A positioning detection method, device, electronic equipment and storage medium

Abstract

The present disclosure provides a positioning detection method, device, electronic device and storage medium, which compares the target positioning information of the vehicle with the preset high-precision map of the driving area where the vehicle is located, the planned driving path during driving and the historical driving trajectory of the vehicle during driving, thereby detecting the height positioning deviation of the target positioning information in the vertical direction, the horizontal positioning deviation in the horizontal direction and the heading angle deviation in the driving direction, thereby determining the positioning accuracy of the target positioning information. In this way, by using reference information from different sources, the positioning information of the vehicle is respectively detected in the vertical direction, the horizontal direction and the driving direction, which can effectively realize the detection of the positioning accuracy of the vehicle, reduce the positioning error caused by the coupling degree of the positioning algorithm, and help improve the error detection accuracy of the vehicle positioning information and the objectivity of error discrimination.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and more specifically, to a positioning detection method, device, electronic device, and storage medium. Background Art

[0002] At present, people often need to use the vehicle's own positioning system to determine the vehicle's current location during daily driving. For example, when using the vehicle's automatic driving function, map navigation, assisted parking and other scenarios, if the obtained vehicle positioning information has a large deviation from the vehicle's actual position and posture, it will affect the command processing results of the vehicle's downstream control module, posing a threat to the vehicle's safe driving.

[0003] Therefore, in order to avoid traffic accidents caused by vehicle positioning errors, it is necessary to evaluate the vehicle's positioning information. Most of the existing detection methods use the position of a commonly used static fixed object as a reference, and compare the distance between the vehicle positioning information and the reference object with the distance measurement result of the on-board sensor to the static fixed object to determine whether the positioning information is accurate. However, due to sensor measurement errors and other reasons, the accuracy of positioning information detection relying on sensor detection performance is poor. Summary of the invention

[0004] The embodiments of the present disclosure at least provide a positioning detection method, device, electronic device and storage medium, which improve the accuracy of error detection of vehicle positioning information.

[0005] The present disclosure provides a positioning detection method, the method comprising:

[0006] Obtaining target positioning information at the target positioning position of the vehicle to be detected during driving;

[0007] Determine the height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information;

[0008] Determining a horizontal positioning deviation of the target positioning information in a horizontal direction according to a planned driving path of the vehicle to be detected and the target positioning information;

[0009] Determine the heading angle deviation of the target positioning information in the driving direction according to the historical driving trajectory of the vehicle to be detected during driving and the target positioning information;

[0010] If the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet the preset positioning deviation conditions, it is determined that the target positioning information at the target positioning position is accurately positioned.

[0011] In an optional implementation manner, determining the height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the positioning information includes:

[0012] Obtaining a preset high-precision map of the driving area of ​​the vehicle to be detected;

[0013] Determine a first geographical location in the preset high-precision map that matches the horizontal positioning information in the target positioning information;

[0014] The height positioning deviation of the target positioning information in the vertical direction is determined according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information.

[0015] In an optional implementation manner, before determining the height positioning deviation of the target positioning information in the vertical direction according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information, the method includes:

[0016] Based on the preset high-precision map, determining first geographic height information of the first geographic location;

[0017] The first geographic altitude information is determined as geographic altitude information corresponding to the first geographic location.

[0018] In an optional implementation manner, before determining the height positioning deviation of the target positioning information in the vertical direction according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information, the method includes:

[0019] Based on a preset detection area range, determining a preset detection area where the first geographical location is located;

[0020] Determine at least one second geographical location in the preset detection area other than the first geographical location;

[0021] Determine the average height information of the preset detection area according to the first geographical height information of the first geographical location and the second geographical height information of each of the second geographical locations;

[0022] When the preset detection area meets the positioning detection condition, the average height information is determined as the geographical height information corresponding to the first geographical location.

[0023] In an optional implementation manner, it is determined that the preset detection area meets the positioning detection condition by the following steps:

[0024] Calculating the height variance information of the preset detection area according to the first geographic height information and the second geographic height information;

[0025] If the height variance information is less than a preset height variance threshold, it is determined that the preset detection area meets the positioning detection condition.

[0026] In an optional implementation manner, determining the horizontal positioning deviation of the target positioning information in the horizontal direction according to the planned driving path of the vehicle to be detected and the target positioning information includes:

[0027] Obtaining a planned driving path for the vehicle to be detected;

[0028] Determining a planned driving position in the planned driving path corresponding to the target positioning position;

[0029] The horizontal positioning deviation of the target positioning information in the horizontal direction is determined according to the horizontal positioning information in the positioning information and the horizontal position information of the planned driving position in the horizontal direction.

[0030] In an optional implementation manner, the obtaining of a planned driving path for the vehicle to be detected includes:

[0031] Determine the positioning time of the target positioning information;

[0032] Determine the first path planning time period to which the positioning time belongs according to the preset path planning validity time;

[0033] Acquire the planned driving path of the vehicle to be detected within the first path planning time period.

[0034] In an optional implementation manner, determining the planned driving position corresponding to the target positioning position in the planned driving path includes:

[0035] The planned driving position of the vehicle to be detected in the planned driving path at the positioning time is determined from the planned driving path.

[0036] In an optional implementation manner, when determining whether the horizontal positioning deviation satisfies a preset positioning deviation condition, the following steps are performed to determine whether the horizontal positioning deviation satisfies the preset positioning deviation condition:

[0037] Determine, according to the target positioning position and the planned driving position, a first positioning deviation of the horizontal positioning deviation in a first direction in the horizontal direction, and a second positioning deviation in a second direction in the horizontal direction, wherein the first direction and the second direction are perpendicular to each other in the horizontal direction;

[0038] If the first positioning deviation is smaller than a first error threshold in the first direction, and the second positioning deviation is smaller than a second error threshold in the second direction, it is determined that the horizontal positioning deviation satisfies a preset positioning deviation condition.

[0039] In an optional implementation manner, determining the heading angle deviation of the target positioning information in the driving direction according to the historical driving trajectory of the vehicle to be detected during driving and the positioning information includes:

[0040] Acquire a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected;

[0041] Determine, according to the historical horizontal positioning information in each historical positioning information, the historical driving trajectory of the vehicle to be detected in the horizontal direction during the driving process;

[0042] Determine a historical driving position in the historical driving trajectory corresponding to the target positioning position;

[0043] The heading angle deviation of the target positioning information in the driving direction is determined according to the tangent direction of the historical driving trajectory at the historical driving position and the heading angle information in the positioning information.

[0044] In an optional implementation manner, the acquiring of a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected includes:

[0045] Determine a historical time period with the positioning time of the target positioning information as the time end point according to the positioning time of the target positioning information and the historical time threshold;

[0046] Determine each positioning time node in the historical time period;

[0047] The historical positioning information corresponding to each positioning time node in the historical time period is obtained.

[0048] In an optional implementation manner, when determining whether the heading angle deviation satisfies a preset positioning deviation condition, the following steps are performed to determine whether the heading angle deviation satisfies the preset positioning deviation condition:

[0049] Get the historical heading angle deviation corresponding to each historical positioning information;

[0050] Determining an average heading angle deviation of the vehicle to be detected based on the acquired multiple historical heading angle deviations and the heading angle deviation;

[0051] If the heading angle average deviation is less than a preset angle deviation threshold, it is determined that the heading angle deviation meets a preset positioning deviation condition.

[0052] In an optional implementation manner, the following steps are performed to determine whether the height positioning deviation, the horizontal positioning deviation, and the heading angle deviation all meet a preset positioning deviation condition:

[0053] For each of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation, detecting whether the deviation is greater than a corresponding deviation threshold;

[0054] If the deviations are all smaller than the corresponding deviation thresholds, it is determined that the deviations meet the preset positioning deviation conditions.

[0055] In an optional implementation manner, if the height positioning deviation, the horizontal positioning deviation, and the heading angle deviation all meet the preset positioning deviation conditions, after determining that the target positioning information at the target positioning position is accurately positioned, the method includes:

[0056] If at least one of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation does not meet a preset positioning deviation condition, determining that the target positioning information at the target positioning position is inaccurately positioned;

[0057] If it is detected that the positioning information of multiple targets is inaccurate, a warning message is sent to the user.

[0058] The present disclosure also provides a positioning detection device, the device comprising:

[0059] A positioning information acquisition module is used to obtain target positioning information at the target positioning position of the vehicle to be detected during driving;

[0060] A height deviation determination module is used to determine the height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information;

[0061] A horizontal deviation determination module, used to determine the horizontal positioning deviation of the target positioning information in the horizontal direction according to the planned driving path of the vehicle to be detected and the target positioning information;

[0062] A heading angle deviation determination module, used to determine the heading angle deviation of the target positioning information in the driving direction according to the historical driving trajectory of the vehicle to be detected during driving and the target positioning information;

[0063] The positioning detection module is used to determine that the target positioning information at the target positioning position is accurately positioned if the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet preset positioning deviation conditions.

[0064] In an optional implementation manner, the height deviation determination module is specifically used to:

[0065] Obtaining a preset high-precision map of the driving area of ​​the vehicle to be detected;

[0066] Determine a first geographical location in the preset high-precision map that matches the horizontal positioning information in the target positioning information;

[0067] The height positioning deviation of the target positioning information in the vertical direction is determined according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information.

[0068] In an optional implementation manner, the device further includes a first height confirmation module, and the first height confirmation module is used to:

[0069] Based on the preset high-precision map, determining first geographic height information of the first geographic location;

[0070] The first geographic altitude information is determined as geographic altitude information corresponding to the first geographic location.

[0071] In an optional implementation manner, the device further includes a second height confirmation module, wherein the second height confirmation module is configured to:

[0072] Based on a preset detection area range, determining a preset detection area where the first geographical location is located;

[0073] Determine at least one second geographical location in the preset detection area other than the first geographical location;

[0074] Determine the average height information of the preset detection area according to the first geographical height information of the first geographical location and the second geographical height information of each of the second geographical locations;

[0075] When the preset detection area meets the positioning detection condition, the average height information is determined as the geographical height information corresponding to the first geographical location.

[0076] In an optional implementation manner, the second height confirmation module is used to determine whether the preset detection area meets the positioning detection condition through the following steps:

[0077] Calculating the height variance information of the preset detection area according to the first geographic height information and the second geographic height information;

[0078] If the height variance information is less than a preset height variance threshold, it is determined that the preset detection area meets the positioning detection condition.

[0079] In an optional implementation manner, the horizontal deviation determination module is specifically used to:

[0080] Obtaining a planned driving path for the vehicle to be detected;

[0081] Determining a planned driving position in the planned driving path corresponding to the target positioning position;

[0082] The horizontal positioning deviation of the target positioning information in the horizontal direction is determined according to the horizontal positioning information in the target positioning information and the horizontal position information of the planned driving position in the horizontal direction.

[0083] In an optional implementation manner, when the horizontal deviation determination module is used to obtain a planned driving path for the vehicle to be detected, it is specifically used to:

[0084] Determine the positioning time of the target positioning information;

[0085] Determine the first path planning time period to which the positioning time belongs according to the preset path planning validity time;

[0086] Acquire the planned driving path of the vehicle to be detected within the first path planning time period.

[0087] In an optional implementation manner, when the horizontal deviation determination module is used to determine the planned driving position corresponding to the target positioning position in the planned driving path, it is specifically used to:

[0088] The planned driving position of the vehicle to be detected in the planned driving path at the positioning time is determined from the planned driving path.

[0089] In an optional implementation, when determining whether the horizontal positioning deviation satisfies a preset positioning deviation condition, the positioning detection module is used to determine whether the horizontal positioning deviation satisfies the preset positioning deviation condition through the following steps:

[0090] Determine, according to the target positioning position and the planned driving position, a first positioning deviation of the horizontal positioning deviation in a first direction in the horizontal direction, and a second positioning deviation in a second direction in the horizontal direction, wherein the first direction and the second direction are perpendicular to each other in the horizontal direction;

[0091] If the first positioning deviation is smaller than a first error threshold in the first direction, and the second positioning deviation is smaller than a second error threshold in the second direction, it is determined that the horizontal positioning deviation satisfies a preset positioning deviation condition.

[0092] In an optional implementation manner, the heading angle deviation determination module is specifically used to:

[0093] Acquire a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected;

[0094] Determine, according to the historical horizontal positioning information in each historical positioning information, the historical driving trajectory of the vehicle to be detected in the horizontal direction during the driving process;

[0095] Determine a historical driving position in the historical driving trajectory corresponding to the target positioning position;

[0096] According to the tangent direction of the historical driving trajectory at the historical driving position and the heading angle information in the target positioning information, the heading angle deviation of the target positioning information in the driving direction is determined.

[0097] In an optional implementation manner, when the heading angle deviation determination module is used to obtain a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected, it is specifically used to:

[0098] Determine a historical time period with the positioning time of the target positioning information as the time end point according to the positioning time of the target positioning information and the historical time threshold;

[0099] The historical positioning information corresponding to each positioning time node in the historical time period is obtained.

[0100] In an optional implementation, when determining whether the heading angle deviation satisfies a preset positioning deviation condition, the positioning detection module is used to determine whether the heading angle deviation satisfies the preset positioning deviation condition through the following steps:

[0101] Get the historical heading angle deviation corresponding to each historical positioning information;

[0102] Determining an average heading angle deviation of the vehicle to be detected based on the acquired multiple historical heading angle deviations and the heading angle deviation;

[0103] If the heading angle average deviation is less than a preset angle deviation threshold, it is determined that the heading angle deviation meets a preset positioning deviation condition.

[0104] In an optional implementation manner, the positioning detection module is used to determine that the height positioning deviation, the horizontal positioning deviation, and the heading angle deviation all meet a preset positioning deviation condition through the following steps:

[0105] For each of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation, detecting whether the deviation is greater than a corresponding deviation threshold;

[0106] If the deviations are all smaller than the corresponding deviation thresholds, it is determined that the deviations meet the preset positioning deviation conditions.

[0107] In an optional implementation, the device further includes an early warning prompt module, and the early warning prompt module is used to:

[0108] If at least one of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation does not meet a preset positioning deviation condition, determining that the target positioning information at the target positioning position is inaccurately positioned;

[0109] If it is detected that the positioning information of multiple targets is inaccurate, a warning message is sent to the user.

[0110] An embodiment of the present disclosure also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the above-mentioned positioning detection method or steps in any possible implementation of the above-mentioned positioning detection method are performed.

[0111] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the positioning detection method or steps in any possible implementation of the positioning detection method are executed.

[0112] The embodiments of the present disclosure also provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the above-mentioned positioning detection method, or the steps in any possible implementation of the above-mentioned positioning detection method.

[0113] The embodiments of the present disclosure provide a positioning detection method, device, electronic device and storage medium, which use data from different sources such as high-precision maps, planned driving routes and historical driving trajectories as reference information to perform error detection on the positioning information of the vehicle to be detected in the vertical direction, horizontal direction and driving direction. In this way, by using reference information from different sources, the positioning information of the vehicle is error-detected in the vertical direction, horizontal direction and driving direction, which can effectively detect the accuracy of vehicle positioning, reduce the positioning error caused by the coupling degree of the positioning algorithm, and help improve the error detection accuracy of vehicle positioning information and the objectivity of error discrimination.

[0114] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0115] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0116] Figure 1 A flow chart of a positioning detection method provided by an embodiment of the present disclosure is shown;

[0117] Figure 2 A flowchart of another positioning detection method provided by an embodiment of the present disclosure is shown;

[0118] Figure 3 A schematic diagram of determining a horizontal positioning deviation provided by an embodiment of the present disclosure is shown;

[0119] Figure 4 A schematic diagram of determining a heading angle deviation provided by an embodiment of the present disclosure is shown;

[0120] Figure 5 One of the schematic diagrams of a positioning detection device provided by an embodiment of the present disclosure is shown;

[0121] Figure 6 A second schematic diagram of a positioning detection device provided by an embodiment of the present disclosure is shown;

[0122] Figure 7 A third schematic diagram of a positioning detection device provided by an embodiment of the present disclosure is shown;

[0123] Figure 8 A schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0124] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

[0125] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0126] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

[0127] Research has found that the existing detection process often uses the position of a common static fixed object as a reference, compares the distance between the vehicle positioning information and the reference object with the distance measurement result of the on-board sensor to the static fixed object, and determines whether the positioning information is accurate. However, due to sensor measurement errors and other reasons, the accuracy of positioning information detection relying on sensor detection performance is poor.

[0128] Based on the above research, the present disclosure provides a positioning detection method, device, electronic device and storage medium. According to reference information from different sources such as high-precision maps, planned driving routes and historical driving trajectories, error detection is performed on the positioning information of the vehicle to be detected in the vertical direction, horizontal direction and driving direction respectively. It is capable of separately detecting positioning information of different spatial properties without relying on the detection performance of the sensor, thereby improving the accuracy of vehicle positioning deviation detection.

[0129] To facilitate understanding of this embodiment, a positioning detection method disclosed in an embodiment of the present disclosure is first introduced in detail. The execution subject of the positioning detection method provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities, and the computer device includes, for example: a terminal device or a server or other processing device, and the terminal device can be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the positioning detection method can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0130] See also Figure 1 FIG. 1 is a flowchart of a positioning detection method provided by an embodiment of the present disclosure, wherein the method includes steps S101 to S105, wherein:

[0131] S101: Acquire target positioning information at a target positioning position of a vehicle to be detected during its driving process.

[0132] In this step, during the driving process of the vehicle to be detected, the target positioning information of the vehicle to be detected can be obtained, and the corresponding geographical location in the actual environment indicated by the target positioning information is the target positioning position.

[0133] Here, the target positioning information is determined based on the following method: controlling relevant positioning equipment to measure the horizontal positioning information, height positioning information and vehicle orientation positioning information corresponding to the target positioning position of the vehicle to be detected, and determining the horizontal positioning information, height positioning information and vehicle orientation positioning information matching the target positioning position of the vehicle to be detected as the target positioning information.

[0134] Among them, the relevant positioning equipment for measuring the target positioning information may include: a global navigation satellite system (GNNS), an inertial navigation system (INS) and one or more of laser radars. In actual application, they can be selected according to actual needs and are not specifically limited here.

[0135] Specifically, the target positioning information includes but is not limited to: the three-dimensional spatial coordinate value of the target positioning position of the vehicle to be detected and the heading angle information of the vehicle to be detected in the global coordinate system such as the Universal Transverse Mercator Grid System (UTM) or longitude and latitude coordinates. Optionally, the due east direction in the geographic direction is determined as the x-axis direction in the global coordinate system; the due west direction in the geographic direction is determined as the y-axis direction in the global coordinate system; the direction perpendicular to the plane where the x-axis direction and the y-axis direction are located is determined as the z-axis direction in the global coordinate system. Among them, the x-axis value and the y-axis value are used to represent the horizontal positioning information in the form of coordinates; the z-axis value is the altitude of the vehicle center point of the vehicle to be detected projected to the ground position, which is used to represent the height positioning information.

[0136] S102: Determine a height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information.

[0137] In this step, the height positioning information in the target positioning information obtained in step S101 can be compared with the road height value marked in the preset high-precision map of the driving area where the vehicle to be detected is located to determine the height positioning deviation of the target positioning information in the vertical direction.

[0138] Here, the height positioning information in the target positioning information indicates the altitude of the vehicle to be detected at the target positioning position corresponding to the target positioning information, and its value may be the value of the z-axis coordinate at the target positioning position of the vehicle to be detected in the global coordinate system. The vertical direction is the z-axis direction perpendicular to the plane where the x-axis and the y-axis are located in the global coordinate system where the vehicle to be detected is located.

[0139] The preset high-precision map and the vehicle to be detected are in the same global coordinate system, and the geographical locations of artificial facilities such as houses, roads, bridges, etc. and natural landforms such as mountains, rivers, etc. within the map area are marked on it. For each road, the road height value corresponding to the geographical location of the road is marked. The value of the z-axis coordinate in the three-dimensional spatial coordinates of the vehicle to be detected at the geographical location indicated by the target positioning information is compared with the road height value marked at the same geographical location in the preset high-precision map, and the difference between the two is the height positioning deviation of the target positioning information in the vertical direction.

[0140] In this way, when the height positioning information in the target positioning information is accurately positioned, the value of the z-axis coordinate at the target positioning position of the vehicle to be detected in the global coordinate system is the same as the value of the road height at the same geographical location marked in the preset high-precision map. If they are different, it can be determined that the height positioning information in the target positioning information of the vehicle to be detected is inaccurate, and the height positioning deviation value of the target positioning information of the vehicle to be detected in the vertical direction can be quantitatively determined based on the difference between the value of the z-axis coordinate at the target positioning position and the value of the road height at the same geographical location marked in the preset high-precision map.

[0141] S103: Determine a horizontal positioning deviation of the target positioning information in a horizontal direction according to a planned driving path of the vehicle to be detected and the target positioning information.

[0142] In this step, the horizontal positioning deviation of the target positioning information in the horizontal direction is determined according to the comparison result between the planned driving path of the vehicle to be detected and the horizontal positioning information in the target positioning information.

[0143] The planned driving path includes the position information and vehicle direction information of the vehicle at each moment in a certain time period in the future.

[0144] Here, the planned position of the vehicle to be detected at the same time on the planned driving path is used as a reference and compared with the target positioning position. If the two positions are different, it means that there is an error in the horizontal positioning information in the target positioning information. There is no need to rely on the detection performance of the sensor, thereby improving the accuracy of deviation detection of the horizontal positioning information in the target positioning information.

[0145] S104: Determine a heading angle deviation of the target positioning information in a driving direction according to a historical driving trajectory of the vehicle to be detected during driving and the target positioning information.

[0146] In this step, the tangent direction of the historical driving trajectory of the vehicle to be detected during driving is compared with the heading angle information in the target positioning information to determine the heading angle deviation of the target positioning information in the driving direction.

[0147] In actual applications, the vehicle to be detected may make sharp turns, U-turns, lane changes and other large turns during driving. At this time, there will be a large deviation between the historical driving trajectory of the vehicle and the current heading angle of the vehicle. In order to ensure the accuracy of the deviation detection of the heading angle information in the target positioning information, it is no longer suitable to detect the heading angle deviation of the target positioning information in the driving direction. As for the driving turning of the vehicle, it can be detected by the steering wheel rotation angle of the vehicle to be detected.

[0148] Specifically, before determining the heading angle deviation of the target positioning information in the driving direction, the steering wheel rotation angle of the vehicle to be detected can be obtained to determine whether the steering wheel rotation angle is greater than a preset angle threshold. If the steering wheel rotation angle is greater than the preset angle threshold, the heading angle deviation of the target positioning information in the driving direction is not detected. The preset angle threshold can be set as needed and is not specifically limited here.

[0149] Since the steering of the vehicle is controlled by the steering wheel, the greater the turning angle of the steering wheel, the greater the corresponding turning amplitude of the vehicle. Therefore, whether the turning angle of the steering wheel is too large is judged whether the lane change turning amplitude of the vehicle is too large, and then it is determined whether the vehicle makes a sharp turn, a U-turn, or changes lanes with a large turning amplitude. When the above situation occurs, the heading angle deviation is not detected to improve the deviation detection accuracy of the heading angle information in the target positioning information.

[0150] In this way, the tangent direction at each moment on the historical driving trajectory is used as a reference and compared with the heading angle information in the target positioning information. If the two are different, it means that there is an error in the heading angle information in the target positioning information. There is no need to rely on the detection performance of the sensor, thereby improving the accuracy of deviation detection of the heading angle information in the target positioning information.

[0151] S105: If the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet preset positioning deviation conditions, it is determined that the target positioning information at the target positioning position is accurately positioned.

[0152] In this step, for each of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation, it is detected whether the deviation is greater than the corresponding deviation threshold; if the deviation is less than the corresponding deviation threshold, it is determined that the deviation meets the preset positioning deviation condition.

[0153] Among them, the deviation threshold corresponding to the height positioning deviation, the deviation threshold corresponding to the horizontal positioning deviation, and the deviation threshold corresponding to the heading angle deviation can be the same or different, and their specific numerical values ​​can be set according to actual needs, and no specific restrictions are made here.

[0154] The disclosed embodiment provides a positioning detection method, which uses data from different sources such as high-precision maps, planned driving routes, and historical driving trajectories as reference information to perform error detection on the positioning information of the vehicle to be detected in the vertical direction, horizontal direction, and driving direction. In this way, the distance between the vehicle positioning information and the reference object is compared with the distance measurement result of the on-board sensor to the static fixed object to determine whether the positioning information is accurate. It is possible to detect positioning information of different spatial properties separately without relying on the detection performance of the sensor, thereby improving the accuracy of vehicle positioning deviation detection.

[0155] See also Figure 2 FIG. 2 is a flowchart of another positioning detection method provided by an embodiment of the present disclosure, wherein the method includes steps S201 to S205, wherein:

[0156] S201: Acquire target positioning information at a target positioning position of a vehicle to be detected during its driving process.

[0157] S202: Determine a height positioning deviation of the target positioning information in the vertical direction based on a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information.

[0158] S203: Determine a horizontal positioning deviation of the target positioning information in a horizontal direction according to a planned driving path of the vehicle to be detected and the target positioning information.

[0159] S204: Determine a heading angle deviation of the target positioning information in a driving direction according to a historical driving trajectory of the vehicle to be detected during driving and the target positioning information.

[0160] S205: If the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet preset positioning deviation conditions, it is determined that the target positioning information at the target positioning position is accurately positioned.

[0161] Among them, the implementation process of the method described in steps S201 to S205 is the same as that of steps S101 to S105, and can achieve the same technical effect, which will not be repeated here.

[0162] S206: If at least one of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation does not satisfy a preset positioning deviation condition, determine that the target positioning information at the target positioning position is inaccurate.

[0163] In this step, when any one of the altitude positioning deviation, the horizontal positioning deviation and the heading angle deviation does not satisfy a preset positioning deviation condition, it is determined that the target positioning information at the target positioning position is inaccurately positioned.

[0164] S207: If it is detected that the positioning information of multiple targets is inaccurate, a warning message is sent to the user.

[0165] In this step, when it is detected that multiple target positioning information are inaccurately positioned, a warning message is sent to the user. Optionally, for each target positioning information, when it is detected that any one of the height positioning information, horizontal positioning information and heading angle information in the positioning information is inaccurate, a warning message is sent to the user.

[0166] During the specific implementation process, different warning levels are set for the warning information. When the target positioning information is inaccurate, the deviation of the target positioning information is determined. The greater the deviation of the target positioning information, the higher the warning level of the warning information sent to the user. On the contrary, the smaller the deviation of the target positioning information, the lower the warning level of the warning information sent to the user.

[0167] Optionally, for the altitude positioning information, horizontal positioning information and heading angle information in each target positioning information, when it is detected that any of the altitude positioning information, horizontal positioning information and heading angle information is inaccurate, altitude positioning information warning information, horizontal positioning information warning information and heading angle information warning information are respectively sent to the user.

[0168] The above solution will be described below in conjunction with specific implementation methods.

[0169] As a possible implementation, the method for determining the height positioning deviation of the target positioning information in the vertical direction specifically includes:

[0170] First, a preset high-precision map of the driving area where the vehicle to be detected is located is obtained.

[0171] Secondly, determine a first geographical location in the preset high-precision map that matches the horizontal positioning information in the target positioning information.

[0172] Finally, the height positioning deviation of the target positioning information in the vertical direction is determined according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information.

[0173] Here, first obtain a preset high-precision map of the driving area where the vehicle to be detected is located, wherein the driving area where the vehicle to be detected is located includes at least the current geographical location of the vehicle to be detected. Optionally, the driving area where the vehicle to be detected is located may also include the geographical location area passed by the historical driving trajectory of the vehicle to be detected, the geographical location area passed by the preset planned path of the vehicle to be detected, and one or more of all geographical locations within the preset detection range threshold centered on the target positioning position of the vehicle to be detected, wherein the preset detection range threshold can be selected according to actual needs and is not specifically limited here.

[0174] Here, secondly, in the preset high-precision map, a first geographical location matching the horizontal positioning information in the target positioning information is determined. The horizontal positioning information in the target positioning information can be represented by the x-axis value and the y-axis value in the global coordinate system in the form of coordinates. At the same time, since the preset high-precision map and the vehicle to be detected are in the same global coordinate system, according to the horizontal positioning information in the target positioning information, that is, the coordinate values ​​of the x-axis and the y-axis in the global coordinate system, the horizontal geographical location corresponding to the same coordinate value can be found in the preset high-precision map. At this time, the horizontal geographical location is the first geographical location. In this implementation method, the target positioning position is the first geographical location.

[0175] Here, the geographic height information corresponding to the first geographic location is finally compared with the height positioning information in the target positioning information. If the geographic height information corresponding to the first geographic location is different from the height positioning information in the target positioning information, it means that there is a deviation in the positioning of the height positioning information at the target positioning position. Specifically, in the global coordinate system, the z-axis coordinate value corresponding to the first geographic location in the preset high-precision map is determined, and it is subtracted from the z-axis coordinate value corresponding to the target positioning position. The difference obtained is the specific positioning deviation value of the height positioning information at the target positioning position.

[0176] In this step, the method for determining the geographical altitude information corresponding to the first geographical location specifically includes:

[0177] First, based on the preset high-precision map, the first geographic height information of the first geographic location is determined.

[0178] Secondly, the first geographical altitude information is determined as the geographical altitude information corresponding to the first geographical location.

[0179] Here, the first geographic height information is the road height value corresponding to the first geographic location, and optionally the altitude of the road. Specifically, the method for determining the first geographic height information may be: checking the road height value directly marked in the preset high-precision map, or calling the relevant functions of the high-precision map, controlling the high-precision map to provide the road height value at the selected first geographic location, which may be selected according to actual needs, and is not specifically limited here. Among them, the area presented by the preset high-precision map is divided into multiple attribute grids of preset area sizes, and the preset area size can be set according to actual needs. For each of the attribute grids, the attribute grid has information such as its horizontal position and altitude. In a specific implementation, determining the first geographic height information may be determining the attribute grid corresponding to the first geographic location in the preset high-precision map, and determining the altitude of the attribute grid as the first geographic height information.

[0180] In this way, the road height at the same horizontal position as the target positioning position in the preset high-precision map is used as a reference for the height positioning information in the target positioning information of the vehicle to be detected, without relying on the detection performance of the sensor, thereby improving the deviation detection accuracy of the height positioning information in the target positioning information.

[0181] As another possible implementation, different from the above implementation in which the target positioning position is determined as the first geographical location, in order to avoid errors caused by inaccurate target positioning position, the method for determining the geographical height information corresponding to the first geographical location specifically further includes:

[0182] Firstly, based on a preset detection area range, a preset detection area where the first geographical location is located is determined.

[0183] Secondly, at least one second geographical location other than the first geographical location in the preset detection area is determined.

[0184] Then, the average height information of the preset detection area is determined according to the first geographical height information of the first geographical location and the second geographical height information of each of the second geographical locations.

[0185] Finally, when the preset detection area meets the positioning detection condition, the average height information is determined as the geographic height information corresponding to the first geographic location.

[0186] Here, firstly, the area within the preset detection area range in the high-precision map with the first geographical location as the center is determined as the preset detection area, wherein the size of the preset detection area range can be selected according to actual needs and is not specifically limited here.

[0187] Here, secondly, within the preset detection area determined in the aforementioned step one, at least one second geographical location other than the first geographical location is determined, wherein the second geographical location is any geographical location other than the first geographical location within the preset detection area, and the number of the second geographical locations can be selected according to actual needs and is not specifically limited here.

[0188] Here, in the global coordinate system, the average value of the z-axis value of the first geographical location and the z-axis value of each of the second geographical locations is calculated, and this average value is determined as the average height information of the preset detection area. Optionally, in the preset high-precision map, for each second geographical location, the attribute grid corresponding to the second geographical location in the preset high-precision map is determined, and the altitude information included in each attribute grid is calculated, and the average value of all altitudes is calculated and determined as the average height information of the preset detection area.

[0189] Here, finally, when the preset detection area meets the positioning detection conditions, the average height information in the preset detection area is used as a reference value, the average height information is compared with the height positioning information in the target positioning information, and the height positioning deviation of the target positioning information in the vertical direction is determined.

[0190] In this step, whether the preset detection area meets the positioning detection conditions is determined based on the following method:

[0191] First, the height variance information of the preset detection area is calculated according to the first geographical height information and the second geographical height information.

[0192] Secondly, if the height variance information is less than a preset height variance threshold, it is determined that the preset detection area meets the positioning detection condition.

[0193] Here, first, within the preset detection area, the first geographic height information corresponding to the first geographic location and the second geographic height information corresponding to the second geographic location are subjected to variance calculation, and the obtained calculation result is determined as the height variance information of the preset detection area. Optionally, in the preset high-precision map, for each second geographic location, the attribute grid and the corresponding altitude information corresponding to the second geographic location in the preset high-precision map are determined, and the altitude information corresponding to each attribute grid is determined as the second geographic height information corresponding to the second geographic location, and the variance calculation is performed on it and the first geographic height information corresponding to the first geographic location, and the obtained calculation result is determined as the height variance information of the preset detection area. Alternatively, in the global coordinate system, the variance between the z-axis values ​​of all second geographic locations and the z-axis values ​​of the first geographic location is determined as the height variance information.

[0194] Here, it is secondly determined whether the height variance information of the preset detection area determined in the aforementioned step one is less than the preset height variance threshold. If the height variance information is less than the preset height variance threshold, it is determined that the preset detection area meets the positioning detection conditions, that is, the undulation of the road surface in the preset detection area is small, and the height positioning information in the target positioning information can be detected, wherein the preset height variance threshold can be selected according to actual needs, and no specific restrictions are made here.

[0195] In this way, in order to avoid inaccurate positioning deviation detection results caused by rugged road conditions or large height fluctuations on the driving path of the vehicle to be detected, it is necessary to pre-judge whether the preset detection area meets the positioning detection conditions. If not, it means that the current road surface height changes greatly and the reliability is low, and it is not suitable as a reference for height positioning information error detection, and height positioning information error detection is not performed.

[0196] As a possible implementation manner, the method for determining the horizontal positioning deviation of the target positioning information in the horizontal direction specifically includes:

[0197] First, a planned driving path for the vehicle to be detected is obtained.

[0198] Secondly, a planned driving position corresponding to the target positioning position in the planned driving path is determined.

[0199] Finally, the horizontal positioning deviation of the target positioning information in the horizontal direction is determined according to the horizontal positioning information in the target positioning information and the horizontal position information of the planned driving position in the horizontal direction.

[0200] Here, the planned driving path is first determined according to the following method: determining the positioning time of the target positioning information, determining the first path planning time period to which the positioning time belongs according to the preset path planning validity time, and obtaining the planned driving path of the vehicle to be detected within the first path planning time period.

[0201] In this method, the positioning time is the moment of acquiring the target positioning information. The preset path planning effective time is: in the overall planned driving path, it can ensure that the actual driving route of the vehicle to be detected is the same time length as the preset planned path. The first path planning time period is: a time range that starts from the positioning time and ends after the preset path planning effective time. Among them, the positioning time is within the first path planning time period and is any time within the first path planning time period. The preset path planning effective time can be selected according to actual needs, and no specific restrictions are made here. And after the end of the first path planning time period, it is necessary to re-acquire a new planned path within the preset path planning effective time.

[0202] Exemplarily, when the positioning time is 8:30 in the morning and the preset path planning validity time is 20 minutes, the first path planning time period is the time period of 8:30-8:50, or the time period of 8:10-8:30.

[0203] Optionally, if the vehicle to be detected makes an emergency lane change due to sudden road conditions and does not follow the planned path, the heading angle information in the target positioning information and the heading angle included in the planned path are compared. If there is a large deviation between the two, it means that the current driving path of the vehicle to be detected has deviated from the planned path. At this time, the planned path is not suitable as a reference for measuring the positioning error, and a new planned path needs to be set.

[0204] Here, the planned driving position corresponding to the target positioning position in the planned driving path is determined secondly according to the following method: the planned driving position of the vehicle to be detected in the planned driving path at the positioning time is determined from the planned driving path.

[0205] In this method, the planned driving path includes the position information and vehicle orientation information of the vehicle at each moment in a certain time period in the future. Therefore, according to the positioning time of the vehicle to be detected, the actual horizontal geographical position of the vehicle to be detected in the planned path at the positioning time can be determined on the planned path, and the horizontal geographical position is the planned driving position.

[0206] Here, after finally determining the planned driving position of the vehicle to be detected, the horizontal position information of the planned driving position in the horizontal direction is determined, and it is compared with the horizontal positioning information in the target positioning information to determine the horizontal positioning deviation of the target positioning information in the horizontal direction. Optionally, in the global coordinate system, the x-axis coordinate and the y-axis coordinate of the vehicle to be detected at the planned driving position are compared with the x-axis coordinate and the y-axis coordinate representing the horizontal positioning information in the target positioning information of the vehicle to be detected to determine the horizontal positioning deviation of the target positioning information in the horizontal direction.

[0207] As a possible implementation manner, when determining whether the horizontal positioning deviation satisfies the preset positioning deviation condition, the following method is used to determine whether the horizontal positioning deviation satisfies the preset positioning deviation condition:

[0208] First, according to the target positioning position and the planned driving position, determine the first positioning deviation of the horizontal positioning deviation in a first direction in the horizontal direction and the second positioning deviation in a second direction in the horizontal direction, wherein the first direction and the second direction are perpendicular to each other in the horizontal direction.

[0209] Then, if the first positioning deviation is smaller than a first error threshold in the first direction, and the second positioning deviation is smaller than a second error threshold in the second direction, it is determined that the horizontal positioning deviation satisfies a preset positioning deviation condition.

[0210] Here, firstly, the direction of the front of the vehicle to be detected is determined as the first direction, and the deviation corresponding to the horizontal positioning deviation in this direction is the first positioning deviation. The direction perpendicular to the direction of the front of the vehicle to be detected in the same horizontal plane is determined as the second direction, and the deviation corresponding to the horizontal positioning deviation in this direction is the second positioning deviation.

[0211] Here, for the horizontal positioning information in the target positioning information during the driving process of the vehicle to be detected, there may be different deviation detection accuracy requirements in the direction of the front of the vehicle to be detected and in the direction perpendicular to the front of the vehicle to be detected in the horizontal plane. Therefore, the first positioning deviation and the second positioning deviation are respectively compared with the first error threshold in the first direction and the second error threshold in the second direction to determine the positioning deviations in the two directions in the horizontal positioning information, wherein the values ​​of the first error threshold and the second error threshold may be the same or different, and the specific values ​​may be determined according to actual needs, and no specific restrictions are made here.

[0212] During the specific implementation process, the difference between the y-axis coordinate of the vehicle to be detected at the planned driving position and the y-axis coordinate representing the horizontal positioning information in the target positioning information of the vehicle to be detected is determined as the first positioning deviation; the difference between the x-axis coordinate of the vehicle to be detected at the planned driving position and the x-axis coordinate representing the horizontal positioning information in the target positioning information of the vehicle to be detected is determined as the second positioning deviation.

[0213] For example, to help understand the contents of this embodiment, see Figure 3 As shown, Figure 3A schematic diagram of determining a horizontal positioning deviation is provided for an embodiment of the present disclosure. On the planned driving path L1, including the preset path planning effective time Tn-T0, the first path planning time period Tn-T1, the positioning time T2 and the target positioning position C1, the corresponding horizontal positioning deviation is S1, the first positioning deviation in the first direction is S2, and the second positioning deviation in the second direction is S3.

[0214] As a possible implementation manner, the heading angle deviation of the target positioning information in the driving direction is determined according to the following method:

[0215] First, a plurality of historical positioning information before the target positioning information is obtained during the driving process of the vehicle to be detected.

[0216] Secondly, according to the historical horizontal positioning information in each historical positioning information, the historical driving trajectory of the vehicle to be detected in the horizontal direction during the driving process is determined.

[0217] Then, the historical driving position corresponding to the target positioning position in the historical driving trajectory is determined.

[0218] Finally, according to the tangent direction of the historical driving trajectory at the historical driving position and the heading angle information in the target positioning information, the heading angle deviation of the target positioning information in the driving direction is determined.

[0219] Here, firstly, a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected is obtained according to the following method: according to the positioning time of the target positioning information and the historical time threshold, a historical time period with the positioning time of the target positioning information as the time end point is determined; and the historical positioning information corresponding to each positioning time node in the historical time period is obtained, wherein the historical time threshold can be selected according to actual needs and is not specifically limited here.

[0220] In the method, the historical positioning information is the horizontal positioning information in the target positioning information corresponding to each positioning time node of the vehicle to be detected in the historical time period. The selection of each positioning time node in the historical time period can be determined by a preset sampling period. Preferably, the positioning time nodes are uniformly sampled in the historical time period. Optionally, in the global coordinate system, the historical positioning information is the x-axis coordinate and y-axis coordinate of the geographical location corresponding to each positioning time node of the vehicle to be detected in the historical time period. Furthermore, according to the x-axis coordinate and y-axis coordinate of the geographical location corresponding to each positioning time node in the historical time period, a horizontal two-dimensional curve located in the horizontal direction is fitted, and the horizontal two-dimensional curve is determined as the historical driving trajectory of the vehicle to be detected in the horizontal direction during driving.

[0221] Here, secondly, the historical driving positions of the target positioning position are uniformly sampled on the determined historical driving trajectory.

[0222] Here, finally, for each historical driving position, the tangent direction of the historical driving track at the historical driving position is determined, and it is compared with the heading angle information in the target positioning information at the historical driving position to determine the heading angle deviation of the target positioning information in the driving direction. The heading angle information is the angle between the head direction of the vehicle to be detected and the true north direction. In a specific implementation, the angle between the tangent direction of the historical driving track at the historical driving position and the true north direction is compared to obtain the angle difference between the two, and the angle difference is determined as the heading angle deviation of the target positioning information in the driving direction.

[0223] As a possible implementation manner, when determining whether the heading angle deviation satisfies a preset positioning deviation condition, the following steps are performed to determine whether the heading angle deviation satisfies the preset positioning deviation condition:

[0224] First, obtain the historical heading angle deviation corresponding to each historical positioning information.

[0225] Then, based on the acquired multiple historical heading angle deviations and the heading angle deviation, an average heading angle deviation of the vehicle to be detected is determined.

[0226] Finally, if the heading angle average deviation is less than a preset angle deviation threshold, it is determined that the heading angle deviation meets a preset positioning deviation condition.

[0227] For example, to help understand the contents of this embodiment, see Figure 4 As shown, Figure 4 A schematic diagram of determining a heading angle deviation provided by an embodiment of the present disclosure. On a historical driving trajectory L2 determined based on multiple historical driving positions, the heading angle information at the target positioning position is the angle between the vehicle head direction D1 and the true north direction N, and the tangent direction of the historical driving trajectory at the historical driving position is D2. The angle value between D2 and N is compared with the angle value between D3 and N, and the difference is the heading angle deviation.

[0228] The disclosed embodiment provides a positioning detection method, which uses data from different sources such as high-precision maps, planned driving routes, and historical driving trajectories as reference information to perform error detection on the positioning information of the vehicle to be detected in the vertical direction, horizontal direction, and driving direction. In this way, the distance between the vehicle positioning information and the reference object is compared with the distance measurement result of the on-board sensor to the static fixed object to determine whether the positioning information is accurate. It is possible to detect positioning information of different spatial properties separately without relying on the detection performance of the sensor, thereby improving the accuracy of vehicle positioning deviation detection.

[0229] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0230] A positioning detection method provided by the embodiment of the present disclosure uses data from different sources such as high-precision maps, planned driving routes, and historical driving trajectories as reference information, and performs error detection on the positioning information of the vehicle to be detected in the vertical direction, horizontal direction, and driving direction. After detecting that the positioning information deviation is inaccurate, a warning message can be issued. In this way, the distance between the vehicle positioning information and the reference object is compared with the distance measurement result of the on-board sensor to the static fixed object to determine whether the positioning information is accurate. It is possible to detect positioning information of different spatial properties separately without relying on the detection performance of the sensor, thereby improving the accuracy of vehicle positioning deviation detection.

[0231] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0232] Based on the same inventive concept, a positioning detection device corresponding to the above-mentioned positioning detection method is also provided in the embodiment of the present disclosure. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned positioning detection method in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0233] See also Figure 5 , Figure 6 and Figure 7 , Figure 5 This is one of the schematic diagrams of a positioning detection device provided in an embodiment of the present disclosure, Figure 6 The second schematic diagram of a positioning detection device provided in an embodiment of the present disclosure is as follows: Figure 7 This is a third schematic diagram of a positioning detection device provided in an embodiment of the present disclosure. Figure 5 As shown in , the positioning detection device 500 provided in the embodiment of the present disclosure includes: a positioning information acquisition module 510, a height deviation determination module 520, a horizontal deviation determination module 530, a heading angle deviation determination module 540 and a positioning detection module 550; wherein,

[0234] The positioning information acquisition module 510 is used to obtain the target positioning information of the target positioning position of the vehicle to be detected during the driving process;

[0235] A height deviation determination module 520 is used to determine the height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information;

[0236] A horizontal deviation determination module 530 is used to determine a horizontal positioning deviation of the target positioning information in a horizontal direction according to a planned driving path of the vehicle to be detected and the target positioning information;

[0237] A heading angle deviation determination module 540 is used to determine the heading angle deviation of the target positioning information in the driving direction according to the historical driving trajectory of the vehicle to be detected during driving and the target positioning information;

[0238] The positioning detection module 550 is used to determine that the target positioning information at the target positioning position is accurately positioned if the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet preset positioning deviation conditions.

[0239] Optionally, the height deviation determination module 520 is specifically used to:

[0240] Obtaining a preset high-precision map of the driving area of ​​the vehicle to be detected;

[0241] Determine a first geographical location in the preset high-precision map that matches the horizontal positioning information in the target positioning information;

[0242] The height positioning deviation of the target positioning information in the vertical direction is determined according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information.

[0243] Optional, such as Figure 6 As shown in , the positioning detection device 500 further includes a first height confirmation module 560, and the first height confirmation module 560 is used to:

[0244] Based on the preset high-precision map, determining first geographic height information of the first geographic location;

[0245] The first geographic altitude information is determined as geographic altitude information corresponding to the first geographic location.

[0246] Optional, such as Figure 6 As shown in , the positioning detection device 500 further includes a second height confirmation module 570, and the second height confirmation module 570 is used to:

[0247] Based on a preset detection area range, determining a preset detection area where the first geographical location is located;

[0248] Determine at least one second geographical location in the preset detection area other than the first geographical location;

[0249] Determine the average height information of the preset detection area according to the first geographical height information of the first geographical location and the second geographical height information of each of the second geographical locations;

[0250] When the preset detection area meets the positioning detection condition, the average height information is determined as the geographical height information corresponding to the first geographical location.

[0251] Optionally, the second height confirmation module 570 is used to determine whether the preset detection area meets the positioning detection condition through the following steps:

[0252] Calculating the height variance information of the preset detection area according to the first geographic height information and the second geographic height information;

[0253] If the height variance information is less than a preset height variance threshold, it is determined that the preset detection area meets the positioning detection condition.

[0254] Optionally, the horizontal deviation determining module 530 is specifically configured to:

[0255] Obtaining a planned driving path for the vehicle to be detected;

[0256] Determining a planned driving position in the planned driving path corresponding to the target positioning position;

[0257] The horizontal positioning deviation of the target positioning information in the horizontal direction is determined according to the horizontal positioning information in the target positioning information and the horizontal position information of the planned driving position in the horizontal direction.

[0258] Optionally, when the horizontal deviation determination module 530 is used to obtain a planned driving path for the vehicle to be detected, it is specifically used to:

[0259] Determine the positioning time of the target positioning information;

[0260] Determine the first path planning time period to which the positioning time belongs according to the preset path planning validity time;

[0261] Acquire the planned driving path of the vehicle to be detected within the first path planning time period.

[0262] Optionally, the horizontal deviation determination module 530 is further configured to:

[0263] The planned driving position of the vehicle to be detected in the planned driving path at the positioning time is determined from the planned driving path.

[0264] Optionally, when determining whether the horizontal positioning deviation satisfies a preset positioning deviation condition, the positioning detection module 550 is configured to determine whether the horizontal positioning deviation satisfies the preset positioning deviation condition through the following steps:

[0265] Determine, according to the target positioning position and the planned driving position, a first positioning deviation of the horizontal positioning deviation in a first direction in the horizontal direction, and a second positioning deviation in a second direction in the horizontal direction, wherein the first direction and the second direction are perpendicular to each other in the horizontal direction;

[0266] If the first positioning deviation is smaller than a first error threshold in the first direction, and the second positioning deviation is smaller than a second error threshold in the second direction, it is determined that the horizontal positioning deviation satisfies a preset positioning deviation condition.

[0267] Optionally, the heading angle deviation determination module 540 is specifically used for:

[0268] Acquire a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected;

[0269] Determine, according to the historical horizontal positioning information in each historical positioning information, the historical driving trajectory of the vehicle to be detected in the horizontal direction during the driving process;

[0270] Determine a historical driving position in the historical driving trajectory corresponding to the target positioning position;

[0271] According to the tangent direction of the historical driving trajectory at the historical driving position and the heading angle information in the target positioning information, the heading angle deviation of the target positioning information in the driving direction is determined.

[0272] Optionally, when the heading angle deviation determination module 540 is used to obtain a plurality of historical positioning information before the target positioning information during the driving process of the vehicle to be detected, it is specifically used to:

[0273] Determine a historical time period with the positioning time of the target positioning information as the time end point according to the positioning time of the target positioning information and the historical time threshold;

[0274] The historical positioning information corresponding to each positioning time node in the historical time period is obtained.

[0275] Optionally, when determining whether the heading angle deviation satisfies a preset positioning deviation condition, the positioning detection module 550 is configured to determine whether the heading angle deviation satisfies the preset positioning deviation condition through the following steps:

[0276] Get the historical heading angle deviation corresponding to each historical positioning information;

[0277] Determining an average heading angle deviation of the vehicle to be detected based on the acquired multiple historical heading angle deviations and the heading angle deviation;

[0278] If the heading angle average deviation is less than a preset angle deviation threshold, it is determined that the heading angle deviation meets a preset positioning deviation condition.

[0279] Optionally, the positioning detection module 550 is used to determine that the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet a preset positioning deviation condition through the following steps:

[0280] For each of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation, detecting whether the deviation is greater than a corresponding deviation threshold;

[0281] If the deviations are all smaller than the corresponding deviation thresholds, it is determined that the deviations meet the preset positioning deviation conditions.

[0282] Optional, such as Figure 7 As shown in , the positioning detection device 500 further includes an early warning prompt module 580, and the early warning prompt module 580 is used to:

[0283] If at least one of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation does not meet a preset positioning deviation condition, determining that the target positioning information at the target positioning position is inaccurately positioned;

[0284] If it is detected that the positioning information of multiple targets is inaccurate, a warning message is sent to the user.

[0285] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0286] The disclosed embodiment provides a positioning detection device, which uses data from different sources such as high-precision maps, planned driving routes, and historical driving trajectories as reference information to perform error detection on the positioning information of the vehicle to be detected in the vertical direction, horizontal direction, and driving direction. In this way, the distance between the vehicle positioning information and the reference object is compared with the distance measurement result of the on-board sensor to the static fixed object to determine whether the positioning information is accurate. It is possible to detect positioning information of different spatial properties separately without relying on the detection performance of the sensor, thereby improving the accuracy of vehicle positioning deviation detection.

[0287] Corresponds to Figure 1 and Figure 2The positioning detection method in the present disclosure also provides an electronic device 800, such as Figure 8 FIG. 8 is a schematic diagram of the structure of an electronic device 800 provided in an embodiment of the present disclosure. The electronic device 800 includes:

[0288] Processor 81, memory 82, and bus 83; memory 82 is used to store execution instructions, including memory 821 and external memory 822; memory 821 here is also called internal memory, which is used to temporarily store the operation data in processor 81 and the data exchanged with external memory 822 such as hard disk. Processor 81 exchanges data with external memory 822 through memory 821. When the electronic device 800 is running, the processor 81 communicates with the memory 82 through bus 83, so that the processor 81 executes Figure 1 and Figure 2 Steps of the positioning detection method.

[0289] The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the positioning detection method described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0290] The present disclosure also provides a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, the steps of the positioning detection method described in the above method embodiment can be executed. For details, please refer to the above method embodiment, which will not be repeated here.

[0291] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0292] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0293] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0294] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0295] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0296] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A positioning detection method, characterized in that: The method comprises: Obtaining target positioning information at the target positioning position of the vehicle to be detected during driving; Determine the height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information; Determining a horizontal positioning deviation of the target positioning information in a horizontal direction according to a planned driving path of the vehicle to be detected and the target positioning information; According to the historical driving trajectory of the vehicle to be detected during driving and the target positioning information, if the steering wheel rotation angle of the vehicle to be detected is greater than a preset angle threshold, the heading angle deviation of the target positioning information in the driving direction is not detected, otherwise the heading angle deviation of the target positioning information in the driving direction is determined; wherein the heading angle deviation is determined based on the tangent direction of the historical driving trajectory at the historical driving position and the heading angle information in the target positioning information; If the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet the preset positioning deviation conditions, it is determined that the target positioning information at the target positioning position is accurately positioned.

2. The method according to claim 1, characterized in that The step of determining the height positioning deviation of the target positioning information in the vertical direction according to the preset high-precision map of the driving area where the vehicle to be detected is located and the positioning information includes: Obtaining a preset high-precision map of the driving area of ​​the vehicle to be detected; Determine a first geographical location in the preset high-precision map that matches the horizontal positioning information in the target positioning information; The height positioning deviation of the target positioning information in the vertical direction is determined according to the geographic height information corresponding to the first geographic location and the height positioning information in the target positioning information.

3. The method according to claim 1, characterized in that The determining, according to the planned driving path of the to-be-detected vehicle and the target positioning information, a horizontal positioning deviation of the target positioning information in the horizontal direction comprises: Obtaining a planned driving path for the vehicle to be detected; Determining a planned driving position in the planned driving path corresponding to the target positioning position; The horizontal positioning deviation of the target positioning information in the horizontal direction is determined according to the horizontal positioning information in the target positioning information and the horizontal position information of the planned driving position in the horizontal direction.

4. The method according to claim 1, characterized in that: The historical driving position is determined based on the following method: Acquire a plurality of historical positioning information of the vehicle to be detected before the target positioning information during the driving process; Determine, according to the historical horizontal positioning information in each of the historical positioning information, the historical driving trajectory of the vehicle to be detected in the horizontal direction during the driving process; Determine a historical driving position in the historical driving trajectory that corresponds to the target positioning position.

5. The method according to claim 4, characterized in that: The step of obtaining a plurality of historical positioning information of the vehicle to be detected before the target positioning information during the driving process includes: Determine a historical time period with the positioning time of the target positioning information as the time end point according to the positioning time of the target positioning information and the historical time threshold; The historical positioning information corresponding to each positioning time node in the historical time period is obtained.

6. The method according to claim 1, characterized in that If the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet the preset positioning deviation conditions, after determining that the target positioning information at the target positioning position is accurately positioned, the method includes: If at least one of the height positioning deviation, the horizontal positioning deviation and the heading angle deviation does not meet a preset positioning deviation condition, determining that the target positioning information at the target positioning position is inaccurately positioned; If it is detected that the positioning information of multiple targets is inaccurate, a warning message is sent to the user.

7. A positioning detection device, characterized in that: The device comprises: A positioning information acquisition module is used to obtain target positioning information at the target positioning position of the vehicle to be detected during driving; A height deviation determination module is used to determine the height positioning deviation of the target positioning information in the vertical direction according to a preset high-precision map of the driving area where the vehicle to be detected is located and the target positioning information; A horizontal deviation determination module, used to determine the horizontal positioning deviation of the target positioning information in the horizontal direction according to the planned driving path of the vehicle to be detected and the target positioning information; A heading angle deviation determination module is used to determine the heading angle deviation of the target positioning information in the driving direction based on the historical driving trajectory of the vehicle to be detected during driving and the target positioning information. If the steering wheel rotation angle of the vehicle to be detected is greater than a preset angle threshold, the heading angle deviation of the target positioning information in the driving direction is not detected; otherwise, the heading angle deviation of the target positioning information in the driving direction is determined; wherein the heading angle deviation is determined based on the tangent direction of the historical driving trajectory at the historical driving position and the heading angle information in the target positioning information; The positioning detection module is used to determine that the target positioning information at the target positioning position is accurately positioned if the height positioning deviation, the horizontal positioning deviation and the heading angle deviation all meet preset positioning deviation conditions.

8. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the positioning detection method as described in any one of claims 1 to 6 are performed.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the positioning detection method according to any one of claims 1 to 6 are executed.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the positioning detection method described in any one of claims 1 to 6 are implemented.

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