Method, device and electronic equipment for evaluating fusion positioning accuracy of autonomous driving vehicle

Abstract

The present application discloses a method, device and electronic device for evaluating the fusion positioning accuracy of an autonomous driving vehicle, the method comprising: when a high-precision positioning signal is unavailable, obtaining the first laser positioning information and the corresponding fusion positioning information of the autonomous driving vehicle, the fusion positioning information being output by the fusion positioning system of the autonomous driving vehicle; determining the positioning deviation of the fusion positioning information based on the first laser positioning information and the corresponding fusion positioning information; determining the fusion positioning accuracy of the autonomous driving vehicle based on the positioning deviation of the fusion positioning information; and determining the availability of the fusion positioning system of the autonomous driving vehicle based on the fusion positioning accuracy of the autonomous driving vehicle. Based on laser positioning information, the present application can effectively evaluate the fusion positioning accuracy of fusion positioning information under conditions such as poor RTK positioning signals, without the need to use high-cost, high-precision inertial navigation equipment, and can achieve large-scale online evaluation.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device and electronic equipment for evaluating the fusion positioning accuracy of an autonomous driving vehicle. Background Art

[0002] With the rapid development of autonomous driving technology, the positioning accuracy requirements for autonomous driving vehicles are becoming higher and higher. At present, the positioning of autonomous driving vehicles is mostly based on fusion positioning technology, which is to fuse the data collected by multiple sensors to provide more accurate and reliable positioning results.

[0003] The fusion positioning accuracy of the fusion positioning system determines whether the autonomous driving vehicle can drive safely according to the planned trajectory. This requires an accurate evaluation of the fusion positioning accuracy of the fusion positioning system, so as to facilitate iterative optimization of the positioning performance of the fusion positioning system. The current mainstream fusion positioning accuracy evaluation method often relies on high-precision inertial navigation equipment as a true value device to achieve this. However, this method has at least the following problems:

[0004] 1) High-precision inertial navigation equipment is expensive and cumbersome to install. It needs to be calibrated in advance and has poor portability, making it difficult to promote on a large scale. For example, after a high-precision inertial navigation equipment is installed on an autonomous driving vehicle for fusion positioning accuracy assessment, if another autonomous driving vehicle needs to be assessed, the high-precision inertial navigation equipment needs to be removed for secondary installation and calibration.

[0005] 2) The fusion positioning accuracy cannot be effectively evaluated under conditions such as poor RTK (Real-Time Kinematic) positioning signals;

[0006] 3) Offline evaluation is required and large-scale online evaluation cannot be achieved. Summary of the invention

[0007] The embodiments of the present application provide a method, device and electronic device for evaluating the fusion positioning accuracy of an autonomous driving vehicle, so as to realize online evaluation of the fusion positioning accuracy, improve evaluation efficiency and reduce evaluation cost.

[0008] The present application embodiment adopts the following technical solutions:

[0009] In a first aspect, an embodiment of the present application provides a method for evaluating the fusion positioning accuracy of an autonomous driving vehicle, wherein the method comprises:

[0010] When the high-precision positioning signal is unavailable, obtaining first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle;

[0011] Determining a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information;

[0012] Determining the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information;

[0013] Based on the fusion positioning accuracy of the autonomous driving vehicle, the availability of the fusion positioning system of the autonomous driving vehicle is determined.

[0014] Optionally, the acquiring of the first laser positioning information and the corresponding fused positioning information of the autonomous driving vehicle includes:

[0015] Obtaining original positioning information of the autonomous driving vehicle;

[0016] According to the original positioning information of the autonomous driving vehicle, a corresponding local laser point cloud map is obtained;

[0017] The first laser positioning information is acquired according to the local laser point cloud map and the corresponding laser point cloud data.

[0018] Optionally, the unavailable state of the high-precision positioning signal includes any one or more of a floating point solution, a single point solution and no signal, and determining the positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information includes:

[0019] Determine, according to the first laser positioning information and the corresponding fused positioning information, the positioning deviation of the fused positioning information corresponding to each unavailable state;

[0020] Determining the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information includes:

[0021] The fused positioning accuracy of the autonomous driving vehicle in each unavailable state is determined based on the positioning deviation of the fused positioning information corresponding to each unavailable state.

[0022] Optionally, the positioning deviations of the fused positioning information include multiple ones, and determining the fused positioning accuracy of the autonomous driving vehicle according to the positioning deviations of the fused positioning information includes:

[0023] Using a preset statistical algorithm to perform statistics on the positioning deviations of the plurality of fused positioning information to obtain a first statistical result;

[0024] The fusion positioning accuracy of the autonomous driving vehicle is determined according to the first statistical result.

[0025] Optionally, determining the availability of the fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle includes:

[0026] Determining the laser positioning accuracy of the autonomous vehicle;

[0027] The availability of the fusion positioning system of the autonomous driving vehicle is determined based on the laser positioning accuracy of the autonomous driving vehicle and the fusion positioning accuracy of the autonomous driving vehicle.

[0028] Optionally, determining the laser positioning accuracy of the autonomous driving vehicle includes:

[0029] When the high-precision positioning signal is in an available state, obtaining second laser positioning information of the autonomous driving vehicle and a corresponding high-precision positioning signal;

[0030] Determining a positioning deviation of the second laser positioning information according to the second laser positioning information and a corresponding high-precision positioning signal;

[0031] The laser positioning accuracy of the autonomous driving vehicle is determined based on the positioning deviation of the second laser positioning information.

[0032] Optionally, the positioning deviation of the second laser positioning information includes multiple ones, and determining the laser positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the second laser positioning information includes:

[0033] Using a preset statistical algorithm to perform statistics on the positioning deviations of the plurality of second laser positioning information to obtain a second statistical result;

[0034] The laser positioning accuracy of the autonomous driving vehicle is determined according to the second statistical result.

[0035] In a second aspect, an embodiment of the present application further provides a fusion positioning accuracy evaluation device for an autonomous driving vehicle, wherein the device comprises:

[0036] an acquisition unit, configured to acquire first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle when the high-precision positioning signal is unavailable, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle;

[0037] A first determining unit, configured to determine a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information;

[0038] A second determining unit, configured to determine a fusion positioning accuracy of the autonomous driving vehicle according to a positioning deviation of the fusion positioning information;

[0039] The third determination unit is used to determine the availability of the fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle.

[0040] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0041] Processor; and

[0042] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform any of the methods described above.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes any of the aforementioned methods.

[0044] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: the fusion positioning accuracy assessment method of the autonomous driving vehicle in the embodiments of the present application, when the high-precision positioning signal is unavailable, obtains the first laser positioning information and the corresponding fusion positioning information of the autonomous driving vehicle, and the fusion positioning information is output by the fusion positioning system of the autonomous driving vehicle; then, the positioning deviation of the fusion positioning information is determined based on the first laser positioning information and the corresponding fusion positioning information; then, the fusion positioning accuracy of the autonomous driving vehicle is determined based on the positioning deviation of the fusion positioning information; finally, the availability of the fusion positioning system of the autonomous driving vehicle is determined based on the fusion positioning accuracy of the autonomous driving vehicle. The fusion positioning accuracy assessment method of the autonomous driving vehicle in the embodiments of the present application can effectively assess the fusion positioning accuracy of the fusion positioning information under conditions such as poor RTK positioning signals based on laser positioning information, does not require the use of high-cost, high-precision inertial navigation equipment, and can achieve large-scale online assessment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 A schematic diagram of a flow chart of a method for evaluating fusion positioning accuracy of an autonomous driving vehicle in an embodiment of the present application;

[0047] Figure 2 This is a schematic diagram of the structure of a fusion positioning accuracy assessment device for an autonomous driving vehicle in an embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only 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 making creative work are within the scope of protection of the present application.

[0050] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0051] The present application embodiment provides a method for evaluating the fusion positioning accuracy of an autonomous driving vehicle, such as Figure 1 As shown, a flow chart of a method for evaluating the fusion positioning accuracy of an autonomous driving vehicle in an embodiment of the present application is provided, and the method at least includes the following steps S110 to S140:

[0052] Step S110, when the high-precision positioning signal is unavailable, obtain the first laser positioning information and the corresponding fused positioning information of the autonomous driving vehicle, and the fused positioning information is output by the fused positioning system of the autonomous driving vehicle.

[0053] When evaluating the fusion positioning accuracy of an autonomous driving vehicle, it is necessary to first determine the status of the currently acquired high-precision positioning signal. The high-precision positioning signal here can be, for example, an RTK positioning signal with a positioning accuracy of centimeters. If the currently received RTK positioning signal is a fixed solution of 42, it means that the positioning accuracy of the RTK positioning signal is controlled at the centimeter level. Therefore, the status of the RTK positioning signal at this time is available, otherwise it is unavailable.

[0054] If the currently acquired high-precision positioning signal is unavailable, the first laser positioning information of the autonomous driving vehicle and its corresponding fused positioning information can be obtained. The first laser positioning information can be obtained through a laser point cloud map constructed based on SLAM (Simultaneous Localization And Mapping). Since the laser positioning information does not depend on the quality of the satellite signal and is less affected by the outside world, the positioning error fluctuates less. Therefore, when the RTK positioning signal is unavailable, the laser positioning information can be used to evaluate the fused positioning accuracy.

[0055] The fused positioning information can be regarded as the positioning information output by the fused positioning system of the autonomous driving vehicle, for example, it can be the positioning information output by the combined navigation composed of IMU (Inertial Measurement Unit) + GNSS (Global Navigation Satellite System) after extended Kalman filtering.

[0056] In addition, since the output frequency of the laser positioning information and the output frequency of the fused positioning information are different, for example, the output frequency of the laser positioning information is generally 10 Hz, and the output frequency of the fused positioning information is generally 100 Hz, this will cause the first laser positioning information and the fused positioning information currently acquired to not be one-to-one corresponding in time. Therefore, the first laser positioning information and the fused positioning information can be time synchronized to obtain the fused positioning information currently corresponding to the first laser positioning information, thereby ensuring the accuracy of the fused positioning accuracy assessment.

[0057] Step S120: determining a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information.

[0058] After obtaining the first laser positioning information and the corresponding fused positioning information, since the two correspond to the positioning information of the same time point after the above-mentioned time synchronization processing, the first laser positioning information can be used as a benchmark to compare the fused positioning information with the first laser positioning information to determine the positioning deviation of the fused positioning information.

[0059] Step S130, determining the fusion positioning accuracy of the autonomous driving vehicle based on the positioning deviation of the fusion positioning information.

[0060] In order to improve the accuracy of the fusion positioning accuracy evaluation, the positioning deviations of multiple fusion positioning information can be continuously determined, and then the fusion positioning accuracy of the autonomous driving vehicle can be comprehensively evaluated based on the positioning deviations of multiple fusion positioning information.

[0061] Step S140, determining the availability of the fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle.

[0062] The fusion positioning accuracy characterizes the accuracy of the fusion positioning results output by the fusion positioning system. The higher the fusion positioning accuracy, the more accurate the fusion positioning results output by the fusion positioning system, and vice versa. When the fusion positioning results output by the fusion positioning system are not accurate enough, it will pose a great threat to the driving safety of the autonomous driving vehicle. Therefore, the embodiment of the present application can determine whether the fusion positioning results output by the current fusion positioning system are reliable enough and whether they can be used for real-time positioning of the vehicle by the level of fusion positioning accuracy.

[0063] The method for evaluating the fusion positioning accuracy of the autonomous driving vehicle in the embodiment of the present application can be executed in real time online on the vehicle side, and can be applied to the evaluation of the fusion positioning accuracy in scenarios such as poor high-precision positioning signals or no satellite signals. Of course, those skilled in the art can also flexibly expand the method for evaluating the fusion positioning accuracy of the autonomous driving vehicle in the embodiment of the present application to other scenarios.

[0064] The fusion positioning accuracy evaluation method of the autonomous driving vehicle in the embodiment of the present application can effectively evaluate the fusion positioning accuracy of the fusion positioning information under conditions such as poor RTK positioning signals based on laser positioning information. It does not require the use of high-cost, high-precision inertial navigation equipment and can achieve large-scale online evaluation.

[0065] In one embodiment of the present application, the obtaining of the first laser positioning information and the corresponding fused positioning information of the autonomous driving vehicle includes: obtaining the original positioning information of the autonomous driving vehicle; obtaining the corresponding local laser point cloud map based on the original positioning information of the autonomous driving vehicle; and obtaining the first laser positioning information based on the local laser point cloud map and the corresponding laser point cloud data.

[0066] When acquiring the first laser positioning information, the embodiment of the present application may first acquire the current original positioning information of the autonomous driving vehicle, where the original positioning information may be the fused positioning information, or the original output of the positioning device such as GPS on the autonomous driving vehicle before fusion, specifically the current longitude and latitude coordinates of the autonomous driving vehicle. Since the purpose of acquiring the original positioning information in the embodiment of the present application is to further acquire a local laser point cloud map of the area corresponding to the original positioning information, the accuracy requirement for the original positioning information does not need to be too high.

[0067] Since the laser point cloud map constructed based on SLAM has a huge amount of data, point cloud matching based on the entire laser point cloud map requires a large amount of memory and consumes a lot of time, which does not meet the real-time requirements. Therefore, after obtaining the original positioning information, the embodiment of the present application can further obtain the local laser point cloud map within a certain area corresponding to the original positioning information, thereby greatly reducing the amount of data for point cloud matching and improving matching efficiency.

[0068] After obtaining the local laser point cloud map, the laser point cloud data scanned by the current laser radar is matched with the local laser point cloud map using existing point cloud matching algorithms such as NDT (Normal Distribution Transform) or ICP (Iterative Closest Point) algorithm to obtain the above-mentioned first laser positioning information.

[0069] In one embodiment of the present application, the unavailable state of the high-precision positioning signal includes any one or more of a floating-point solution, a single-point solution, and no signal, and determining the positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information includes: determining the positioning deviation of the fused positioning information corresponding to each unavailable state according to the first laser positioning information and the corresponding fused positioning information; determining the fused positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fused positioning information includes: determining the fused positioning accuracy of the autonomous driving vehicle in each unavailable state according to the positioning deviation of the fused positioning information corresponding to each unavailable state.

[0070] The unusable state of the RTK positioning signal of the embodiment of the present application can be divided into several working conditions such as floating point solution 52, single point solution 12 and no signal. The positioning error of the RTK positioning signal of the floating point solution 52 is generally less than 0.5 meters, and the corresponding plane and elevation errors are generally 0.1-0.3 meters. If the positioning error is greater than 0.5 meters, the plane and elevation errors are generally 1-3 meters, which is difficult to meet the positioning accuracy requirements in the autonomous driving scenario. The positioning error of the RTK positioning signal of the single point solution 12 is generally 1-5 meters, and it cannot be used due to the large elevation error. No signal means that the RTK positioning signal cannot be received at present. These situations all indicate that the current RTK positioning signal is in an unusable state.

[0071] In actual scenarios, different working conditions may have different requirements for fusion positioning accuracy. Therefore, for the above-mentioned working conditions, the embodiments of the present application can respectively determine the positioning deviations of the fusion positioning information corresponding to different working conditions, and then determine the positioning deviations of the fusion positioning information corresponding to different working conditions, for example, the positioning deviation dp1 of the fusion positioning information corresponding to the floating-point solution, the positioning deviation dp2 of the fusion positioning information corresponding to the single-point solution, the positioning deviation dp3 of the fusion positioning information corresponding to no signal, etc. Finally, according to dp1, dp2, and dp3, the fusion positioning accuracy of the autonomous driving vehicle under each different working condition is respectively determined, and then the availability of the fusion positioning system under the corresponding working condition is determined according to the fusion positioning accuracy threshold requirements of different working conditions.

[0072] Of course, in addition to distinguishing the working conditions of autonomous driving vehicles according to the unavailable state of RTK positioning signals, it is also possible to distinguish them according to the road scenarios in which the autonomous driving vehicles are driving, such as cities, canyons, tunnels and other different driving scenarios, and then determine the fusion positioning accuracy in different driving scenarios respectively.

[0073] In one embodiment of the present application, the positioning deviations of the fused positioning information include multiple ones, and determining the fused positioning accuracy of the autonomous driving vehicle based on the positioning deviations of the fused positioning information includes: using a preset statistical algorithm to count the positioning deviations of the multiple fused positioning information to obtain a first statistical result; and determining the fused positioning accuracy of the autonomous driving vehicle based on the first statistical result.

[0074] In order to improve the accuracy and reliability of the fusion positioning accuracy assessment, the embodiment of the present application can obtain multiple first laser positioning information and corresponding fusion positioning information. For example, laser positioning information and corresponding fusion positioning information within 5 minutes can be obtained, or 500 first laser positioning information and corresponding fusion positioning information can be obtained, and so on, so as to calculate the positioning deviation dp of multiple fusion positioning information.

[0075] Then, the positioning deviation dp of the above-mentioned multiple fused positioning information is statistically analyzed using preset statistical algorithms such as mean, variance or RMSE (Root Mean Square Error) to obtain the final fused positioning accuracy, avoiding the influence of single data on the accuracy of fused positioning accuracy evaluation.

[0076] It should be noted that since the fusion positioning accuracy is obtained by statistically analyzing the positioning deviation using methods such as mean and variance, the larger the positioning deviation, the larger the fusion positioning accuracy, which means the lower the fusion positioning accuracy.

[0077] In one embodiment of the present application, determining the availability of the fusion positioning system of the autonomous driving vehicle based on the fusion positioning accuracy of the autonomous driving vehicle includes: determining the laser positioning accuracy of the autonomous driving vehicle; and determining the availability of the fusion positioning system of the autonomous driving vehicle based on the laser positioning accuracy of the autonomous driving vehicle and the fusion positioning accuracy of the autonomous driving vehicle.

[0078] In the above-mentioned embodiments, the fusion positioning accuracy of the fused positioning information is mainly evaluated based on the laser positioning information, and the laser positioning information itself will also have certain errors. The positioning error of the laser positioning information usually fluctuates less and can be measured in advance and used to calculate the laser positioning accuracy of the autonomous driving vehicle. When evaluating the fusion positioning accuracy of the fused positioning information, the embodiments of the present application can further refer to the size of the laser positioning accuracy. For example, the current laser positioning information can be compensated according to the size of the laser positioning accuracy and then used as the basis for calculating the fusion positioning accuracy.

[0079] In one embodiment of the present application, determining the laser positioning accuracy of the autonomous driving vehicle includes: when the high-precision positioning signal is in an available state, obtaining second laser positioning information and a corresponding high-precision positioning signal of the autonomous driving vehicle; determining the positioning deviation of the second laser positioning information based on the second laser positioning information and the corresponding high-precision positioning signal; and determining the laser positioning accuracy of the autonomous driving vehicle based on the positioning deviation of the second laser positioning information.

[0080] When the state of the RTK positioning signal is in an available state, high-precision positioning information can be obtained, so the positioning accuracy of the laser positioning information can be evaluated with the help of the high-precision positioning information. Specifically, when determining the laser positioning accuracy, the embodiment of the present application can first determine whether the state of the RTK positioning signal is in an available state. When the state of the RTK positioning signal is in an available state, the second laser positioning information and the corresponding high-precision positioning signal can be further obtained. The "corresponding" here can also be understood as time synchronization processing.

[0081] Afterwards, based on the RTK positioning signal, the deviation between the second laser positioning information and the corresponding high-precision positioning signal is calculated to obtain the positioning deviation dp0 of the second laser positioning information. Finally, the laser positioning accuracy of the autonomous driving vehicle is calculated based on the positioning deviation dp0 of the second laser positioning information.

[0082] In one embodiment of the present application, the second laser positioning information includes multiple positioning deviations, and determining the laser positioning accuracy of the autonomous driving vehicle based on the positioning deviations of the second laser positioning information includes: using a preset statistical algorithm to count the positioning deviations of the multiple second laser positioning information to obtain a second statistical result; and determining the laser positioning accuracy of the autonomous driving vehicle based on the second statistical result.

[0083] When calculating the above laser positioning accuracy, the statistical methods such as mean, variance or RMSE in the above embodiments can also be used to perform statistical analysis on the positioning deviation dp0 of multiple laser positioning information to obtain the final laser positioning accuracy.

[0084] The present application also provides a fusion positioning accuracy evaluation device 200 for an autonomous driving vehicle, such as Figure 2 As shown, a schematic diagram of the structure of a fusion positioning accuracy assessment device for an autonomous driving vehicle in an embodiment of the present application is provided. The fusion positioning accuracy assessment device 200 for an autonomous driving vehicle at least includes: an acquisition unit 210, a first determination unit 220, a second determination unit 230, and a third determination unit 240, wherein:

[0085] An acquisition unit 210 is used to acquire first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle when the high-precision positioning signal is unavailable, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle;

[0086] A first determining unit 220, configured to determine a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information;

[0087] A second determining unit 230 is used to determine the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information;

[0088] The third determination unit 240 is used to determine the availability of the fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle.

[0089] In one embodiment of the present application, the acquisition unit 210 is specifically used to: acquire the original positioning information of the autonomous driving vehicle; acquire the corresponding local laser point cloud map based on the original positioning information of the autonomous driving vehicle; and acquire the first laser positioning information based on the local laser point cloud map and the corresponding laser point cloud data.

[0090] In one embodiment of the present application, the unavailable state of the high-precision positioning signal includes any one or more of a floating-point solution, a single-point solution, and no signal, and the first determination unit 220 is specifically used to: determine the positioning deviation of the fused positioning information corresponding to each unavailable state according to the first laser positioning information and the corresponding fused positioning information; the second determination unit is specifically used to: determine the fused positioning accuracy of the autonomous driving vehicle in each unavailable state according to the positioning deviation of the fused positioning information corresponding to each unavailable state.

[0091] In one embodiment of the present application, the positioning deviations of the fused positioning information include multiple ones, and the second determination unit 230 is specifically used to: use a preset statistical algorithm to count the positioning deviations of the multiple fused positioning information to obtain a first statistical result; and determine the fused positioning accuracy of the autonomous driving vehicle based on the first statistical result.

[0092] In one embodiment of the present application, the third determination unit 240 is specifically used to: determine the laser positioning accuracy of the autonomous driving vehicle; and determine the availability of the fusion positioning system of the autonomous driving vehicle based on the laser positioning accuracy of the autonomous driving vehicle and the fusion positioning accuracy of the autonomous driving vehicle.

[0093] In one embodiment of the present application, the third determination unit 240 is specifically used to: when the high-precision positioning signal is in an available state, obtain the second laser positioning information and the corresponding high-precision positioning signal of the autonomous driving vehicle; determine the positioning deviation of the second laser positioning information based on the second laser positioning information and the corresponding high-precision positioning signal; determine the laser positioning accuracy of the autonomous driving vehicle based on the positioning deviation of the second laser positioning information.

[0094] In one embodiment of the present application, the second laser positioning information includes multiple positioning deviations, and the third determination unit 240 is specifically used to: use a preset statistical algorithm to count the positioning deviations of the multiple second laser positioning information to obtain a second statistical result; and determine the laser positioning accuracy of the autonomous driving vehicle based on the second statistical result.

[0095] It can be understood that the above-mentioned fusion positioning accuracy assessment device for autonomous driving vehicles can implement the various steps of the fusion positioning accuracy assessment method for autonomous driving vehicles provided in the aforementioned embodiments, and the relevant explanations on the fusion positioning accuracy assessment method for autonomous driving vehicles are all applicable to the fusion positioning accuracy assessment device for autonomous driving vehicles, which will not be repeated here.

[0096] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 3 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0097] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0098] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0099] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a fusion positioning accuracy evaluation device for the autonomous driving vehicle at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0100] When the high-precision positioning signal is unavailable, obtaining first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle;

[0101] Determining a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information;

[0102] Determining the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information;

[0103] Based on the fusion positioning accuracy of the autonomous driving vehicle, the availability of the fusion positioning system of the autonomous driving vehicle is determined.

[0104] The above application Figure 1The method performed by the fusion positioning accuracy assessment device of the autonomous driving vehicle disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in a decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. 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.

[0105] The electronic device may also perform Figure 1 A method for executing a fusion positioning accuracy evaluation device for an autonomous driving vehicle in the present invention, and realizing a fusion positioning accuracy evaluation device for an autonomous driving vehicle in the present invention Figure 1 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0106] The present application also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 1 The method performed by the fusion positioning accuracy evaluation device of the autonomous driving vehicle in the illustrated embodiment is specifically used to perform:

[0107] When the high-precision positioning signal is unavailable, obtaining first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle;

[0108] Determining a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information;

[0109] Determining the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information;

[0110] Based on the fusion positioning accuracy of the autonomous driving vehicle, the availability of the fusion positioning system of the autonomous driving vehicle is determined.

[0111] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0117] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0120] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for evaluating the fusion positioning accuracy of an autonomous driving vehicle. in, The method comprises: When the high-precision positioning signal is unavailable, obtaining first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle; Determining a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information; Determining the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information; Determining availability of a fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle; Determining the availability of the fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle includes: Determining the laser positioning accuracy of the autonomous vehicle; Determining availability of a fusion positioning system of the autonomous driving vehicle according to the laser positioning accuracy of the autonomous driving vehicle and the fusion positioning accuracy of the autonomous driving vehicle; Determining the laser positioning accuracy of the autonomous driving vehicle includes: When the high-precision positioning signal is in an available state, obtaining second laser positioning information of the autonomous driving vehicle and a corresponding high-precision positioning signal; Determining a positioning deviation of the second laser positioning information according to the second laser positioning information and a corresponding high-precision positioning signal; The laser positioning accuracy of the autonomous driving vehicle is determined based on the positioning deviation of the second laser positioning information.

2. The method according to claim 1, in, The obtaining of first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle includes: Obtaining original positioning information of the autonomous driving vehicle; According to the original positioning information of the autonomous driving vehicle, a corresponding local laser point cloud map is obtained; The first laser positioning information is acquired according to the local laser point cloud map and the corresponding laser point cloud data.

3. The method according to claim 1, in, The unavailable state of the high-precision positioning signal includes any one or more of a floating point solution, a single point solution, and no signal, and the determining, according to the first laser positioning information and the corresponding fused positioning information, the positioning deviation of the fused positioning information includes: Determine, according to the first laser positioning information and the corresponding fused positioning information, the positioning deviation of the fused positioning information corresponding to each unavailable state; Determining the fusion positioning accuracy of the autonomous driving vehicle according to the positioning deviation of the fusion positioning information includes: The fused positioning accuracy of the autonomous driving vehicle in each unavailable state is determined based on the positioning deviation of the fused positioning information corresponding to each unavailable state.

4. The method according to claim 1, in, The positioning deviations of the fused positioning information include multiple ones, and determining the fused positioning accuracy of the autonomous driving vehicle according to the positioning deviations of the fused positioning information includes: Using a preset statistical algorithm to perform statistics on the positioning deviations of the plurality of fused positioning information to obtain a first statistical result; The fusion positioning accuracy of the autonomous driving vehicle is determined according to the first statistical result.

5. The method according to claim 1, in, The positioning deviations of the second laser positioning information include multiple ones, and determining the laser positioning accuracy of the autonomous driving vehicle according to the positioning deviations of the second laser positioning information includes: Using a preset statistical algorithm to perform statistics on the positioning deviations of the plurality of second laser positioning information to obtain a second statistical result; The laser positioning accuracy of the autonomous driving vehicle is determined according to the second statistical result.

6. A fusion positioning accuracy evaluation device for an autonomous driving vehicle, in, The device comprises: an acquisition unit, configured to acquire first laser positioning information and corresponding fused positioning information of the autonomous driving vehicle when the high-precision positioning signal is unavailable, the fused positioning information being output by a fused positioning system of the autonomous driving vehicle; A first determining unit, configured to determine a positioning deviation of the fused positioning information according to the first laser positioning information and the corresponding fused positioning information; A second determining unit, configured to determine a fusion positioning accuracy of the autonomous driving vehicle according to a positioning deviation of the fusion positioning information; A third determining unit, configured to determine availability of a fusion positioning system of the autonomous driving vehicle according to the fusion positioning accuracy of the autonomous driving vehicle; The third determining unit is specifically configured to: Determining the laser positioning accuracy of the autonomous vehicle; Determining availability of a fusion positioning system of the autonomous driving vehicle according to the laser positioning accuracy of the autonomous driving vehicle and the fusion positioning accuracy of the autonomous driving vehicle; The third determining unit is specifically configured to: When the high-precision positioning signal is in an available state, obtaining second laser positioning information of the autonomous driving vehicle and a corresponding high-precision positioning signal; Determining a positioning deviation of the second laser positioning information according to the second laser positioning information and a corresponding high-precision positioning signal; The laser positioning accuracy of the autonomous driving vehicle is determined based on the positioning deviation of the second laser positioning information.

7. An electronic device, include: processor; as well as A memory arranged to store computer executable instructions, which when executed cause the processor to perform the method of any one of claims 1 to 5.

8. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to execute any one of the methods of claims 1 to 5.

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