Vehicle posture determination method and device

Abstract

The present application discloses a method and device for determining vehicle posture. The method includes: determining the target lane where the vehicle is located; obtaining the position information of the lane line point column in the target lane in the vehicle coordinate system; performing curve fitting on the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain the first equation of the left lane line and the first equation of the right lane line of the target lane; determining the second equation of the left lane line and the second equation of the right lane line of the target lane according to the environmental image containing the target lane acquired by the image acquisition device; using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line, the initial posture of the vehicle obtained based on the RTK signal is corrected. The scheme disclosed in the present application can accurately determine the vehicle posture under all working conditions.

Description

Technical Field

[0001] The present application belongs to the field of intelligent driving technology, and in particular, relates to a method and device for determining a vehicle posture. Background Art

[0002] In intelligent driving, vehicle posture is a very important parameter, and the accuracy of vehicle posture is related to driving safety.

[0003] At present, the position and orientation of the vehicle is usually determined based on RTK (Real-time kinematic) technology, that is, the position and heading angle of the vehicle. However, RTK technology is easily affected by weather and environment. For example, in bad weather or obstructed environments, RTK signals are easily lost or have large deviations, making it impossible to accurately determine the vehicle's position and orientation. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a vehicle posture determination method, device, electronic equipment and computer program product, which can accurately determine the vehicle posture under all working conditions.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] The present application provides a method for determining a vehicle posture, comprising:

[0007] Determine the target lane where the vehicle is located;

[0008] Obtaining position information of lane line points in the target lane in a vehicle coordinate system;

[0009] Performing curve fitting on the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain a first equation of the left lane line and a first equation of the right lane line of the target lane;

[0010] Determine a second equation of a left lane line and a second equation of a right lane line of the target lane according to an environment image including the target lane acquired by an image acquisition device;

[0011] The initial posture of the vehicle obtained based on the RTK signal is corrected using the first equation for the left lane line, the first equation for the right lane line, the second equation for the left lane line, and the second equation for the right lane line, and the corrected posture is used as the posture solution result of the vehicle.

[0012] Optionally, the using the first left lane line equation, the first right lane line equation, the second left lane line equation, and the second right lane line equation to correct the initial posture of the vehicle obtained based on the RTK signal includes:

[0013] Determine a first correction value of the vehicle heading angle according to the first left lane line equation and the second left lane line equation;

[0014] Determine a second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation;

[0015] Determine the first correction amount and the second correction amount of the vehicle in the X direction, and the first correction amount and the second correction amount of the vehicle in the Y direction according to the first distance, the second distance, the third distance, the fourth distance, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on the RTK signal, wherein the first distance is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, the second distance is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, the third distance is the distance between the vehicle and the left lane line in the target lane determined based on the environmental image, and the fourth distance is the distance between the vehicle and the right lane line in the target lane determined based on the environmental image;

[0016] The initial position of the vehicle obtained based on the RTK signal is corrected according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient.

[0017] Optionally, the correcting the initial posture of the vehicle obtained based on the RTK signal according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient, includes:

[0018] According to X=X origin +Δx left ×k left +Δx right ×k right Correcting the initial position of the vehicle in the X direction obtained based on the RTK signal;

[0019] According to Y=Y origin +Δy left ×k left +Δy right ×k right Correcting the initial position of the vehicle in the Y direction obtained based on the RTK signal;

[0020] According to Yaw=Yaw origin+Δyaw left ×k left +Δyaw right ×k right Correcting the initial heading angle of the vehicle obtained based on the RTK signal;

[0021] Wherein, X is the corrected position of the vehicle in the X direction; Y is the corrected position of the vehicle in the Y direction; Yaw is the corrected heading angle of the vehicle; X origin is the initial position of the vehicle in the X direction obtained based on the RTK signal; origin Yaw is the initial position of the vehicle in the Y direction obtained based on the RTK signal; origin is the initial heading angle of the vehicle obtained based on the RTK signal; Δx left is the first correction amount of the vehicle in the X direction; Δy left is the first correction amount of the vehicle in the Y direction; Δx right is the second correction amount of the vehicle in the X direction; Δy right Δyaw is the second correction amount of the vehicle in the Y direction; left Δyaw is the first correction value of the vehicle heading angle; right is the second correction value of the vehicle heading angle; k left is the first correction coefficient, k right is the second correction factor.

[0022] Optionally, the process of determining the first correction coefficient and the second correction coefficient includes:

[0023] according to determining the first correction coefficient;

[0024] according to determining the second correction coefficient;

[0025] Among them, k left is the first correction coefficient, k right is the second correction factor, P 0left is the first distance, P 0right is the second distance, C 0left is the third distance, C 0right is the fourth distance.

[0026] Optionally, determining the target lane where the vehicle is located includes:

[0027] Acquire the latitude and longitude information of the lane line point sequence of each lane in the area where the vehicle is located from the high-precision map, perform coordinate conversion on the latitude and longitude information of the lane line point sequence, and obtain the position information of the lane line point sequence of each lane in the area where the vehicle is located in the vehicle coordinate system;

[0028] The target lane where the vehicle is located is determined based on the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system and the position information of the vehicle determined based on the RTK signal.

[0029] Optionally, determining the target lane where the vehicle is located according to the position information of the lane line point columns of each lane in the area where the vehicle is located in the vehicle coordinate system and the position information of the vehicle determined based on the RTK signal includes:

[0030] Determine the width of each lane according to the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system;

[0031] Determine the distance between the vehicle and the leftmost lane line and the distance between the vehicle and the rightmost lane line according to the position information of the vehicle;

[0032] Determine the target lane where the vehicle is located according to the width of each lane, the distance between the vehicle and the leftmost lane line, and the distance between the vehicle and the rightmost lane line;

[0033] Among them, the target lane where the vehicle is located satisfies and

[0034] T is the total number of lanes, and the lane numbers from the rightmost lane to the leftmost lane are 1 to T, N is the number of the target lane, W i is the width of the i-th lane, |Dis l | is the distance between the vehicle and the leftmost lane line, |Dis R | is the distance between the vehicle and the rightmost lane line.

[0035] The present application also provides a vehicle posture determination device, comprising:

[0036] A target lane determination module is used to determine the target lane where the vehicle is located;

[0037] A position information acquisition module, used to acquire the position information of the lane line point column in the target lane in the vehicle coordinate system;

[0038] A fitting module, used for performing curve fitting on the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain a first equation of the left lane line and a first equation of the right lane line of the target lane;

[0039] An image analysis module, used to determine a second equation of a left lane line and a second equation of a right lane line of the target lane according to an environment image containing the target lane acquired by an image acquisition device;

[0040] A posture correction module is used to correct the initial posture of the vehicle obtained based on the RTK signal by using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line, and use the corrected posture as the posture solution result of the vehicle.

[0041] Optionally, the posture correction module includes:

[0042] A first correction value determination unit, used for determining a first correction value of a vehicle heading angle according to the first left lane line equation and the second left lane line equation;

[0043] A second correction value determination unit, used for determining a second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation;

[0044] a third correction value determination unit, configured to determine a first correction value and a second correction value of the vehicle in the X direction, and a first correction value and a second correction value of the vehicle in the Y direction according to a first distance, a second distance, a third distance, a fourth distance, a first correction value of the vehicle heading angle, a second correction value of the vehicle heading angle, and an initial heading angle of the vehicle obtained based on the RTK signal, wherein the first distance is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, the second distance is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, the third distance is the distance between the vehicle and the left lane line in the target lane determined based on the environment image, and the fourth distance is the distance between the vehicle and the right lane line in the target lane determined based on the environment image;

[0045] A correction unit is used to correct the initial position of the vehicle obtained based on the RTK signal according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and a correction coefficient.

[0046] The present application also provides an electronic device, including a processor and a memory;

[0047] The memory is used to store instructions;

[0048] The processor is configured to execute the instructions to implement any of the above-mentioned vehicle posture determination methods.

[0049] A computer program product includes a computer program / instruction, wherein when the computer program / instruction is processed and executed, any one of the above-mentioned vehicle posture determination methods is implemented.

[0050] It can be seen that the beneficial effects of this application are:

[0051] The vehicle posture determination method disclosed in the present application determines the target lane where the vehicle is located, obtains the position information of the lane line point column in the target lane in the vehicle coordinate system, and then performs curve fitting according to the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain the first equation of the left lane line and the first equation of the right lane line of the target lane, and determines the second equation of the left lane line and the second equation of the right lane line of the target lane according to the environmental image containing the target lane acquired by the image acquisition device, and then uses the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line to correct the initial posture of the vehicle obtained based on the RTK signal. It can be seen that the vehicle posture determination method and device disclosed in the present application, using the first equation of the left lane line and the first equation of the right lane line determined according to the high-precision map, and the second equation of the lane line and the second equation of the right lane line determined by visual recognition of the environmental image of the vehicle, corrects the initial posture of the vehicle obtained based on the RTK signal, and can obtain a more accurate vehicle posture. Moreover, when the RTK signal deviates due to weather or environmental influences, it can also ensure that the corrected vehicle posture has a high degree of accuracy, so that the vehicle posture can be accurately determined under all working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 A flow chart of a vehicle posture determination method disclosed in this application;

[0054] Figure 2 A flowchart of a method for correcting an initial position and posture of a vehicle obtained based on an RTK signal disclosed in the present application;

[0055] Figure 3A schematic diagram of the structure of a vehicle position determination device disclosed in the present application;

[0056] Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0057] The present application discloses a vehicle posture determination method, device, electronic equipment and computer program product, which can accurately determine the vehicle posture under all working conditions.

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] See also Figure 1 , Figure 1 This is a flow chart of a vehicle posture determination method disclosed in the present application, which is executed by a processor in a vehicle. The method includes:

[0060] S101: Determine the target lane where the vehicle is located.

[0061] In implementation, the target lane where the vehicle is located can be determined through a variety of solutions.

[0062] The first solution is to analyze the vehicle's environmental image and determine the target lane where the vehicle is located.

[0063] For example, the vehicle is equipped with a forward image acquisition device, and the environmental image acquired by the forward image acquisition device includes a partial image of the vehicle and a ground image, wherein the ground image includes a lane image. By analyzing the environmental image of the vehicle, the target lane where the vehicle is located is determined.

[0064] Second option:

[0065] A1: Determine the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system based on the high-precision map.

[0066] In the implementation, the longitude and latitude information of the lane line point column of each lane in the area where the vehicle is located is obtained from the high-precision map, and then the longitude and latitude information of the lane line point column is converted to obtain the position information of each lane line point column in the area where the vehicle is located in the vehicle coordinate system. The coordinate conversion process is shown in formula (1).

[0067]

[0068] Among them, N ix is the i-th point A in the lane line point sequence i X-axis coordinate in the vehicle coordinate system, N iy is the i-th point A in the lane line point sequence i The Y-axis coordinate in the vehicle coordinate system, A ilat is the i-th point A in the lane line point sequence i Longitude, A ilon is the i-th point A in the lane line point sequence i Latitude, O lat is the longitude of the vehicle, O lon is the latitude of the vehicle, and θ is the angle between the vehicle's driving direction and the north direction.

[0069] Optionally, the vehicle coordinate system can be defined as follows: the center of the rear axle of the vehicle is the origin of the vehicle coordinate system, the forward direction of the vehicle is the positive direction of the X-axis of the vehicle coordinate system, and the positive direction of the X-axis is rotated 90° counterclockwise to the positive direction of the Y-axis of the vehicle coordinate system, that is, the direction perpendicular to the X-axis on the left side of the vehicle is the positive direction of the Y-axis, and the vertical upward direction is the positive direction of the Z-axis. Of course, this is only an example of the vehicle coordinate system and is not limited thereto.

[0070] A2: Determine the target lane where the vehicle is located based on the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system and the position information of the vehicle determined by the RTK signal.

[0071] The first option:

[0072] The width of each lane is determined based on the position information of the lane line points of each lane in the vehicle's area in the vehicle's coordinate system; the distance between the vehicle and the leftmost lane line is determined based on the vehicle's position information; and the target lane where the vehicle is located is determined based on the width of each lane and the distance between the vehicle and the leftmost lane line.

[0073] Among them, the target lane where the vehicle is located satisfies formula (2-1).

[0074]

[0075] Where: T is the total number of lanes, the lane numbers from the rightmost lane to the leftmost lane are 1 to T, N is the number of the target lane, W i is the width of the i-th lane, |Dis l | is the distance between the vehicle and the leftmost lane line.

[0076] Second option:

[0077] The width of each lane is determined based on the position information of the lane line points of each lane in the vehicle's area in the vehicle's coordinate system; the distance between the vehicle and the rightmost lane line is determined based on the vehicle's position information; and the target lane where the vehicle is located is determined based on the width of each lane and the distance between the vehicle and the rightmost lane line.

[0078] Among them, the target lane where the vehicle is located satisfies formula (2-2).

[0079]

[0080] Where: T is the total number of lanes, the lane numbers from the rightmost lane to the leftmost lane are 1 to T, N is the number of the target lane, W i is the width of the i-th lane, |Dis R | is the distance between the vehicle and the rightmost lane line.

[0081] The third option:

[0082] The width of each lane is determined based on the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system; the distance between the vehicle and the leftmost lane line, and the distance between the vehicle and the rightmost lane line are determined based on the vehicle's position information; the target lane where the vehicle is located is determined based on the width of each lane, the distance between the vehicle and the leftmost lane line, and the distance between the vehicle and the rightmost lane line.

[0083] Among them, the target lane where the vehicle is located satisfies formula (2-3).

[0084]

[0085] Where: T is the total number of lanes, the lane numbers from the rightmost lane to the leftmost lane are 1 to T, N is the number of the target lane, W i is the width of the i-th lane, |Dis l | is the distance between the vehicle and the leftmost lane line, |Dis R | is the distance between the vehicle and the rightmost lane line.

[0086] S102: Obtaining position information of lane line points in the target lane in the vehicle coordinate system.

[0087] S103: Perform curve fitting on the position information of the lane line points in the target lane in the vehicle coordinate system to obtain a first equation of the left lane line and a first equation of the right lane line of the target lane.

[0088] The first equation of the left lane line of the target lane is as shown in equation (3), and the first equation of the right lane line of the target lane is as shown in equation (4).

[0089] f 1left (x) = P 0left +P 11eft +P 2left *x 2 Formula (3)

[0090] f 1right (x) = P 0right +P 1right +P 2right *x 2 Formula (4)

[0091] Where: the subscript left represents the left lane line; the subscript right represents the right lane line; x is the X-axis coordinate of the lane line point in the vehicle coordinate system; P 0left is the constant term of the first equation of the left lane line, which is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map; P 11eft is the linear coefficient of the first equation of the left lane line, which is the angle between the vehicle and the left lane line in the target lane determined based on the high-precision map; P 2left is the quadratic coefficient of the first equation of the left lane line; P 0right is the constant term of the first equation of the right lane line, which is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map; P 1right is the linear coefficient of the first equation of the right lane line, which is the angle between the vehicle and the right lane line in the target lane determined based on the high-precision map; P 2right is the coefficient of the quadratic term of the first equation for the right lane line.

[0092] S104: Determine a left lane line second equation and a right lane line second equation of the target lane according to an environment image including the target lane acquired by the image acquisition device.

[0093] The second equation of the left lane line of the target lane is as shown in equation (5), and the second equation of the right lane line of the target lane is as shown in equation (6).

[0094] f 2left (x) = C 0left +C 1left *x+C 2left *x 2 Formula (5)

[0095] f 2right (x) = C 0right +C 1right *x+C 2right *x 2 Formula (6)

[0096] Where: the subscript left represents the left lane line; the subscript right represents the right lane line; x is the X-axis coordinate of the lane line point in the vehicle coordinate system; C 0left is the constant term of the second equation of the left lane line, which is the distance between the vehicle and the left lane line in the target lane determined based on the environment image; C 1left is the linear coefficient of the second equation of the left lane line, which is the angle between the vehicle and the left lane line in the target lane determined based on the environment image; C 2left is the quadratic coefficient of the second equation of the left lane line; C 0right is the constant term of the second equation of the right lane line, which is the distance between the vehicle and the right lane line in the target lane determined based on the environment image; C 1right is the first-order coefficient of the second equation of the right lane line, which is the angle between the vehicle and the right lane line in the target lane determined based on the environment image; C 2right is the quadratic coefficient of the second equation for the right lane line.

[0097] S105: Using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line, the initial posture of the vehicle obtained based on the RTK signal is corrected, and the corrected posture is used as the posture solution result of the vehicle.

[0098] The first equation of the left lane and the first equation of the right lane are determined based on the high-precision map, and the second equation of the left lane and the second equation of the right lane are determined by visual recognition of the vehicle's environmental image. The initial position of the vehicle obtained based on the RTK signal is corrected by the first equation of the left lane, the first equation of the right lane, the second equation of the left lane, and the second equation of the right lane, which can ensure that the corrected position has a high accuracy. When the RTK signal is affected by weather or environment and there is a deviation, it can also ensure that the determined vehicle position has a high accuracy.

[0099] The vehicle posture determination method disclosed in the present application determines the target lane where the vehicle is located, obtains the position information of the lane line point column in the target lane in the vehicle coordinate system, and then performs curve fitting according to the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain the first equation of the left lane line and the first equation of the right lane line of the target lane, and determines the second equation of the left lane line and the second equation of the right lane line of the target lane according to the environmental image containing the target lane acquired by the image acquisition device, and then uses the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line to correct the initial posture of the vehicle obtained based on the RTK signal. It can be seen that the vehicle posture determination method disclosed in the present application uses the first equation of the left lane line and the first equation of the right lane line determined according to the high-precision map, and the second equation of the lane line and the second equation of the right lane line determined by visual recognition of the environmental image of the vehicle to correct the initial posture of the vehicle obtained based on the RTK signal, so as to obtain a more accurate vehicle posture. Moreover, when the RTK signal deviates due to weather or environmental influences, it can also ensure that the corrected vehicle posture has a high degree of accuracy, so that the vehicle posture can be accurately determined under all working conditions.

[0100] In one embodiment, the initial position of the vehicle obtained based on the RTK signal is corrected using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line, and the second equation of the right lane line. Figure 2 The solutions shown include:

[0101] S201: Determine a first correction value of the vehicle heading angle according to a first left lane line equation and a second left lane line equation.

[0102] S202: Determine a second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation.

[0103] Optionally, the first correction value of the vehicle heading angle is determined according to formula (7), and the second correction value of the vehicle heading angle is determined according to formula (8).

[0104] Δyaw left =tan -1 (f′ 2left (x)-f′ 1left (x)) Formula (7)

[0105] Δyaw right =tan -1 (f′ 2right (x)-f′ 1right (x)) Formula (8)

[0106] Where: Δyaw left Δyaw is the first correction value of the vehicle heading angle;right is the second correction value of the vehicle heading angle; f′ 1left (x) is f 1left The first derivative of (x); f′ 2left (x) is f 2left The first derivative of (x); f′ 1right (x) is f 1right The first derivative of (x); f′ 2right (x) is f 2right The first derivative of (x).

[0107] S203: Determine a first correction amount and a second correction amount of the vehicle in the X direction, and a first correction amount and a second correction amount of the vehicle in the Y direction according to the first distance, the second distance, the third distance, the fourth distance, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on the RTK signal.

[0108] Among them: the first distance is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, the second distance is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, the third distance is the distance between the vehicle and the left lane line in the target lane determined based on the environmental image, and the fourth distance is the distance between the vehicle and the right lane line in the target lane determined based on the environmental image.

[0109] Optionally, the first correction amount of the vehicle in the X direction is determined according to formula (9), the first correction amount of the vehicle in the Y direction is determined according to formula (10), the second correction amount of the vehicle in the X direction is determined according to formula (11), and the second correction amount of the vehicle in the Y direction is determined according to formula (12).

[0110] Δx left =-(C 0left -P 0left )*sin(Yaw origin +Δyaw left ) Formula (9)

[0111] Δy left =(C 0left -P 0left )*cos(Yaw origin +Δyaw left ) Formula (10)

[0112] Δx right =-(C 0right -P 0right )*sin(Yaw origin +Δyaw right ) Formula (11)

[0113] Δyright =(C 0right -P 0right )*cos(θYaw origin +Δyaw right ) Formula (12)

[0114] Where: Δx left is the first correction value of the vehicle in the X direction; Δy left is the first correction value of the vehicle in the Y direction; Δx right is the second correction value of the vehicle in the X direction; Δy right is the second correction value of the vehicle in the Y direction; P 0left is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, that is, the first distance; P 0right is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, i.e., the second distance; C 0left is the distance between the vehicle and the left lane line in the target lane determined based on the environment image, that is, the third distance; C 0right Yaw is the distance between the vehicle and the right lane line in the target lane determined based on the environment image, i.e., the fourth distance; origin is the initial heading angle of the vehicle obtained based on the RTK signal.

[0115] S204: Correct the initial posture of the vehicle obtained based on the RTK signal according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient.

[0116] Optionally, the initial position of the vehicle in the X direction obtained based on the RTK signal is corrected according to formula (13), the initial position of the vehicle in the Y direction obtained based on the RTK signal is corrected according to formula (14), and the initial heading angle of the vehicle obtained based on the RTK signal is corrected according to formula (15).

[0117] X=X origin +Δx left ×k left +Δx right ×k right Formula (13)

[0118] Y=Y origin +Δy left ×k left +Δy right ×k right Formula (14)

[0119] Yaw=Yaw origin +Δyawleft ×k left +Δyaw right ×k right Formula (15)

[0120] Where: X is the corrected position of the vehicle in the X direction; Y is the corrected position of the vehicle in the Y direction; Yaw is the corrected heading angle of the vehicle; X origin is the initial position of the vehicle in the X direction based on the RTK signal; Y origin Yaw is the initial position of the vehicle in the Y direction based on the RTK signal; origin Δx is the initial heading angle of the vehicle obtained based on the RTK signal; left is the first correction value of the vehicle in the X direction; Δy left is the first correction value of the vehicle in the Y direction; Δx right is the second correction value of the vehicle in the X direction; Δy right Δyaw is the second correction value of the vehicle in the Y direction; left Δyaw is the first correction value of the vehicle heading angle; right is the second correction value of the vehicle heading angle; k left is the first correction coefficient; k right is the second correction factor.

[0121] Optionally, the first correction factor k left and the second correction factor k right Use experience value.

[0122] Considering the kinematic constraints of the vehicle when driving, the vehicle will not have a large lateral deviation in a short time. Therefore, when using the environment image to correct the position of the vehicle, it is more likely to trust the direction with a smaller position correction. right and k left It can be determined according to equations (16) and (17).

[0123]

[0124]

[0125] The above-disclosed solution of the present application determines a first correction value of the vehicle heading angle according to a first equation of the left lane line and a second equation of the left lane line, and determines a second correction value of the vehicle heading angle according to a first equation of the right lane line and a second equation of the right lane line. Then, according to the distance between the vehicle and the left lane line and the right lane line in the target lane determined based on a high-precision map, the distance between the vehicle and the left lane line and the right lane line in the target lane determined based on an environmental image, the first correction value of the vehicle heading angle, the second correction value of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on an RTK signal, the first correction value and the second correction value of the vehicle in the X-axis direction, and the first correction value and the second correction value of the vehicle in the Y-axis direction are determined. Then, according to the first correction value and the second correction value of the vehicle in the X-direction, the first correction value and the second correction value of the vehicle in the Y-direction, the first correction value of the vehicle heading angle, the second correction value of the vehicle heading angle, and the correction coefficient, the initial heading angle of the vehicle is corrected to obtain a vehicle posture with high accuracy.

[0126] After multiple tests and verifications, the vehicle posture determination method disclosed in this application can achieve decimeter-level positioning under all working conditions.

[0127] The above-mentioned method for determining vehicle posture is disclosed in the present application, and correspondingly, the present application discloses a vehicle position determination device, and the descriptions of the two in the specification can refer to each other.

[0128] See also Figure 3 , Figure 3 The schematic diagram of the structure of a vehicle position determination device disclosed in the present application includes a target lane determination module 31 , a position information acquisition module 32 , a fitting module 33 , an image analysis module 34 and a posture correction module 35 .

[0129] in:

[0130] The target lane determination module 31 is used to determine the target lane where the vehicle is located.

[0131] The position information acquisition module 32 is used to obtain the position information of the lane line point column in the target lane in the vehicle coordinate system.

[0132] The fitting module 33 is used to perform curve fitting on the position information of the lane line points in the target lane in the vehicle coordinate system to obtain the first equation of the left lane line and the first equation of the right lane line of the target lane.

[0133] The image analysis module 34 is used to determine the second equation of the left lane line and the second equation of the right lane line of the target lane according to the environment image containing the target lane acquired by the image acquisition device.

[0134] The posture correction module 35 is used to correct the initial posture of the vehicle obtained based on the RTK signal using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line, and use the corrected posture as the posture solution result of the vehicle.

[0135] In an optional implementation, the target lane determination module 31 is specifically used to: analyze the environment image of the vehicle to determine the target lane where the vehicle is located.

[0136] In an optional implementation, the target lane determination module 31 includes:

[0137] A position information acquisition unit, used to determine the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system according to the high-precision map;

[0138] Optionally, the position information acquisition unit is specifically used to: acquire the latitude and longitude information of the lane line point column of each lane in the area where the vehicle is located from the high-precision map, perform coordinate conversion on the latitude and longitude information of the lane line point column, and obtain the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system;

[0139] The target lane determination unit is used to determine the target lane where the vehicle is located based on the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system and the position information of the vehicle determined based on the RTK signal.

[0140] In an optional implementation, the target lane determination unit includes:

[0141] A lane width determination subunit, used to determine the width of each lane according to the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system;

[0142] A first lane line distance determination subunit, used to determine the distance between the vehicle and the leftmost lane line according to the position information of the vehicle;

[0143] The first lane width determination subunit is used to determine the target lane where the vehicle is located according to the width of each lane and the distance between the vehicle and the leftmost lane line. The target lane where the vehicle is located satisfies formula (2-1).

[0144] In an optional implementation, the target lane determination unit includes:

[0145] A lane width determination subunit, used to determine the width of each lane according to the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system;

[0146] A second lane line distance determination subunit is used to determine the distance between the vehicle and the rightmost lane line according to the position information of the vehicle;

[0147] The second lane width determination subunit is used to determine the target lane where the vehicle is located according to the width of each lane and the distance between the vehicle and the rightmost lane line. The target lane where the vehicle is located satisfies formula (2-2).

[0148] In an optional implementation, the target lane determination unit includes:

[0149] A lane width determination subunit, used to determine the width of each lane according to the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system;

[0150] A third lane line distance determination subunit, used to determine the distance between the vehicle and the leftmost lane line, and the distance between the vehicle and the rightmost lane line according to the position information of the vehicle;

[0151] The third target lane determination subunit is used to determine the target lane where the vehicle is located according to the width of each lane, the distance between the vehicle and the leftmost lane line, and the distance between the vehicle and the rightmost lane line. The target lane where the vehicle is located satisfies formula (2-3).

[0152] In an optional implementation, the posture correction module 35 includes:

[0153] A first correction value determination unit, used to determine a first correction value of the vehicle heading angle according to a first left lane line equation and a second left lane line equation;

[0154] A second correction value determination unit, used to determine a second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation;

[0155] A third correction value determination unit is used to determine the first correction value and the second correction value of the vehicle in the X direction, and the first correction value and the second correction value of the vehicle in the Y direction according to the first distance, the second distance, the third distance, the fourth distance, the first correction value of the vehicle heading angle, the second correction value of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on the RTK signal; wherein the first distance is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, the second distance is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, the third distance is the distance between the vehicle and the left lane line in the target lane determined based on the environment image, and the fourth distance is the distance between the vehicle and the right lane line in the target lane determined based on the environment image;

[0156] The correction unit is used to correct the initial posture of the vehicle obtained based on the RTK signal according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient.

[0157] In an optional implementation, the correction unit is specifically used to:

[0158] According to X=X origin +Δx left ×k left +Δx right ×k right Correcting the initial position of the vehicle in the X direction obtained based on the RTK signal;

[0159] According to Y=Y origin +Δy left ×k left +Δy right ×k right Correcting the initial position of the vehicle in the Y direction obtained based on the RTK signal;

[0160] According to Yaw=Yaw origin +Δyaw left ×k left +Δyaw right ×k right The initial heading angle of the vehicle obtained based on the RTK signal is corrected.

[0161] In an optional implementation, the correction unit is further configured to:

[0162] according to determining a first correction factor;

[0163] according to A second correction factor is determined.

[0164] The application also discloses an electronic device.

[0165] See also Figure 4 , Figure 4 This is a structural block diagram of an electronic device disclosed in this application. The electronic device includes but is not limited to: a processor 41 , a memory 42 , a communication interface 43 , an I / O controller 44 and a communication bus 45 .

[0166] It should be noted that those skilled in the art can understand that Figure 4 The structure of the electronic device shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Figure 4 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0167] Combine the following Figure 4 Provide a detailed introduction to the various components of electronic equipment.

[0168] The processor 41 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It performs various functions of the electronic device and processes data by running or executing software programs and / or modules stored in the memory 42 and calling data stored in the memory 42, thereby monitoring the electronic device as a whole.

[0169] The processor 41 may be a central processing unit (CPU), or an application specific integrated circuit ASIC (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0170] The memory 42 may include a memory, such as a high-speed random access memory (RAM) 421 and a read-only memory (ROM) 422, and may also include a large-capacity storage device 423, such as at least one disk storage, etc. Of course, the electronic device may also include hardware required for other services.

[0171] The memory 42 is used to store instructions executable by the processor 41. The processor 41 has the function of executing the vehicle posture determination method.

[0172] A wired or wireless communication interface 43 is configured to connect the electronic device to a network.

[0173] The processor 41, the memory 42, the communication interface 43 and the I / O controller 44 may be interconnected via a communication bus 45, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0174] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle posture determination method.

[0175] The present application also discloses a storage medium including instructions, such as a memory including instructions, and the above instructions can be executed by a processor of an electronic device to complete the above vehicle posture determination method. Optionally, the storage medium can be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0176] The present application also discloses a computer-readable storage medium that can be directly loaded into the internal memory of a computer, such as the above-mentioned memory, and contains software code. After being loaded and executed by a computer, the computer program can implement the steps shown in any embodiment of the above-mentioned vehicle posture determination method.

[0177] The present application also discloses a computer program product that can be directly loaded into the internal memory of a computer, such as the memory contained in the electronic device, and contains software code. After being loaded and executed by the computer, the computer program can implement the steps shown in any embodiment of the vehicle posture determination method described above.

[0178] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0179] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the devices, electronic devices, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0180] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining vehicle posture, It is characterized in that include: Determine the target lane where the vehicle is located; Obtaining position information of lane line points in the target lane in a vehicle coordinate system; Performing curve fitting on the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain a first equation of the left lane line and a first equation of the right lane line of the target lane; Determine a second equation of a left lane line and a second equation of a right lane line of the target lane according to an environment image including the target lane acquired by an image acquisition device; Using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line, and the second equation of the right lane line, the initial posture of the vehicle obtained based on the RTK signal is corrected, and the corrected posture is used as the posture solution result of the vehicle; The first equation of the left lane line is f 1left (x) = P 0left +P 1left *x+P 2left *x 2 ; The first equation of the right lane line is f 1right (x) = P 0right +P 1right *x+P 2right *x 2 ; The second equation of the left lane line is f 2left (x) = C 0left +C 1left *x+C 2left *x 2 ; The second equation of the right lane line is f 2right (x) = C 0right +C 1right *x+C 2right *x 2 ; Wherein, the subscript left represents the left lane line; the subscript right represents the right lane line; x is the X-axis coordinate of the lane line point in the vehicle coordinate system; P 0left , P 1left are the constant term and the linear term coefficient of the first equation of the left lane line, respectively, and are the distance and the angle between the vehicle and the left lane line in the target lane determined based on the high-precision map; P 2left is the quadratic coefficient of the first equation of the left lane line; P 0right , P 1right are the constant term and the coefficient of the first equation of the right lane line, which are the distance and the angle between the vehicle and the right lane line in the target lane determined based on the high-precision map, respectively; P 2right is the quadratic coefficient of the first equation of the right lane line; C 0left , C 1left are the constant term and the coefficient of the first-order term of the second equation of the left lane line, which are respectively the distance and the angle between the vehicle and the left lane line in the target lane determined based on the environment image; C 2left is the quadratic coefficient of the second equation of the left lane line; C 0right , C 1right are the constant term and the linear term coefficient of the second equation of the right lane line, respectively, and are the distance and the angle between the vehicle and the right lane line in the target lane determined based on the environment image; C 2right is the coefficient of the quadratic term of the second equation of the right lane line; The method of correcting the initial position of the vehicle obtained based on the RTK signal by using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line includes: Determine a first correction value of the vehicle heading angle according to the first left lane line equation and the second left lane line equation; Determine a second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation; Determine the first correction amount and the second correction amount of the vehicle in the X direction, and the first correction amount and the second correction amount of the vehicle in the Y direction according to the first distance, the second distance, the third distance, the fourth distance, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on the RTK signal, wherein the first distance is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, the second distance is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, the third distance is the distance between the vehicle and the left lane line in the target lane determined based on the environmental image, and the fourth distance is the distance between the vehicle and the right lane line in the target lane determined based on the environmental image; The initial position of the vehicle obtained based on the RTK signal is corrected according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient.

2. The method according to claim 1, It is characterized in that The first correction value of the vehicle heading angle is determined according to the first left lane line equation and the second left lane line equation, including: according to the formula Δyaw left =tan -1 (f 2 ' left (x)-f 1 ' left (x)) determining a first correction value of the vehicle heading angle; The determining of the second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation includes: right =tan -1 (f 2 ' right (x)-f 1 ' right (x)) determining a second correction value for the vehicle heading angle; Among them, Δyaw left Δyaw is the first correction value of the vehicle heading angle; right is the second correction value of the vehicle heading angle; f 1 ′left(x) is f 1left The first derivative of (x); f 2 ′left(x) is f 2left The first derivative of (x); f 1 ′right(x) is f 1right The first derivative of (x); f 2 ′right(x) is f 2right The first derivative of (x).

3. The method according to claim 1, It is characterized in that The method of determining the first correction amount and the second correction amount of the vehicle in the X direction and the first correction amount and the second correction amount of the vehicle in the Y direction according to the first distance, the second distance, the third distance, the fourth distance, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on the RTK signal includes: According to Δx left =-(C 0left -P 0left )*sin(Yaw origin +Δyaw left ) determining a first correction amount of the vehicle in the X direction; According to Δy left =(C 0left -P 0left )*cos(Yaw origin +Δyaw left ) determining a first correction amount of the vehicle in the Y direction; According to Δx right =-(C 0right -P 0right )*sin(Yaw origin +Δyaw right ) determining a second correction amount of the vehicle in the X direction; According to Δy right =(C 0right -P 0right )*cos(Yaw origin +Δyaw right ) determining a second correction amount of the vehicle in the Y direction; Where Δx left is the first correction amount of the vehicle in the X direction; Δy left is the first correction amount of the vehicle in the Y direction; Δx right is the second correction amount of the vehicle in the X direction; Δy right is the second correction value of the vehicle in the Y direction; 0left is the first distance; 0right is the second distance; C 0left is the third distance; C 0right is the fourth distance; Yaw origin is the initial heading angle of the vehicle obtained based on the RTK signal.

4. The method according to claim 1, It is characterized in that The method corrects the initial position of the vehicle obtained based on the RTK signal according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient, including: According to X=X origin +Δx left ×k left +Δx right ×k right Correcting the initial position of the vehicle in the X direction obtained based on the RTK signal; According to Y=Y origin +Δy left ×k left +Δy right ×k right Correcting the initial position of the vehicle in the Y direction obtained based on the RTK signal; According to Yaw=Yaw origin +Δyaw left ×k left +Δyaw right ×k right Correcting the initial heading angle of the vehicle obtained based on the RTK signal; Wherein, X is the corrected position of the vehicle in the X direction; Y is the corrected position of the vehicle in the Y direction; Yaw is the corrected heading angle of the vehicle; X origin is the initial position of the vehicle in the X direction obtained based on the RTK signal; origin Yaw is the initial position of the vehicle in the Y direction obtained based on the RTK signal; origin is the initial heading angle of the vehicle obtained based on the RTK signal; Δx left is the first correction amount of the vehicle in the X direction; Δy left is the first correction amount of the vehicle in the Y direction; Δx right is the second correction amount of the vehicle in the X direction; Δy right Δyaw is the second correction amount of the vehicle in the Y direction; left Δyaw is the first correction value of the vehicle heading angle; right k is the second correction value of the vehicle heading angle; left is the first correction coefficient, k right is the second correction factor.

5. The method according to claim 4, It is characterized in that The process of determining the first correction coefficient and the second correction coefficient includes: according to determining the first correction coefficient; according to determining the second correction coefficient; Among them, k left is the first correction coefficient; k right is the second correction coefficient; 0left is the first distance; 0right is the second distance; C 0left is the third distance; C 0right is the fourth distance.

6. The method according to claim 1, It is characterized in that Determining the target lane where the vehicle is located includes: Acquire the latitude and longitude information of the lane line point sequence of each lane in the area where the vehicle is located from the high-precision map, perform coordinate conversion on the latitude and longitude information of the lane line point sequence, and obtain the position information of the lane line point sequence of each lane in the area where the vehicle is located in the vehicle coordinate system; The target lane where the vehicle is located is determined based on the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system and the position information of the vehicle determined based on the RTK signal.

7. The method according to claim 6, It is characterized in that The determining of the target lane where the vehicle is located according to the position information of the lane line points of each lane in the area where the vehicle is located in the vehicle coordinate system and the position information of the vehicle determined based on the RTK signal includes: Determine the width of each lane according to the position information of the lane line point column of each lane in the area where the vehicle is located in the vehicle coordinate system; Determine the distance between the vehicle and the leftmost lane line and the distance between the vehicle and the rightmost lane line according to the position information of the vehicle; Determine the target lane where the vehicle is located according to the width of each lane, the distance between the vehicle and the leftmost lane line, and the distance between the vehicle and the rightmost lane line; Among them, the target lane where the vehicle is located satisfies and T is the total number of lanes, and the lane numbers from the rightmost lane to the leftmost lane are 1 to T, N is the number of the target lane, W i is the width of the i-th lane, |Dis l | is the distance between the vehicle and the leftmost lane line, |Dis R | is the distance between the vehicle and the rightmost lane line.

8. A vehicle posture determination device, It is characterized in that include: A target lane determination module is used to determine the target lane where the vehicle is located; A position information acquisition module, used to acquire the position information of the lane line point column in the target lane in the vehicle coordinate system; A fitting module, used for performing curve fitting on the position information of the lane line point column in the target lane in the vehicle coordinate system to obtain a first equation of the left lane line and a first equation of the right lane line of the target lane; An image analysis module, used to determine a second equation of a left lane line and a second equation of a right lane line of the target lane according to an environment image containing the target lane acquired by an image acquisition device; A posture correction module, used to correct the initial posture of the vehicle obtained based on the RTK signal by using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line, and use the corrected posture as the posture solution result of the vehicle; The first equation of the left lane line is f 1left (x) = P 0left +P 1left *x+P 2left *x 2 ; The first equation of the right lane line is f 1right (x) = P 0right +P 1right *x+P 2right *x 2 ; The second equation of the left lane line is f 2left (x) = C 0left +C 1left *x+C 2left *x 2 ; The second equation of the right lane line is f 2right (x) = C 0right +C 1right *x+C 2right *x 2 ; Wherein, the subscript left represents the left lane line; the subscript right represents the right lane line; x is the X-axis coordinate of the lane line point in the vehicle coordinate system; P 0left , P 1left are the constant term and the coefficient of the first equation of the left lane line, respectively, and are the distance and the angle between the vehicle and the left lane line in the target lane determined based on the high-precision map, respectively; P 2left is the quadratic coefficient of the first equation of the left lane line; P 0right , P 1right are the constant term and the coefficient of the first equation of the right lane line, which are the distance and the angle between the vehicle and the right lane line in the target lane determined based on the high-precision map, respectively; P 2right is the quadratic coefficient of the first equation of the right lane line; C 0left , C 1left are the constant term and the coefficient of the first-order term of the second equation of the left lane line, which are respectively the distance and the angle between the vehicle and the left lane line in the target lane determined based on the environment image; C 2left is the quadratic coefficient of the second equation of the left lane line; C 0right , C 1right are the constant term and the coefficient of the first-order term of the second equation of the right lane line, which are respectively the distance and the angle between the vehicle and the right lane line in the target lane determined based on the environment image; C 2right is the coefficient of the quadratic term of the second equation of the right lane line; The method of correcting the initial position of the vehicle obtained based on the RTK signal by using the first equation of the left lane line, the first equation of the right lane line, the second equation of the left lane line and the second equation of the right lane line includes: Determine a first correction value of the vehicle heading angle according to the first left lane line equation and the second left lane line equation; Determine a second correction value of the vehicle heading angle according to the first right lane line equation and the second right lane line equation; Determine the first correction amount and the second correction amount of the vehicle in the X direction, and the first correction amount and the second correction amount of the vehicle in the Y direction according to the first distance, the second distance, the third distance, the fourth distance, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the initial heading angle of the vehicle obtained based on the RTK signal, wherein the first distance is the distance between the vehicle and the left lane line in the target lane determined based on the high-precision map, the second distance is the distance between the vehicle and the right lane line in the target lane determined based on the high-precision map, the third distance is the distance between the vehicle and the left lane line in the target lane determined based on the environmental image, and the fourth distance is the distance between the vehicle and the right lane line in the target lane determined based on the environmental image; The initial position of the vehicle obtained based on the RTK signal is corrected according to the first correction amount and the second correction amount of the vehicle in the X direction, the first correction amount and the second correction amount of the vehicle in the Y direction, the first correction amount of the vehicle heading angle, the second correction amount of the vehicle heading angle, and the correction coefficient.

Images