the pitch angle and the course information of the vehicle measured and calculated by the IMU and the gradient and the course angle at the ramp of the map, and judging the axle layer where the vehicle is located according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.

An IMU (Inertial Measurement Unit) is generally a device for measuring three-axis attitude angles and accelerations of a vehicle, and in this embodiment, the IMU is a 9-axis-based IMU (gyroscope + accelerometer + magnetometer) and can be used for calculating a pitch angle and a heading angle in vehicle motion. The magnetometer can effectively reduce the heading interference.

Optionally, when the matching degree of the vehicle pitch angle and the gradient value at the map ramp does not reach a preset threshold value, it is determined that the vehicle is located on the viaduct. If the pitch angle of the vehicle is not matched with the gradient of the ramp, namely the matching degree does not reach the threshold value, the vehicle can be judged to be positioned on the viaduct.

Optionally, when the pitch angle of the vehicle and the gradient value at the ramp of the map and the course angle of the vehicle and the course angle at the ramp both meet a predetermined threshold, it is determined that the vehicle is located at the ramp of the upper and lower bridges.

Further, if the matching degree of the pitch angle of the vehicle and the gradient value of the map ramp does not reach a preset threshold value and the GNSS is an unfixed solution, the GNSS signal intensity of the vehicle is matched with the GNSS signal intensity of each bridge layer, and the bridge layer which is successfully matched is determined as the bridge layer where the vehicle is located.

Preferably, the above scenes are subjected to experimental tests, matching results are disconnected after the scenes enter the viaduct area in a positioning mode, and relocation tests are carried out after the vehicles respectively run on the ground, enter the ramp and run on each bridge layer of the viaduct.

And in the moving process of the vehicle, counting is started when the pitch angle and the course angle of the vehicle are obviously changed, and the operation is stopped when the pitch angle and the course angle exceed the threshold value matching range. Recording the pitch angle and the course angle calculated by the multi-frame IMU, extracting effective values according to prediction and mode through a sliding window filtering algorithm, comparing the effective values with attribute values of ramps on an upper bridge and a lower bridge in a map area, sequentially extracting attribute values of corresponding positions of ramps according to the running distance of the vehicle, and counting absolute values of differences to obtain the matching degree.

In the embodiment, the map elements are added in the viaduct area to provide prior knowledge, the pitch angle and the course angle in the vehicle motion are calculated based on the 9-axis IMU, the pitch angle and the course angle are matched with the gradient value and the course value at the map ramp, and the vehicle is judged to be on the bridge, under the bridge or on the ramp by matching with the GNSS signal strength, so that the vehicle can be accurately positioned, the problem that the viaduct area cannot be relocated can be solved, and the positioning precision is effectively improved.

In one embodiment, as shown in fig. 2, after the vehicle enters the viaduct area, the pitch angle and the heading angle of the vehicle are calculated based on the vehicle-mounted IMU, the matching degree between the pitch angle and the heading angle of the vehicle and the gradient and the heading angle of the ramp in the navigation map is calculated, when the matching degree meets a specific threshold, the vehicle is determined to be located at the ramp of the upper and lower bridges, when the matching degree does not meet the requirement, whether the GNSS signal is a fixed solution is determined, if so, the vehicle is determined to be located on the bridge, otherwise, the GNSS signal is matched with the ground and the GNSS signal intensity of each bridge layer, and the vehicle is determined to be located on the ground or the corresponding bridge layer.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 3 is a schematic structural diagram of a vehicle positioning system 30 according to an embodiment of the present invention, the system 30 at least includes a navigation map 310, an IMU measurement module 320, a GNSS positioning module 330, and an overhead positioning module 340;

the navigation map 310 at least includes a viaduct area, slopes and course angles at ramp positions of upper and lower bridges, and GNSS signal intensity of each bridge layer;

specifically, an upper bridge connection ramp and a lower bridge connection ramp are added to the types of the lanes in the viaduct area, and GNSS signal intensity information is added to the navigation map road attributes.

The IMU measurement module 320 is configured to measure and calculate vehicle pitch angle and heading information;

the GNSS positioning module 330 is configured to acquire a GNSS positioning and a GNSS signal strength of the vehicle;

the elevated positioning module 340 is configured to determine the position of the vehicle on the bridge or off the bridge according to the matching relationship between the vehicle pitch angle and the heading information measured and calculated by the IMU and the slope and heading angle at the turn road of the map when the vehicle is in the elevated bridge area, and determine the bridge layer where the vehicle is located according to whether the GNSS of the vehicle reaches a fixed solution and the GNSS signal intensity.

Specifically, when the matching degree of the vehicle pitch angle and the gradient value at the map ramp does not reach a preset threshold value, the vehicle is judged to be positioned on the viaduct.

When the pitch angle of the vehicle and the gradient value of the ramp of the map and the course angle of the vehicle and the course angle of the ramp meet the preset threshold value, the vehicle is judged to be positioned at the ramp of the upper and lower bridges.

And if the matching degree of the pitch angle of the vehicle and the gradient value at the ramp of the map does not reach a preset threshold value and the GNSS is an unfixed solution, matching the GNSS signal intensity of the vehicle with the GNSS signal intensity of each bridge layer, and determining the successfully matched bridge layer as the bridge layer where the vehicle is located.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic equipment is used for positioning vehicles in the viaduct area. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a memory 410, a processor 420, and a system bus 430, the memory 410 including an executable program 4101 stored thereon, it being understood by those skilled in the art that the electronic device configuration shown in fig. 4 does not constitute a limitation of electronic devices and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

The following describes each component of the electronic device in detail with reference to fig. 4:

the memory 410 may be used to store software programs and modules, and the processor 420 executes various functional applications and data processing of the electronic device by operating the software programs and modules stored in the memory 410. The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

Embodied on memory 410 is executable program 4101 for a network request method, which executable program 4101 may be partitioned into one or more modules/units, which are stored in the memory 410 and executed by processor 420 for vehicle positioning and the like, which may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 4101 in the electronic device 4. For example, the computer program 4101 may be divided into an IMU reckoning module, a GNSS positioning module, an overhead positioning module, and the like.

The processor 420 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 410 and calling data stored in the memory 410, thereby performing overall status monitoring of the electronic device. Alternatively, processor 420 may include one or more processing units; preferably, the processor 420 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 420.

The system bus 430 is used to connect functional units in the computer, and CAN transmit data information, address information, and control information, and may be, for example, a PCI bus, an ISA bus, a CAN bus, etc. The instructions of the processor 420 are transmitted to the memory 410 through the bus, the memory 410 feeds data back to the processor 420, and the system bus 430 is responsible for data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 may also access other devices such as network interfaces, display devices, and the like.

In this embodiment of the present invention, the executable program executed by the process 420 included in the electronic device includes:

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. a vehicle positioning method, is characterized in that, comprises:

Determine whether the vehicle is in the viaduct area based on the real-time positioning of the vehicle, and the viaduct area is a pre-defined area on the navigation map;

According to the matching relationship between the vehicle's pitch angle and heading information calculated by the IMU and the slope and heading angle of the map ramp, the position of the vehicle on and off the bridge is determined, and the bridge layer where the vehicle is located is determined according to whether the vehicle GNSS reaches a fixed solution and the GNSS signal strength.

2. The method according to claim 1, wherein before the determination of whether the vehicle is in the viaduct area based on the real-time positioning of the vehicle comprises:

In the viaduct area, an upper bridge connecting ramp and a lower bridge connecting ramp are added to the lane type, and GNSS signal strength information is added to the road attribute of the navigation map.

3. method according to claim 1, is characterized in that, described according to the matching relationship of the pitch angle of the vehicle measured according to IMU, the heading information and the slope at the map ramp, the heading angle, it is determined that the vehicle upper and lower bridge positions comprise:

When the degree of matching between the pitch angle of the vehicle and the gradient value at the ramp on the map does not reach the predetermined threshold, it is determined that the vehicle is located on the viaduct.

4. method according to claim 1, is characterized in that, described according to the matching relationship of the pitch angle of the vehicle that IMU measures, heading information and the slope at the map ramp, the heading angle, it is determined that the vehicle upper and lower bridge positions comprise:

When the pitch angle of the vehicle matches the slope value at the ramp on the map, and the heading angle of the vehicle and the heading angle at the ramp both meet the predetermined threshold, it is determined that the vehicle is located on the ramp of the upper and lower bridges.

5 . The method according to claim 1 , wherein, according to whether the vehicle GNSS reaches a fixed solution and the GNSS signal strength, it is determined that the bridge layer where the vehicle is located is specifically: 5 .

If the matching degree between the vehicle pitch angle and the slope value at the map ramp does not reach the predetermined threshold and the GNSS is a non-fixed solution, the vehicle GNSS signal strength is matched with the GNSS signal strength of each bridge floor, and the successfully matched bridge floor is determined as the vehicle at the bridge level.

6. A vehicle positioning system, comprising at least a navigation map, an IMU measurement module, a GNSS positioning module and an overhead positioning module;

Wherein, the navigation map includes at least the viaduct area, the slope and heading angle at the ramp of the upper and lower bridges, and the GNSS signal strength of each bridge layer;

The IMU measurement module is used for the measured vehicle pitch angle and heading information;

The GNSS positioning module is used to collect vehicle GNSS positioning and GNSS signal strength;

The overhead positioning module is used to determine the position of the vehicle on and off the bridge according to the matching relationship between the vehicle pitch angle and heading information measured by the IMU and the slope and heading angle at the map ramp when the vehicle is in the viaduct area, and according to whether the vehicle GNSS reaches a fixed solution. and GNSS signal strength to determine the bridge layer where the vehicle is located.

7. system according to claim 6, is characterized in that, described according to the matching relationship of the pitch angle of the vehicle that IMU measures, the heading information and the slope at the map ramp, the heading angle, it is determined that the vehicle upper and lower bridge positions include:

8. The system according to claim 6, wherein, according to whether the vehicle GNSS reaches a fixed solution and the GNSS signal strength, it is determined that the bridge layer where the vehicle is located is specifically:

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the following when executing the computer program. The steps of a vehicle positioning method according to any one of claims 1 to 5.

10. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed, a vehicle positioning according to any one of claims 1 to 5 is implemented steps of the method.