Positioning error determination method and device, trajectory generation method and device and vehicle

A vehicle and positioning device technology, applied in the field of information processing, can solve problems such as errors, positioning data cannot accurately represent the actual position of unmanned vehicles, and it is not easy to measure and statistically analyze its dynamic positioning errors.

Active Publication Date: 2020-09-01
新石器中研(上海)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In fact, due to errors in the data obtained by the software side and errors in the process of data fusion, the positioning data obtained by the above method cannot accurately represent the actual position of the unmanned vehicle
[0003] It is worth mentioning that when the positioning

Method used

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  • Positioning error determination method and device, trajectory generation method and device and vehicle
  • Positioning error determination method and device, trajectory generation method and device and vehicle
  • Positioning error determination method and device, trajectory generation method and device and vehicle

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Experimental program
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Effect test

Embodiment approach

[0117] As an implementation manner, the device further includes: a third acquiring unit, configured to acquire a third trajectory formed by the third colored liquid dripped by the dripping device at a constant speed; wherein, the third trajectory is the During the process of the vehicle using the positioning device to drive along the preset driving trajectory according to the preset rules, the trajectory formed by the third colored liquid dripped by the dripping device at a uniform speed on the road; The three colored liquids are different in color from the first colored liquid and the second colored liquid, and have the same density; a positioning error determination unit is used for determining the position according to the first track, the second track and the third track The coincidence degree determines the positioning error of the positioning device.

[0118] As an implementation manner, the first colored liquid and the second colored liquid have the same viscosity but g...

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Abstract

The application provides a positioning error determination method and device, a trajectory generation method and device, and a vehicle. The positioning error determination method is applied to the vehicle, the vehicle can be an unmanned vehicle, a dripping device and a positioning device are arranged on the vehicle. The positioning error determination method comprises the following steps: acquiring a first trajectory formed by first colored liquid dripped by the dripping device at a constant speed, the first trajectory being a trajectory formed by first colored liquid dripping at a constant speed on a road in the process that the vehicle drives along a preset driving trajectory according to a preset rule by utilizing the positioning device; acquiring a second trajectory formed by second colored liquid dripped by the dripping device at a constant speed, the second trajectory being a trajectory formed by second colored liquid dripping at a constant speed on the road in the process that the vehicle drives along the preset driving trajectory according to a preset rule by utilizing the positioning device; setting the first colored liquid and the second colored liquid to be different incolor and same in density; and determining a positioning error of the positioning device according to the overlap ratio of the first trajectory and the second trajectory.

Description

technical field [0001] The present application relates to the technical field of information processing, and in particular, relates to a positioning error determination method, a trajectory generation method, a device, and a vehicle. Background technique [0002] For unmanned vehicles equipped with positioning and navigation devices, it has always been difficult to measure the positioning accuracy of the positioning and navigation devices during the driving of unmanned vehicles. Generally speaking, unmanned vehicles determine the positioning position based on the data provided by the software side (such as GPS position, position matched by high-precision map radar point cloud). In fact, due to errors in the data obtained by the software side and errors in the process of data fusion, the positioning data obtained by the above method cannot accurately represent the actual position of the unmanned vehicle. [0003] It is worth mentioning that when the positioning causes the de...

Claims

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Application Information

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IPC IPC(8): G01C21/26G05D1/02B62D63/04
CPCB62D63/04G01C21/26G01C21/265G05D1/0212
Inventor 张守俊
Owner 新石器中研(上海)科技有限公司
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