Method and device for determining vehicle driving trajectory

Abstract

The present invention discloses a method and device for determining a vehicle's driving trajectory, the method comprising: obtaining the vehicle's speed information and vehicle posture information at each moment measured by a global satellite navigation system, and obtaining acceleration information measured by an inertial measurement unit; obtaining the conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system; obtaining a recursive relationship for the vehicle's speed; determining the value of a first rotation parameter at each moment; determining the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system during a time period to be calibrated based on the value of the first rotation parameter at each moment; and determining the vehicle's driving trajectory during the time period to be calibrated based on the angular deviation. The above scheme can effectively improve the accuracy of the calibration results of the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, reduce the error between the predicted direction of the inertial measurement unit and the actual trajectory direction of the vehicle, and thereby effectively improve the positioning accuracy of the inertial measurement unit for the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a method and device for determining a vehicle driving trajectory. Background Art

[0002] The Global Navigation Satellite System (GNSS), also known as the Global Navigation Satellite System, is an airborne radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space. It includes one or more satellite constellations and their augmentation systems required to support specific tasks. The Inertial Measurement Unit (IMU) is a device that measures the three-axis attitude angle or angular velocity and acceleration of an object. With the development of autonomous driving technology, fusion positioning technology based on multi-sensor fusion has become an important research direction. The inertial measurement unit is usually integrated with the global satellite navigation system, lidar, and machine vision positioning.

[0003] When the inertial measurement unit is actually installed, the carrier coordinate system of the inertial measurement unit cannot completely coincide with the carrier coordinate system of the vehicle, and there is a certain angle deviation between the two coordinate systems.

[0004] Currently, the calibration of the inertial measurement unit's angle deviation is usually performed only using the inertial measurement unit's measurement data or the position data of the global satellite navigation system. The calibration results are less accurate, resulting in a deviation between the inertial measurement unit's predicted direction and the vehicle's actual trajectory direction, which in turn affects the accuracy of vehicle positioning. Summary of the Invention

[0005] The present invention provides a method and device for determining a vehicle driving trajectory, which solves the problem of low vehicle positioning accuracy caused by the deviation between the predicted direction of an inertial measurement unit and the actual trajectory direction of the vehicle.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for determining a vehicle driving trajectory, the method comprising:

[0008] Obtaining speed information and vehicle attitude information of the vehicle at each moment during the calibration period measured by the global satellite navigation system, and obtaining acceleration information at each moment measured by the inertial measurement unit;

[0009] Obtaining a predetermined conversion relationship between an acceleration in a vehicle coordinate system and an acceleration in an inertial measurement unit coordinate system, wherein the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system;

[0010] Obtaining a predetermined velocity recursive relationship of the vehicle, the velocity recursive relationship including velocity parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system;

[0011] Determining the value of the first rotation parameter at each moment according to the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship;

[0012] determining an angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the calibration time period according to the value of the first rotation parameter at each moment;

[0013] The driving trajectory of the vehicle within the time period to be calibrated is determined according to the angle deviation.

[0014] In one possible implementation, before obtaining the speed information and vehicle posture information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, the method further includes:

[0015] Determining a conversion relationship between an acceleration in the vehicle coordinate system and an acceleration in the inertial measurement unit coordinate system based on the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system;

[0016] The conversion relationship is: the acceleration in the vehicle coordinate system is the product of the acceleration in the inertial measurement unit coordinate system and the first rotation parameter.

[0017] In one possible implementation, before obtaining the speed information and vehicle posture information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, the method further includes:

[0018] determining a second rotation parameter between an inertial measurement unit coordinate system and a global satellite navigation system coordinate system based on the vehicle posture parameter;

[0019] Determining a recursive velocity relationship of the vehicle based on velocity parameters at adjacent moments, the second rotation parameter, a time interval parameter, and an acceleration parameter of the vehicle in the inertial measurement unit coordinate system;

[0020] The speed recursion relationship is:

[0021] The speed parameter of the vehicle at the current moment is equal to the sum of the speed parameter of the vehicle at the previous moment and the speed change;

[0022] The speed change is the product of the second rotation parameter of the vehicle at the previous moment, the acceleration parameter of the vehicle in the vehicle coordinate system at the previous moment, and the time interval parameter between the current moment and the previous moment.

[0023] In a possible implementation, before determining the value of the first rotation parameter at each moment, the method further includes:

[0024] Substitute the acceleration parameter in the conversion relationship into the speed recursive relationship to obtain a target speed recursive relationship including speed parameters at adjacent moments, the first rotation parameter, the second rotation parameter, the acceleration parameter of the vehicle in the inertial measurement unit coordinate system, and the time interval parameter.

[0025] In one possible implementation, determining the value of the first rotation parameter at each moment based on the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship specifically includes:

[0026] For each moment within the time period to be calibrated, the acceleration information at the moment, the speed information at the moment, the speed information at the previous moment, the vehicle posture information at the moment, and the time interval information between the moment and the previous moment are substituted into the target speed recursive relationship to obtain the value of the first rotation parameter at each moment.

[0027] In one possible implementation, the values ​​of the first rotation parameters include a pitch angle, a roll angle, and a heading angle, and determining the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system during the calibration period according to the values ​​of the first rotation parameters at each moment specifically includes:

[0028] Obtaining the pitch angle, roll angle, and heading angle at each moment;

[0029] Determine a first average value of the pitch angle, a second average value of the roll angle, and a third average value of the heading angle at each of the moments;

[0030] An angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated is determined according to the first average value, the second average value, and the third average value.

[0031] In one possible implementation, before obtaining the speed information and vehicle posture information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, the method further includes:

[0032] Obtaining vehicle posture information at each moment measured by a global satellite navigation system within a preset time period;

[0033] A subset of time periods in which the vehicle posture information meets preset conditions within the preset time period is screened out and recorded as the time period to be calibrated; the preset conditions are that the range of change of the heading angle of the vehicle is less than a first preset angle, the range of change of the pitch angle is less than a second preset angle, and the range of change of the roll angle is less than a third preset angle.

[0034] In a second aspect, the present invention provides a vehicle driving trajectory determination device, the device comprising:

[0035] A first acquisition module is used to obtain speed information and vehicle posture information of the vehicle at each moment in the calibration time period measured by the global satellite navigation system, and obtain acceleration information at each moment measured by the inertial measurement unit;

[0036] a second acquisition module, configured to acquire a conversion relationship between a predetermined acceleration in a vehicle coordinate system and an acceleration in an inertial measurement unit coordinate system; wherein the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system;

[0037] A third acquisition module is configured to acquire a predetermined velocity recursive relationship of the vehicle; the velocity recursive relationship includes velocity parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system;

[0038] a first determining module, configured to determine a value of the first rotation parameter at each moment based on the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship;

[0039] a second determining module, configured to determine an angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the calibration time period according to the value of the first rotation parameter at each moment;

[0040] A third determining module is configured to determine a driving trajectory of the vehicle within the time period to be calibrated according to the angle deviation.

[0041] In a third aspect, the present invention provides an electronic device, characterized in that the electronic device includes a processor and a memory, and the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement any one of the above-mentioned vehicle driving trajectory determination methods.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium, characterized in that the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement any one of the above-mentioned vehicle driving trajectory determination methods.

[0043] The vehicle driving trajectory determination method and device provided by the embodiment of the present invention incorporates the acquired speed information and vehicle posture information measured by the global satellite navigation system during the calibration time period, the acceleration information at each moment measured by the inertial measurement unit, and the predetermined conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system into a predetermined vehicle speed recursive relationship to calculate the value of the first rotation parameter at each moment; then, the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system is calculated based on the value of the first rotation parameter at each moment; finally, the vehicle driving trajectory during the calibration time period is determined based on the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system; the present invention calibrates the angular deviation between the inertial measurement unit coordinate system and the vehicle coordinate system by combining the speed information and vehicle posture information measured by the global satellite navigation system during the calibration time period and the acceleration information at each moment measured by the inertial measurement unit, effectively improving the accuracy of the calibration of the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, thereby reducing the error between the predicted direction of the inertial measurement unit and the actual trajectory direction of the vehicle, thereby effectively improving the positioning accuracy of the inertial measurement unit for the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A flowchart of the steps of a first method for determining a vehicle driving trajectory provided by an embodiment of the present invention;

[0045] Figure 2 A flowchart of the steps of a second method for determining a vehicle driving trajectory provided by an embodiment of the present invention;

[0046] Figure 3 This is a structural block diagram of a vehicle driving trajectory determination device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" implies openness and inclusiveness, because the process, step, calculation or other action "based on" or "according to" one or more conditions or values ​​can be based on additional conditions or beyond values ​​in practice.

[0049] In order to solve the problem of low vehicle positioning accuracy caused by the deviation between the predicted direction of the inertial measurement unit and the actual trajectory direction of the vehicle, an embodiment of the present invention provides a method and device for determining the vehicle driving trajectory.

[0050] In a first aspect, an embodiment of the present invention provides a method for determining a vehicle driving trajectory.

[0051] Figure 1 A flow chart of a first method for determining a vehicle driving trajectory provided by an embodiment of the present invention.

[0052] like Figure 1 As shown, in one possible implementation, the method for determining a vehicle driving trajectory includes:

[0053] Step 101: Obtain speed information and vehicle attitude information of the vehicle at each moment in a calibration period measured by a global satellite navigation system, and obtain acceleration information at each moment measured by an inertial measurement unit.

[0054] Among them, the global satellite navigation system, also known as the Global Navigation Satellite System (GNSS), is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the earth's surface or in near-Earth space.

[0055] An inertial measurement unit (IMU) is a device that measures the three-axis attitude angle, angular velocity, and acceleration of an object.

[0056] The inertial measurement unit contains three single-axis accelerometers and three single-axis gyroscopes, which detect the acceleration information of the object in the carrier coordinate system on three independent axes through the accelerometers.

[0057] The speed information is the speed of a vehicle traveling in a straight line on an open and flat road at each moment within the time period to be calibrated, as measured by the global satellite navigation system.

[0058] The vehicle attitude information is the rotation relationship between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system.

[0059] The acceleration information is the acceleration of a vehicle traveling in a straight line on an open and flat road at each moment within the time period to be calibrated, measured by the inertial measurement unit.

[0060] Step 102: Obtain a predetermined conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system, wherein the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system.

[0061] Among them, the vehicle coordinate system is OX b Y b Z b Indicates that the vehicle coordinate system is fixedly connected to the carrier, with the origin of the coordinate system being the center of the carrier, OX b Axis along the carrier horizontal axis to the right, OY b The axis moves forward along the longitudinal axis of the carrier, OZ b The shaft is upward along the vertical axis of the carrier.

[0062] The origin of the inertial measurement unit coordinate system is at the origin of the gyroscope and accelerometer. The X-axis, Y-axis, and Z-axis are parallel to the corresponding axes of the gyroscope and accelerometer, respectively. The inertial measurement unit is fixedly connected to the vehicle. When the angular deviation caused by the installation is not considered, the vehicle coordinate system is the inertial measurement unit coordinate system.

[0063] The first rotation parameter is the rotation angle between the vehicle coordinate system and the inertial measurement unit coordinate system. That is, the inertial measurement unit coordinate system becomes the vehicle coordinate system after being rotated by the rotation angle.

[0064] The conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system is mainly determined based on the first rotation parameter, that is, the acceleration in the vehicle coordinate system is the acceleration in the vehicle coordinate system after being rotated by the rotation angle.

[0065] Step 103: Obtain a predetermined recursive velocity relationship of the vehicle, wherein the recursive velocity relationship includes velocity parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system.

[0066] The recursive relationship of the vehicle's velocity is determined based on the vehicle's velocity parameters at two adjacent moments, the vehicle's acceleration parameters, and the time interval parameters between the two adjacent moments. In the present invention, the vehicle's velocity parameters and acceleration parameters at two adjacent moments are both parameters in the global satellite navigation system coordinate system; and the vehicle's acceleration parameters in the global satellite navigation system coordinate system can be determined using the vehicle's acceleration parameters in the inertial measurement unit coordinate system and the rotational relationship between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system, i.e., the vehicle's attitude parameters.

[0067] Step 104 : Determine the value of the first rotation parameter at each moment based on the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship.

[0068] The acceleration in the vehicle carrier coordinate system in the speed recursive relationship is replaced by the first rotation parameter in the conversion relationship and the acceleration in the inertial measurement unit coordinate system, thereby obtaining a speed recursive formula including speed information at each moment, vehicle posture information at each moment, acceleration information at each moment, time interval information at each moment, and the first rotation parameter. At this time, the speed information at each moment and the vehicle posture information at each moment are measured by the global satellite navigation system, the time interval information at each moment can be calculated based on two adjacent moments, and the acceleration information at each moment is measured by the inertial measurement unit. Therefore, the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, and the time interval information at each moment are substituted into the speed recursive formula to calculate the value of the first rotation parameter at each moment.

[0069] Step 105 : Determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the calibration period according to the value of the first rotation parameter at each moment.

[0070] The value of the first rotation parameter at each moment is the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system at that moment.

[0071] Specifically, the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system during the calibration period may be one of a median, an average, and a weighted average of the values ​​of the first rotation parameter at each moment during the calibration period.

[0072] Step 106: Determine the driving trajectory of the vehicle within the time period to be calibrated based on the angle deviation.

[0073] Specifically, the actual trajectory direction of the vehicle is first determined based on the predicted direction and angle deviation of the inertial measurement unit, and then the vehicle's driving trajectory is determined based on the actual trajectory direction of the vehicle.

[0074] In summary, in an embodiment of the present invention, the value of the first rotation parameter at each moment is determined based on the acquired speed information and vehicle posture information measured by the global satellite navigation system during the time period to be calibrated, the acceleration information at each moment measured by the inertial measurement unit, the predetermined conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system, and the predetermined recursive relationship of the vehicle speed; then, the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system during the time period to be calibrated is determined based on the value of the first rotation parameter at each moment; finally, the driving trajectory of the vehicle during the time period to be calibrated is determined based on the angular deviation. In the above method, the angular deviation between the inertial measurement unit coordinate system and the vehicle coordinate system is calibrated by combining the speed information and vehicle posture information during the time period to be calibrated measured by the global satellite navigation system and the acceleration information at each moment measured by the inertial measurement unit, which effectively improves the accuracy of the calibration of the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, thereby reducing the error between the predicted direction of the inertial measurement unit and the actual trajectory direction of the vehicle, thereby effectively improving the positioning accuracy of the inertial measurement unit for the vehicle.

[0075] Figure 2 A flow chart of a second method for determining a vehicle driving trajectory provided by an embodiment of the present invention;

[0076] like Figure 2 As shown, in another possible implementation, the vehicle driving trajectory determination method includes:

[0077] Step 201: Determine a conversion relationship between acceleration in the vehicle coordinate system and acceleration in the inertial measurement unit coordinate system based on a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system.

[0078] The conversion relationship is: the acceleration in the vehicle coordinate system is the product of the acceleration in the inertial measurement unit coordinate system and the first rotation parameter.

[0079] In an embodiment of the present invention, the value of the first rotation parameter includes a pitch angle, a roll angle, and a yaw angle.

[0080] Specifically, the conversion relationship is:

[0081]

[0082] Among them, k is the current time, is the first rotation parameter between the inertial measurement unit coordinate system and the vehicle coordinate system, a vis the acceleration in the vehicle carrier coordinate system, a b is the acceleration in the inertial measurement unit coordinate system.

[0083] Step 202: Determine a second rotation parameter between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system based on the vehicle posture parameter.

[0084] Among them, the global satellite navigation system coordinate system is the northeast celestial coordinate system, also known as the station-centered coordinate system, with the user's location as the coordinate origin, the X-axis pointing to the east, the Y-axis pointing to the north, and the Z-axis pointing to the zenith.

[0085] Specifically, the second rotation parameter is the rotation angle between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system; the vehicle attitude information is the rotation relationship between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system. Therefore, the second rotation parameter can be determined based on the vehicle attitude parameter.

[0086] Step 203: Determine a recursive relationship of the vehicle's speed based on the speed parameter, the second rotation parameter, the time interval parameter, and the acceleration parameter of the vehicle in the inertial measurement unit coordinate system at adjacent moments.

[0087] Among them, the speed recursion relationship is:

[0088] The speed parameter of the vehicle at the current moment is equal to the sum of the speed parameter of the vehicle at the previous moment and the speed change;

[0089] The speed change is the product of the second rotation parameter of the vehicle at the previous moment, the acceleration parameter of the vehicle in the vehicle coordinate system at the previous moment, and the time interval parameter between the current moment and the previous moment.

[0090] Specifically, the speed recursion relationship is:

[0091]

[0092] Among them, V n is the speed in the global satellite navigation system coordinate system, is the second rotation parameter between the vehicle carrier coordinate system and the global satellite navigation system coordinate system, a v is the acceleration in the vehicle carrier coordinate system, k is the current moment, k-1 is the previous moment, dt is the time interval between the current moment and the previous moment, where dt=t(k+1)-t(k).

[0093] Step 204: Obtain vehicle posture information of the vehicle at each moment measured by the global satellite navigation system within a preset time period.

[0094] For example, the preset time period is 10 minutes. On an open and flat road, the vehicle is controlled to move in a straight line, and the vehicle posture information of the vehicle at each moment within the preset time period measured by the global satellite navigation system is obtained.

[0095] Step 205: Filter out a subset of time periods within a preset time period whose vehicle posture information meets preset conditions and record them as the time period to be calibrated. The preset conditions are that, within a preset distance, the range of variation of the heading angle is less than a first preset angle, the range of variation of the pitch angle is less than a second preset angle, and the range of variation of the roll angle is less than a third preset angle.

[0096] Specifically, the first preset angle may be 0.5 degrees, the second preset angle may be 0.2 degrees, and the third preset angle may be 0.2 degrees.

[0097] For example, the time period corresponding to the speed information within a distance of 300 meters, in which the heading angle change range is less than 0.5 degrees, the pitch angle change range is less than 0.2 degrees, and the roll angle change range is less than 0.2 degrees is filtered out, and the time period is recorded as the time period to be calibrated.

[0098] Step 206: Obtain the speed information and vehicle attitude information of the vehicle at each moment in the calibration time period measured by the global satellite navigation system, and obtain the acceleration information at each moment measured by the inertial measurement unit.

[0099] In the embodiment of the present invention, step 206 may refer to step 101 and will not be described in detail here.

[0100] Step 207 : Obtain a predetermined conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system, where the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system.

[0101] In the embodiment of the present invention, step 207 may refer to step 102 and will not be described in detail here.

[0102] Step 208: Obtain a predetermined recursive velocity relationship of the vehicle, wherein the recursive velocity relationship includes velocity parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system.

[0103] In the embodiment of the present invention, step 208 may refer to step 103 and will not be described in detail here.

[0104] Step 209: Substitute the acceleration parameter in the conversion relationship into the speed recursive relationship to obtain a target speed recursive relationship including the speed parameters at adjacent moments, the first rotation parameter, the second rotation parameter, the acceleration parameter of the vehicle in the inertial measurement unit coordinate system, and the time interval parameter.

[0105] Specifically, substituting (1) into (2), the target speed recursive relationship is:

[0106]

[0107] By transforming (3), we can obtain the expression formula of the first rotation parameter between the inertial measurement unit coordinate system and the vehicle coordinate system, which is specifically:

[0108]

[0109] Step 210: For each moment in the calibration time period, the acceleration information of each moment, the speed information of the moment, the speed information of the previous moment, the vehicle posture information of each moment, and the time interval information between each moment and the previous moment are substituted into the target speed recursive relationship to obtain the value of the first rotation parameter at each moment.

[0110] Specifically, since the speed information at the current moment and the speed information at the previous moment can be measured by the global satellite navigation system; the second rotation parameter of the vehicle carrier coordinate system at the current moment and the global satellite navigation system coordinate system can be calculated by the attitude information measured by the global satellite navigation system; the time interval information between the current moment and the previous moment can be directly calculated; the acceleration information at the current moment can be measured by the inertial measurement unit. Therefore, the speed information at the current moment, the speed information at the previous moment, the second rotation parameter at the current moment, the time interval information between the current moment and the previous moment, and the acceleration information at the current moment are directly substituted into (4) to calculate the first rotation parameter at the current moment.

[0111] Step 211: Obtain the pitch angle, roll angle, and heading angle at each moment.

[0112] Specifically, the right, front, and top directions of the vehicle constitute a right-handed system, where the intersection of the three directions is the origin, the right direction is the X-axis, the forward direction is the Y-axis, and the upward direction is the Z-axis. The angle of rotation around the X-axis is the pitch angle, the angle of rotation around the Y-axis is the roll angle, and the angle of rotation around the Z-axis is the heading angle.

[0113] According to the first rotation parameter calculated in step 210 Calculate the change in pitch angle Δpitch, roll angle Δroll, and yaw angle Δyaw from time k-1 to time k.

[0114] Step 212: Determine a first average value of the pitch angle, a second average value of the roll angle, and a third average value of the heading angle at each moment.

[0115] Specifically, the pitch angle change Δpitch, the roll angle change Δroll, and the yaw angle change Δyaw at each moment are averaged to obtain the average value of the pitch angle change, the average value of the roll angle change, and the average value of the yaw angle change.

[0116] Step 213 : Determine the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system during the calibration period according to the first average value, the second average value, and the third average value.

[0117] Specifically, the first rotation parameter of the time period to be calibrated is obtained according to the average value of the change in the pitch angle, the average value of the change in the roll angle, and the average value of the change in the heading angle. The first rotation parameter is the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system.

[0118] Step 214: Determine the driving trajectory of the vehicle within the time period to be calibrated based on the angle deviation.

[0119] In the embodiment of the present invention, step 214 may refer to step 106 and will not be described in detail here.

[0120] In summary, Figure 2 The vehicle trajectory determination method in the present invention has Figure 1 In addition to the beneficial effects of the vehicle trajectory determination method in the embodiment, the present invention also has the following beneficial effects:

[0121] First, the conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system is determined by the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system; the second rotation parameter between the inertial measurement unit coordinate system and the global satellite navigation system coordinate system is determined by the vehicle attitude parameter; then, the vehicle speed recursive relationship is determined by the speed parameter, the second rotation parameter, the time interval parameter and the acceleration parameter of the vehicle in the inertial measurement unit coordinate system at adjacent moments; then, the acceleration parameter in the conversion relationship is substituted into the speed recursive relationship to obtain a target speed recursive relationship including the speed parameter, the first rotation parameter, the second rotation parameter, the acceleration parameter of the vehicle in the inertial measurement unit coordinate system and the time interval parameter at adjacent moments; then, for each moment in the calibration time period, the acceleration information of each moment, the speed information of each moment, the speed information of the previous moment, the vehicle attitude information of each moment and the time interval information between each moment and the previous moment are substituted into the target speed recursive relationship to obtain the value of the first rotation parameter; the entire process does not introduce other influencing factors other than the speed information, the vehicle attitude information and the acceleration information, the operation is simple and does not require excessive calculation processes.

[0122] Secondly, in the above method, the range of change of the heading angle within the preset length of the vehicle's travel distance during the time period to be calibrated is less than the first preset angle, the range of change of the pitch angle is less than the second preset angle, and the range of change of the roll angle is less than the third preset angle. This can effectively reduce the influence of other factors such as vehicle shaking and turning on the angle deviation between the calibrated vehicle coordinate system and the inertial measurement unit coordinate system, effectively improve the accuracy of the calibration of the angle deviation between the vehicle coordinate system and the inertial measurement unit coordinate system, thereby reducing the error between the predicted direction of the inertial measurement unit and the actual trajectory direction of the vehicle, and thus effectively improving the positioning accuracy of the inertial measurement unit for the vehicle.

[0123] In a second aspect, an embodiment of the present invention provides a device for determining a vehicle driving trajectory.

[0124] like Figure 3 As shown, the vehicle driving trajectory determination device provided by the present invention includes a first acquisition module 301, a second acquisition module 302, a third acquisition module 303, a first determination module 304, a second determination module 305 and a third determination module 306.

[0125] The first acquisition module 301 is used to obtain the speed information and vehicle attitude information of the vehicle at each moment in the calibration time period measured by the global satellite navigation system, and to obtain the acceleration information at each moment measured by the inertial measurement unit.

[0126] The second acquisition module 302 is used to obtain a predetermined conversion relationship between the acceleration in the vehicle coordinate system and the acceleration in the inertial measurement unit coordinate system; the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system.

[0127] The third acquisition module 303 is used to obtain a predetermined speed recursive relationship of the vehicle; the speed recursive relationship includes speed parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system.

[0128] The first determination module 304 is used to determine the value of the first rotation parameter at each moment based on the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship and the conversion relationship.

[0129] The second determining module 305 is configured to determine an angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within a calibration period according to the value of the first rotation parameter at each moment.

[0130] The third determining module 306 is configured to determine the driving trajectory of the vehicle within the time period to be calibrated according to the angle deviation.

[0131] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0132] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle driving trajectory determination method described in the embodiment of the present invention.

[0133] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle driving trajectory determination method described in the embodiment of the present invention.

[0134] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state drive (SSD)).

[0135] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for determining a vehicle driving trajectory, characterized in that: The method comprises: Obtaining speed information and vehicle attitude information of the vehicle at each moment during the calibration period measured by the global satellite navigation system, and obtaining acceleration information at each moment measured by the inertial measurement unit; Obtaining a predetermined conversion relationship between an acceleration in a vehicle coordinate system and an acceleration in an inertial measurement unit coordinate system, wherein the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system; Obtaining a predetermined velocity recursive relationship of the vehicle, the velocity recursive relationship including velocity parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system; Determining the value of the first rotation parameter at each moment according to the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship; determining an angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the calibration time period according to the value of the first rotation parameter at each moment; The driving trajectory of the vehicle within the time period to be calibrated is determined according to the angle deviation.

2. The method according to claim 1, characterized in that Before obtaining the speed information and vehicle posture information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, the method further includes: Determining a conversion relationship between an acceleration in the vehicle coordinate system and an acceleration in the inertial measurement unit coordinate system based on the first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system; The conversion relationship is: the acceleration in the vehicle coordinate system is the product of the acceleration in the inertial measurement unit coordinate system and the first rotation parameter.

3. The method according to claim 2, characterized in that Before obtaining the speed information and vehicle posture information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, the method further includes: determining a second rotation parameter between an inertial measurement unit coordinate system and a global satellite navigation system coordinate system based on the vehicle posture parameter; Determining a recursive velocity relationship of the vehicle based on velocity parameters at adjacent moments, the second rotation parameter, a time interval parameter, and an acceleration parameter of the vehicle in the inertial measurement unit coordinate system; The speed recursion relationship is: The speed parameter of the vehicle at the current moment is equal to the sum of the speed parameter of the vehicle at the previous moment and the speed change; The speed change is the product of the second rotation parameter of the vehicle at the previous moment, the acceleration parameter of the vehicle in the vehicle coordinate system at the previous moment, and the time interval parameter between the current moment and the previous moment.

4. The method according to claim 3, characterized in that Before determining the value of the first rotation parameter at each moment, the method further includes: Substitute the acceleration parameter in the conversion relationship into the speed recursive relationship to obtain a target speed recursive relationship including speed parameters at adjacent moments, the first rotation parameter, the second rotation parameter, the acceleration parameter of the vehicle in the inertial measurement unit coordinate system, and the time interval parameter.

5. The method according to claim 4, characterized in that Determining the value of the first rotation parameter at each moment based on the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship specifically includes: For each moment within the time period to be calibrated, the acceleration information at the moment, the speed information at the moment, the speed information at the previous moment, the vehicle posture information at the moment, and the time interval information between the moment and the previous moment are substituted into the target speed recursive relationship to obtain the value of the first rotation parameter at each moment.

6. The method according to claim 1, characterized in that The values ​​of the first rotation parameters include a pitch angle, a roll angle, and a heading angle. Determining the angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system during the calibration period according to the values ​​of the first rotation parameters at each moment specifically includes: Obtaining the pitch angle, roll angle, and heading angle at each moment; Determine a first average value of the pitch angle, a second average value of the roll angle, and a third average value of the heading angle at each of the moments; An angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the time period to be calibrated is determined according to the first average value, the second average value, and the third average value.

7. The method according to claim 6, characterized in that Before obtaining the speed information and vehicle posture information of the vehicle at each moment in the time period to be calibrated measured by the global satellite navigation system, the method further includes: Obtaining vehicle posture information at each moment measured by a global satellite navigation system within a preset time period; A subset of time periods in which the vehicle posture information meets preset conditions within the preset time period is screened out and recorded as the time period to be calibrated; the preset conditions are that the range of change of the heading angle of the vehicle is less than a first preset angle, the range of change of the pitch angle is less than a second preset angle, and the range of change of the roll angle is less than a third preset angle.

8. A vehicle driving trajectory determination device, characterized in that: The device comprises: A first acquisition module is used to obtain speed information and vehicle posture information of the vehicle at each moment in the calibration time period measured by the global satellite navigation system, and obtain acceleration information at each moment measured by the inertial measurement unit; a second acquisition module, configured to acquire a conversion relationship between a predetermined acceleration in a vehicle coordinate system and an acceleration in an inertial measurement unit coordinate system; wherein the conversion relationship includes a first rotation parameter between the vehicle coordinate system and the inertial measurement unit coordinate system; A third acquisition module is configured to acquire a predetermined velocity recursive relationship of the vehicle; the velocity recursive relationship includes velocity parameters at adjacent moments, vehicle posture parameters, time interval parameters, and acceleration parameters of the vehicle in the inertial measurement unit coordinate system; a first determining module, configured to determine a value of the first rotation parameter at each moment based on the speed information at each moment, the vehicle posture information at each moment, the acceleration information at each moment, the time interval information at each moment, the speed recursive relationship, and the conversion relationship; a second determining module, configured to determine an angular deviation between the vehicle coordinate system and the inertial measurement unit coordinate system within the calibration time period according to the value of the first rotation parameter at each moment; A third determining module is configured to determine a driving trajectory of the vehicle within the time period to be calibrated according to the angle deviation.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle driving trajectory determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle driving trajectory determination method as described in any one of claims 1 to 7.

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