CN115056801A - Multipath recognition method and device for automatic driving, electronic equipment and storage medium - Google Patents

Abstract

The application discloses a multi-path identification method, device, electronic device, and storage medium for automatic driving. The method includes: when the differential state of the satellite positioning data at the current moment is a fixed solution, determining the current moment according to the satellite positioning data at the current moment. height difference; obtain the current driving speed of the autonomous vehicle, and determine the first multi-path identifier according to the current driving speed and the current height difference; determine the first antenna speed according to the current height difference, and determine the first antenna speed according to the first antenna speed and the second The antenna speed determines the second multipath identifier; the current number of satellites is obtained, and the third multipath identifier is determined according to the current number of satellites; the multipath identification result is determined according to the first multipath identifier, the second multipath identifier and the third multipath identifier. The present application defines three different multi-path identification strategies to redundantly identify multi-path effects, which greatly improves the accuracy of multi-path effect identification and improves the positioning robustness and safety of autonomous vehicles.

Description

Multi-path identification method, device and electronic device for automatic driving, storage medium

technical field

The present application relates to the technical field of automatic driving, and in particular, to a multi-path identification method, device, electronic device, and storage medium for automatic driving.

Background technique

The satellite positioning device based on RTK (Real-time kinematic real-time dynamic differential) will give the differential status according to the quality of the satellite positioning signal. For example, single-point positioning is 1, dead reckoning is 3, fixed solution is 4, and floating-point solution is 5. The theoretical positioning accuracy of the fixed solution can generally be controlled at the centimeter level, so it is the differential state with the highest positioning accuracy. However, when the autonomous vehicle is driving in some specific scenarios, such as urban canyons and other scenarios, the differential state given by the RTK-based positioning device is a fixed solution, but the actual positioning error may reach the meter level. For example, when the satellite positioning device Multi-path effects and other situations occur, which seriously affect the positioning accuracy and safety of autonomous vehicles.

In satellite positioning measurement such as GNSS (Global Navigation Satellite System, Global Navigation Satellite System), if the satellite signal (reflected wave) reflected by the reflector near the measured station enters the receiver antenna, it will be combined with the signal directly from the satellite ( Direct waves) produce interference, so that the observed value deviates from the true value, resulting in the so-called "multipath error". This interference delay effect caused by multipath signal propagation is called "multipath effect".

When multi-path effects occur in satellite positioning equipment, the introduction of multi-path errors will affect the positioning accuracy of autonomous vehicles. The prior art mainly focuses on the correction of positioning errors in multi-path scenarios, that is, after the emergence of multi-path effects How to reduce the influence of the positioning error caused by the multi-path effect, there is no solution for the accurate identification of the multi-path effect, and the accurate identification of the multi-path effect is particularly important for when to use the positioning strategy in the multi-path scene for positioning, so Ensure the robustness and safety of the positioning of autonomous vehicles as much as possible.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a multi-path identification method, device, electronic device, and storage medium for automatic driving, so as to accurately identify the multi-path effect and improve the positioning robustness and safety of the automatic driving vehicle.

The embodiment of the present application adopts the following technical solutions:

In a first aspect, an embodiment of the present application provides a multi-path identification method for automatic driving, wherein the method includes:

When the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determine the current altitude difference according to the satellite positioning data at the current moment;

obtaining the current driving speed of the autonomous vehicle, and determining a first multi-path identifier according to the current driving speed and the current altitude difference;

determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device;

obtaining the current number of satellites, and determining a third multipath identifier according to the current number of satellites;

A multi-path identification result is determined according to the first multi-path identification, the second multi-path identification and the third multi-path identification.

Optionally, the satellite positioning data at the current moment includes the satellite positioning altitude at the current moment, and the determining the current altitude difference according to the current satellite positioning data includes:

Obtain the satellite positioning data of the previous moment, and the satellite positioning data of the previous moment includes the satellite positioning altitude of the previous moment;

The current altitude difference is determined according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.

Optionally, the determining the first multi-path identifier according to the current travel speed and the current altitude difference includes:

determining the maximum altitude difference according to the current travel speed and pitch angle;

The first multi-path identifier is determined according to the current travel speed, the maximum altitude difference and the current altitude difference.

Optionally, the determining the first multi-path identifier according to the current driving speed, the maximum altitude difference and the current altitude difference includes:

comparing the current travel speed to a preset travel speed threshold, and comparing the current altitude difference to the maximum altitude difference;

If the current travel speed is greater than the preset travel speed threshold, and the current height difference is greater than the maximum height difference, determining that the first multi-path identification is an entering multi-path identification;

Otherwise, it is determined that the first multi-path identification is a non-entering multi-path identification.

Optionally, the determining the second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device includes:

determining the difference between the first antenna speed and the second antenna speed;

If the difference between the first antenna speed and the second antenna speed is greater than a preset antenna speed difference threshold, determining that the second multipath identifier is an entry multipath identifier;

Otherwise, it is determined that the second multi-path identification is a non-entering multi-path identification.

Optionally, the determining the third multipath identifier according to the current number of satellites includes:

comparing the current number of satellites with a preset number of satellites threshold;

If the current number of satellites is less than the preset number of satellites threshold, determining that the third multipath identifier is an entering multipath identifier;

Otherwise, it is determined that the third multi-path identification is a non-entering multi-path identification.

Optionally, the determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification includes:

determining whether an incoming multipath identifier exists in the first multipath identifier, the second multipath identifier, and the third multipath identifier;

If so, determine that the multi-path identification result is entering a multi-path scene;

Otherwise, it is determined that the multi-path identification result is that the multi-path scene is not entered.

Optionally, after determining the multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification, the method further includes:

In the case of having entered a multi-path scenario, determining whether there is no entering multi-path identification in the first multi-path identification, the second multi-path identification and the third multi-path identification;

If so, exit the multi-path scene after a preset time period.

In a second aspect, an embodiment of the present application further provides a multi-path identification device for automatic driving, wherein the device includes:

a first determining unit, configured to determine the current altitude difference according to the satellite positioning data at the current moment when the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state;

a second determination unit, configured to acquire the current driving speed of the autonomous vehicle, and determine the first multi-path identifier according to the current driving speed and the current altitude difference;

a third determining unit, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device;

a fourth determining unit, configured to acquire the current number of satellites, and determine a third multipath identifier according to the current number of satellites;

A fifth determining unit, configured to determine a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.

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

processor; and

a memory arranged to store computer-executable instructions which, when executed, cause the processor to perform any of the methods described above.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, and the one or more programs are executed by an electronic device including multiple application programs , causing the electronic device to execute any one of the aforementioned methods.

The above-mentioned at least one technical solution adopted in the embodiments of the present application can achieve the following beneficial effects: in the multi-path identification method for automatic driving in the embodiments of the present application, when the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, according to the The current altitude difference is determined from the satellite positioning data at the current moment; the current driving speed of the autonomous vehicle is obtained, and the first multi-path identifier is determined according to the current driving speed and the current altitude difference; the first antenna speed is determined according to the current altitude difference, and according to the first The antenna speed and the second antenna speed output by the inertial navigation device determine the second multipath identifier; obtain the current number of satellites, and determine the third multipath identifier according to the current number of satellites; according to the first multipath identifier, the second multipath identifier and the third multipath identifier Three multi-path identifications determine the multi-path identification results. The multi-path identification method for automatic driving according to the embodiment of the present application defines three different multi-path identification strategies to redundantly identify the multi-path effect in the current scene, which greatly improves the accuracy of the multi-path effect identification and further improves the automatic driving vehicle location robustness and security.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

1 is a schematic flowchart of a multi-path identification method for automatic driving in an embodiment of the present application;

2 is a schematic structural diagram of a multi-path identification device for automatic driving in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

A multi-path identification method for automatic driving according to an embodiment of the present application, as shown in FIG. 1 , provides a schematic flowchart of a multi-path identification method for automatic driving in an embodiment of the present application, and the method includes at least the following steps S110 Go to step S150:

Step S110, in the case that the difference state corresponding to the satellite positioning data at the current moment is a fixed solution state, determine the current altitude difference according to the satellite positioning data at the current moment.

In the embodiment of the present application, when identifying the multipath effect in the automatic driving scenario, it is necessary to first determine the differential state of the satellite positioning data received at the current moment. When the differential state is a fixed solution, although the theory of satellite positioning data is explained at this time The positioning accuracy is high, but if the multi-path effect occurs in the satellite positioning equipment, the actual positioning error will be greatly increased, so it is necessary to further identify whether there is a multi-path effect. As for the differential state being a non-fixed solution state, it can already be shown that the accuracy of the satellite positioning data is not enough, and there is no actual need to identify the multipath effect.

When performing multi-path identification, it is necessary to first determine the current altitude difference based on the satellite positioning data received at the current moment. The satellite positioning data refers to the positioning signal output by the RTK-based satellite positioning device. When the multipath effect occurs, the altitude difference obtained based on the satellite positioning data will have a large deviation, so it can be used as the basis for identifying the multipath effect.

Step S120: Obtain the current driving speed of the automatic driving vehicle, and determine a first multi-path identifier according to the current driving speed and the current altitude difference.

When identifying the multi-path effect based on the current altitude difference, the driving speed of the autonomous vehicle will also affect the recognition result. Therefore, the current driving speed and the current altitude difference can be used to jointly determine the first multi-path identification, and the first multi-path identification is used as One of the strategies to identify multipath effects.

Step S130: Determine a first antenna speed according to the current height difference, and determine a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device.

Based on the current altitude difference, the antenna speed at the current moment, that is, the first antenna speed, can be calculated by a differential method, which represents the antenna speed calculated based on the data of the satellite positioning device. An inertial navigation device such as an IMU (Inertial Measurement Unit, inertial measurement unit) on an autonomous vehicle can also output an antenna speed, that is, a second antenna speed, based on the raw data measured by itself.

Since the data output by the inertial navigation device is not affected by the outside world, that is, there is no problem of multipath effect, the second antenna speed corresponding to the satellite positioning device and the second antenna speed corresponding to the inertial navigation device can be determined by combining the first antenna speed corresponding to the satellite positioning device and the inertial navigation device. Path identification, as the second strategy for identifying multipath effects.

Step S140: Obtain the current number of satellites, and determine a third multipath identifier according to the current number of satellites.

The number of satellites also affects the quality of the satellite positioning signal to a certain extent. The more the number of satellites, the better the quality of the satellite positioning signal, and the overall positioning accuracy will also be improved. The third multipath identifier may also be determined according to the current number of satellites, as the third strategy for identifying the multipath effect.

Step S150: Determine a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.

Since the change sensitivity and fluctuation characteristics of the first multi-path identifier, the second multi-path identifier and the third multi-path identifier in the preceding steps are different, in order to avoid frequent switching of multi-path scenarios and improve the accuracy of multi-path effect identification The final multi-path recognition result can be jointly determined by the mutual constraints between the three multi-path identifiers, that is, to determine whether the current positioning scene needs to be switched to the multi-path scene positioning strategy, so as to ensure the positioning robustness of the autonomous vehicle. and security.

The multi-path identification method for automatic driving according to the embodiment of the present application defines three different multi-path identification strategies to redundantly identify the multi-path effect in the current scene, which greatly improves the accuracy of the multi-path effect identification and further improves the automatic driving vehicle location robustness and security.

In some embodiments of the present application, the satellite positioning data at the current moment includes the satellite positioning altitude at the current moment, and the determining the current altitude difference according to the current satellite positioning data includes: acquiring the satellite positioning data at the previous moment, The satellite positioning data at the previous moment includes the satellite positioning altitude at the previous moment; the current altitude difference is determined according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.

The current altitude difference in this embodiment of the present application can be understood as the difference between the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment. Therefore, the satellite positioning data (pre_utm_x_cal, pre_utm_y_cal, pre_utm_z_cal) at the previous moment can be obtained first here. ), then the satellite positioning altitude at the previous moment is pre_utm_z_cal, and the satellite positioning altitude at the current moment is the utm_z_cal in the satellite positioning data (utm_x_cal, utm_y_cal, utm_z_cal) at the current moment, so the current altitude difference dh can be expressed as:

dh=abs(utm_z_cal-pre_utm_z_cal);

Among them, abs() is a function for finding an absolute value, and the above coordinates are all expressed in a UTM (Universal Transverse Mercator Grid System, Universal Transverse Mercator Grid System) coordinate system.

In some embodiments of the present application, the determining the first multi-path identifier according to the current driving speed and the current altitude difference includes: determining a maximum altitude difference according to the current driving speed and a pitch angle; The speed, the maximum altitude difference and the current altitude difference determine the first multipath identifier.

As mentioned above, when there is a multi-path effect, the altitude difference of satellite positioning will have large fluctuations and deviations. Therefore, a theoretical maximum altitude difference can be determined first, and the fluctuation of the current altitude difference can be measured by the maximum altitude difference. or degree of deviation.

The maximum height difference max_dh in this embodiment of the present application can be determined according to the current driving speed and the pitch angle, and the pitch angle reflects the change of the positioning height with the fluctuation of the road. The height difference also varies greatly. Based on this, the embodiment of the present application can determine the theoretical maximum height difference, for example, it can be expressed as the following form:

max_dh=abs(vb*sin(abs(pitch+a)*DEG_TO_RAD));

Among them, abs() is the absolute value function, vb is the current driving speed, pitch is the pitch angle, a is the noise value introduced for the pitch angle, and DEG_TO_RAD represents the conversion from angle to radian.

In addition, it should be noted that the above-mentioned current driving speed vb refers to the speed in the vehicle body coordinate system, and the current driving speed directly output by the positioning device is usually the speed (vx, vy) in the navigation coordinate system. The northeast sky coordinate system is used as the navigation coordinate system, then vx here represents the east speed, and vy represents the north speed. Therefore, in this embodiment of the present application, the speed in the navigation coordinate system can be converted into the vehicle body coordinate system before for subsequent processing. Specifically, it can be expressed as:

vb=sqrt(vx^2+vy^2);

Among them, sqrt() is the square root function.

In some embodiments of the present application, the determining the first multi-path identifier according to the current travel speed, the maximum height difference and the current height difference includes: comparing the current travel speed with a preset travel speed speed threshold, and compare the current height difference with the maximum height difference; if the current travel speed is greater than the preset travel speed threshold, and the current height difference is greater than the maximum height difference, then It is determined that the first multi-path identification is an entering multi-path identification; otherwise, it is determined that the first multi-path identification is a non-entering multi-path identification.

In the embodiment of the present application, when the first road strength sign is determined, on the one hand, the current speed can be compared with the preset driving speed threshold, and on the other hand, the current altitude difference can be compared with the theoretical maximum altitude difference. The comparison is mainly to limit the specific situations where multi-path recognition is applicable. For example, when an autonomous vehicle enters or is in a parking state, there is usually a positioning strategy corresponding to the parking state at this time, and it is often not necessary to enter a multi-path scene and adopt multi-path. Therefore, if the current driving speed is not greater than the preset driving speed threshold, it means that the self-driving vehicle is likely to enter the parking state. At this time, the first multi-path identification can be directly determined as the non-entering multi-path identification.

As for the second aspect, the judgment may be made after judging whether the current driving speed meets the preset driving speed threshold requirement, or the judgment may be made simultaneously with the previous aspect. The maximum height difference reflects the maximum value of the height difference that may be caused by the vehicle in the case of road fluctuations. The height difference generated in a relatively flat road scene is usually smaller than the maximum height difference. Therefore, if the current height difference is greater than Maximum height difference, then it can be determined that the first multi-path identification is the entering multi-path identification, that is, it is considered that a multi-path effect may currently occur; otherwise, it is determined that the first multi-path identification is the non-entering multi-path identification, that is, it is considered that there may not be a current multi-path identification. multipath effect.

For ease of understanding, the determination of the first path identifier flag_dh can be expressed in the following form, for example:

If vb>0.5 and (dh-max_dh)>0.0, then flag_dh=1;

Otherwise, flag_dh≠1;

Wherein, flag_dh=1 indicates that the first path flag is an entry multi-path flag, and 0.5 is an empirical value of the preset driving speed threshold, and those skilled in the art can flexibly adjust its size according to the actual situation.

In some embodiments of the present application, the determining the second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device includes: determining the first antenna speed and the second antenna speed If the difference between the first antenna speed and the second antenna speed is greater than the preset antenna speed difference threshold, then determine that the second multi-path identification is the entering multi-path identification; otherwise, determine that the The second multi-path identification is a non-entering multi-path identification.

When determining the second multipath identifier in this embodiment of the present application, the difference between the first antenna speed vh1 and the second antenna speed vh0 may be calculated first, and then the difference between the first antenna speed and the second antenna speed and the preset antenna speed may be calculated. difference threshold for comparison. Under normal circumstances, the deviation between the first antenna speed calculated by the satellite positioning device and the second antenna speed output by the inertial navigation device should be small. The deviation between the first antenna speed calculated based on the height difference and the second antenna speed output by the inertial navigation device becomes larger, so if the difference between the first antenna speed and the second antenna speed is greater than the preset antenna speed difference threshold, Then, it can be determined that the second multipath identifier is the entering multipath identifier, that is, it is considered that a multipath effect may currently occur.

For ease of understanding, the determination of the second path identifier flag_vel can be represented, for example, in the following form:

If abs((abs(vh1)-abs(vh0))>0.2, then flag_vel=1;

Otherwise, flag_vel≠1;

Among them, abs( ) is the absolute value function, flag_vel=1 indicates that the second path is marked as entering the multi-path mark, 0.2 is the empirical value of the preset antenna speed difference threshold, and those skilled in the art can flexibly adjust its size according to the actual situation .

In some embodiments of the present application, the determining the third multipath identifier according to the current number of satellites includes: comparing the current number of satellites with a preset threshold of the number of satellites; if the current number of satellites is less than the preset number of satellites Assuming the threshold of the number of satellites, the third multi-path identifier is determined as the entering multi-path identifier; otherwise, the third multi-path identifier is determined as the non-entering multi-path identifier.

When determining the third multi-path identifier in this embodiment of the present application, the current number of satellites GPS num may be compared with the preset satellite number threshold, and if the current number of satellites is less than the preset satellite number threshold, it may be determined that the third multi-path identifier is entering The multi-path identification means that it is considered that a multi-path effect may occur at present. On the contrary, the third multi-path identification is determined as the non-entering multi-path identification, that is, it is considered that the multi-path effect may not occur at present.

For ease of understanding, the determination of the third path identifier flag_num can be represented, for example, in the following form:

If GPS num<12, flag_num=1;

Otherwise, flag_num≠1;

Among them, flag_num=1 indicates that the third path identifier is the entry multi-path identifier, and 12 is the preset number of satellites threshold, which is mainly determined according to the number of satellite positioning systems. For example, there are currently three satellite positioning satellites: GPS, Beidou and GLONASS system, each satellite positioning system has at least 4 satellites, then the preset threshold of the number of satellites here can be set to 12, of course, those skilled in the art can also flexibly adjust the size according to the actual situation.

In some embodiments of the present application, the determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification includes: determining the first multi-path identification , whether there is an entering multi-path identification in the second multi-path identification and the third multi-path identification; if so, determine that the multi-path identification result is an entering multi-path scene; otherwise, determine the multi-path identification result To not enter the multipath scene.

When determining the final multi-path identification result in this embodiment of the present application, redundant identification may be performed in combination with the three multi-path identifiers determined in the foregoing embodiments. In order to ensure the accuracy of multi-path identification, Relatively loose judgment conditions are set in the scene, that is, when only one of the three multi-path signs enters the multi-path sign, the multi-path scene can be directly entered, and the positioning strategy of the multi-path scene is adopted for positioning, thereby ensuring Positioning accuracy.

On the other hand, relatively strict judgment conditions are set when determining not to enter or exit the multipath scene, because there are differences in the change sensitivity and fluctuation situation among the three different multipath identifiers. For example, for the first multi-path identification, it is mainly determined directly according to the change of the current altitude difference, so the change is more sensitive, while for the second multi-path identification, it needs to first determine the first multi-path identification according to the change of the current altitude difference. an antenna speed, and then determine the second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device. Therefore, it is less sensitive to changes relative to the first multipath identifier, but is less sensitive to the third multipath identifier. In other words, it is judged directly based on the number of satellites, and its change sensitivity is generally higher than that of the first multipath identifier and the second multipath identifier, and the change can be sensed the fastest. If any one or two of the above-mentioned three multi-path identifiers are non-entering multi-path identifiers, if you directly decide not to enter the multi-path scene or exit the multi-path scene, it may lead to unstable multi-path scene recognition and The frequent exit of multi-path scenarios affects the positioning stability of autonomous vehicles. Therefore, in the embodiment of the present application, when it is decided not to enter the multi-path scenario or to exit the multi-path scenario, it may be executed again in the case that all the three multi-path identifiers are the non-enter multi-path identifier.

Through the multi-path identification strategy of "wide entry and strict exit" in the embodiments of the present application, on the one hand, the accuracy of multi-path identification can be improved, and on the other hand, frequent switching between multi-path scenarios and normal scenarios can be avoided, thereby ensuring automatic driving. Localization Robustness and Safety of Vehicles.

In some embodiments of the present application, after determining a multi-path identification result according to the first multi-path identification, the second multi-path identification, and the third multi-path identification, the method further includes: after having entered the In the case of a multi-path scenario, determine whether there is no entry multi-path identifier in the first multi-path identifier, the second multi-path identifier, and the third multi-path identifier; if so, exit after a preset time period the multipath scenario.

This embodiment of the present application designs an exit mechanism for multi-path scenarios. When the current first multi-path identifier, second multi-path identifier, and third multi-path identifier do not have entry multi-path identifiers, such as flag_dh, flag_vel, and flag_num are not equal to 1, indicating that the three multi-path identification strategies no longer recognize the multi-path effect, indicating that the multi-path effect may no longer exist at this time, and the multi-path scene can be exited.

In order to avoid a large fluctuation in the positioning of the automatic driving vehicle caused by directly exiting the multi-path scene, the embodiment of the present application may delay the exit of the multi-path scene after a preset period of time, thereby ensuring the positioning stability of the automatic driving vehicle. The length of the preset time period can be flexibly set according to actual needs, for example, it can be set to 3 seconds, which is not specifically limited here.

The embodiment of the present application also provides a multi-path identification device 200 for automatic driving. As shown in FIG. 2 , a schematic structural diagram of a multi-path identification device for automatic driving in the embodiment of the present application is provided. The device 200 includes: The first determination unit 210, the second determination unit 220, the third determination unit 230, the fourth determination unit 240 and the fifth determination unit 250, wherein:

The first determining unit 210 is configured to determine the current altitude difference according to the satellite positioning data at the current moment when the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state;

a second determining unit 220, configured to acquire the current driving speed of the autonomous vehicle, and determine a first multi-path identifier according to the current driving speed and the current altitude difference;

a third determining unit 230, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device;

a fourth determining unit 240, configured to acquire the current number of satellites, and determine a third multipath identifier according to the current number of satellites;

The fifth determining unit 250 is configured to determine a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.

In some embodiments of the present application, the satellite positioning data at the current moment includes the satellite positioning altitude at the current moment, and the first determining unit 210 is specifically configured to: acquire satellite positioning data at a previous moment, the previous moment The satellite positioning data includes the satellite positioning altitude at the previous moment; the current altitude difference is determined according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.

In some embodiments of the present application, the second determining unit 220 is specifically configured to: determine a maximum height difference according to the current driving speed and pitch angle; The height difference is used to determine the first multi-path identifier.

In some embodiments of the present application, the second determining unit 220 is specifically configured to: compare the current travel speed with a preset travel speed threshold, and compare the current height difference with the maximum height difference ; if the current travel speed is greater than the preset travel speed threshold, and the current height difference is greater than the maximum height difference, determine that the first multi-path identification is an entry multi-path identification; otherwise, determine the The first multi-path identification is a no-entry multi-path identification.

In some embodiments of the present application, the third determining unit 230 is specifically configured to: determine the difference between the first antenna speed and the second antenna speed; if the first antenna speed and the second antenna speed If the difference between the antenna speeds is greater than the preset antenna speed difference threshold, the second multipath identifier is determined as the entering multipath identifier; otherwise, the second multipath identifier is determined as the non-entering multipath identifier.

In some embodiments of the present application, the fourth determining unit 240 is specifically configured to: compare the current number of satellites with a preset number of satellites threshold; if the current number of satellites is less than the preset number of satellites threshold, Then, the third multi-path identifier is determined as the entering multi-path identifier; otherwise, the third multi-path identifier is determined as the non-entering multi-path identifier.

In some embodiments of the present application, the fifth determining unit 250 is specifically configured to: determine whether there is an incoming multipath in the first multipath identifier, the second multipath identifier, and the third multipath identifier If yes, determine that the multi-path identification result is entering the multi-path scene; otherwise, determine that the multi-path identification result is not entering the multi-path scene.

In some embodiments of the present application, the apparatus further includes: a fifth determination unit, configured to determine the first multipath identifier, the second multipath identifier, and the whether there is no entry multi-path identifier in the third multi-path identifier; an exit unit, configured to exit the multi-path scene after a preset time period if so.

It can be understood that the above-mentioned multi-path identification device for automatic driving can implement each step of the multi-path identification method for automatic driving provided in the foregoing embodiments, and the relevant explanations about the multi-path identification method for automatic driving are applicable to the multi-path identification method for automatic driving. The identification device is not repeated here.

FIG. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to FIG. 3 , at the hardware level, the electronic device includes a processor, and optionally an internal bus, a network interface, and a memory. The memory may include memory, such as high-speed random-access memory (Random-Access Memory, RAM), or may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Of course, the electronic equipment may also include hardware required for other services.

The processor, the network interface, and the memory can be connected to each other through an internal bus, which can be an ISA (Industry Standard Architecture, industry standard architecture) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard) bus. StandardArchitecture, extended industry standard structure) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one bidirectional arrow is used in FIG. 3, but it does not mean that there is only one bus or one type of bus.

memory for storing programs. Specifically, the program may include program code, and the program code includes computer operation instructions. The memory may include memory and non-volatile memory and provide instructions and data to the processor.

The processor reads the corresponding computer program from the non-volatile memory into the memory and runs it, forming a multi-path identification device for automatic driving at the logical level. The processor executes the program stored in the memory, and is specifically used to perform the following operations:

When the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determine the current altitude difference according to the satellite positioning data at the current moment;

obtaining the current driving speed of the autonomous vehicle, and determining a first multi-path identifier according to the current driving speed and the current altitude difference;

determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device;

obtaining the current number of satellites, and determining a third multipath identifier according to the current number of satellites;

A multi-path identification result is determined according to the first multi-path identification, the second multi-path identification and the third multi-path identification.

The above-mentioned method performed by the multi-path identification device for automatic driving disclosed in the embodiment shown in FIG. 1 of the present application may be applied to a processor, or implemented by a processor. A processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above-mentioned method can be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit ( Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

The electronic device can also execute the method performed by the multi-path identification device for automatic driving in FIG. 1 , and realize the functions of the multi-path identification device for automatic driving in the embodiment shown in FIG.

The embodiments of the present application also provide a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, and the one or more programs include instructions, and the instructions are executed by an electronic device including multiple application programs. , the electronic device can be made to execute the method executed by the multi-path identification device for automatic driving in the embodiment shown in FIG. 1 , and is specifically used to execute:

When the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determine the current altitude difference according to the satellite positioning data at the current moment;

obtaining the current driving speed of the autonomous vehicle, and determining a first multi-path identifier according to the current driving speed and the current altitude difference;

determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device;

obtaining the current number of satellites, and determining a third multipath identifier according to the current number of satellites;

A multi-path identification result is determined according to the first multi-path identification, the second multi-path identification and the third multi-path identification.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture, or device that includes the element.

It will be appreciated by those skilled in the art that the embodiments of the present application may be provided as a method, a system or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above descriptions are merely examples of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims (11)

1. A multi-path identification method for automatic driving, wherein the method comprises: When the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determine the current altitude difference according to the satellite positioning data at the current moment; obtaining the current driving speed of the autonomous vehicle, and determining a first multi-path identifier according to the current driving speed and the current altitude difference; determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device; obtaining the current number of satellites, and determining a third multipath identifier according to the current number of satellites; A multi-path identification result is determined according to the first multi-path identification, the second multi-path identification and the third multi-path identification. 2. The method according to claim 1, wherein the satellite positioning data at the current moment comprises the satellite positioning altitude at the current moment, and the determining the current altitude difference according to the current satellite positioning data comprises: Obtain the satellite positioning data of the previous moment, and the satellite positioning data of the previous moment includes the satellite positioning altitude of the previous moment; The current altitude difference is determined according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment. 3. The method of claim 1, wherein the determining the first multi-path identification according to the current travel speed and the current altitude difference comprises: determining the maximum altitude difference according to the current travel speed and pitch angle; The first multi-path identifier is determined according to the current travel speed, the maximum altitude difference and the current altitude difference. 4. The method of claim 3, wherein the determining the first multi-path identifier according to the current driving speed, the maximum altitude difference and the current altitude difference comprises: comparing the current travel speed to a preset travel speed threshold, and comparing the current altitude difference to the maximum altitude difference; If the current travel speed is greater than the preset travel speed threshold, and the current height difference is greater than the maximum height difference, determining that the first multi-path identification is an entering multi-path identification; Otherwise, it is determined that the first multi-path identification is a non-entering multi-path identification. 5. The method of claim 1, wherein the determining the second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device comprises: determining the difference between the first antenna speed and the second antenna speed; If the difference between the first antenna speed and the second antenna speed is greater than a preset antenna speed difference threshold, determining that the second multipath identifier is an entry multipath identifier; Otherwise, it is determined that the second multi-path identification is a non-entering multi-path identification. 6. The method of claim 1, wherein the determining the third multipath identifier according to the current number of satellites comprises: comparing the current number of satellites with a preset number of satellites threshold; If the current number of satellites is less than the preset number of satellites threshold, determining that the third multipath identifier is an entering multipath identifier; Otherwise, it is determined that the third multi-path identification is a non-entering multi-path identification. 7. The method according to claim 1, wherein the determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification comprises: determining whether an incoming multipath identifier exists in the first multipath identifier, the second multipath identifier, and the third multipath identifier; If so, determine that the multi-path identification result is entering a multi-path scene; Otherwise, it is determined that the multi-path identification result is that the multi-path scene is not entered. 8. The method according to any one of claims 1 to 7, wherein after the multi-path identification result is determined according to the first multi-path identification, the second multi-path identification and the third multi-path identification, the The method also includes: In the case of having entered a multi-path scenario, determining whether there is no entering multi-path identification in the first multi-path identification, the second multi-path identification and the third multi-path identification; If so, exit the multi-path scene after a preset time period. 9. A multi-path identification device for automatic driving, wherein the device comprises: a first determining unit, configured to determine the current altitude difference according to the satellite positioning data at the current moment when the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state; a second determination unit, configured to acquire the current driving speed of the autonomous vehicle, and determine the first multi-path identifier according to the current driving speed and the current altitude difference; a third determining unit, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and the second antenna speed output by the inertial navigation device; a fourth determining unit, configured to acquire the current number of satellites, and determine a third multipath identifier according to the current number of satellites; A fifth determining unit, configured to determine a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification. 10. An electronic device comprising: processor; and a memory arranged to store computer-executable instructions which, when executed, cause the processor to perform the method of any of claims 1-8. 11. A computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to execute The method of any one of the claims 1-8.

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