A laser radar-based positioning method, system and readable storage medium

Abstract

The application provides a laser radar-based positioning method, system and readable storage medium. The method comprises obtaining radar scanning information, the radar scanning information being first scanning information obtained by a first mobile device by scanning an external environment or the radar scanning information comprising second scanning information obtained by at least one or two second mobile devices by scanning the external environment, the radar scanning information comprising position information of a target arranged on the other mobile device; obtaining positioning information of the at least one or two second mobile devices; when the radar scanning information is the first scanning information, determining a pose of the first mobile device according to the first scanning information and the at least two positioning information; and when the radar scanning information is the second scanning information, determining the pose of the first mobile device according to at least one set of the second scanning information and the positioning information. The application combines the positioning signal and the radar information to perform positioning, so that the first mobile device can be continuously and accurately positioned when the first mobile device is in a positioning signal-free area.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of positioning, and particularly relates to a laser radar-based positioning method and system and a readable storage medium. BACKGROUND

[0002] Outdoor positioning is performed by positioning signals, such as rtk signals and gps signals. However, this method is only suitable for open scenarios. In some scenarios where positioning devices are not perfectly equipped or are blocked by buildings, there may be no positioning signals, which may cause serious deviation of positioning or even failure of positioning. SUMMARY

[0003] The embodiments of the application provide a laser radar-based positioning method, system, electronic device, readable storage medium and computer program product, and can solve the problem of serious deviation of positioning or even failure of positioning in the absence of positioning signals.

[0004] In a first aspect, the embodiments of the application provide a laser radar-based positioning method, comprising:

[0005] Obtaining radar scanning information, wherein the radar scanning information is first scanning information obtained by a first mobile device by scanning an external environment, or the radar scanning information comprises second scanning information obtained by at least one or two second mobile devices by scanning the external environment, and the radar scanning information comprises point cloud information of a target arranged on the other mobile devices;

[0006] Obtaining positioning information of at least one or two second mobile devices, wherein the first mobile device is a device in a positioning signal-free area, and the second mobile device is a device in a positioning signal area;

[0007] When the radar scanning information is the first scanning information, determining a pose of the first mobile device according to the first scanning information and the positioning information of at least two second mobile devices;

[0008] When the radar scanning information is the second scanning information, determining the pose of the first mobile device according to at least one set of second scanning information and the positioning information, wherein each set of second scanning information and the positioning information is derived from the same second mobile device.

[0009] Optionally, determining the pose of the first mobile device according to the first scanning information and the positioning information of at least two second mobile devices comprises:

[0010] For each second mobile device, determining position information belonging to the second mobile device in the first scanning information according to the positioning information of the second mobile device or a target shape;

[0011] According to the positioning information of the second mobile device and the position information, the pose of the first mobile device is determined based on geometric relationship.

[0012] Optionally, the position information belonging to the second mobile device is determined in the first scan information according to the positioning information of the second mobile device or the target shape, and the method comprises:

[0013] According to the historical positioning information of the first mobile device, the predicted positioning of the first mobile device is obtained;

[0014] According to the predicted positioning of the first mobile device, the position information of all mobile devices in the first scan information is converted to obtain the predicted position of all mobile devices in the first scan information, and the point cloud information comprises the position information;

[0015] The positioning information is matched with the predicted position of all mobile devices in the first scan information to obtain the predicted position belonging to the second mobile device;

[0016] According to the predicted position belonging to the second mobile device, the position information belonging to the second mobile device is determined.

[0017] Optionally, the pose of the first mobile device is determined according to at least one group of the second scan information and the positioning information, and the method comprises:

[0018] According to the positioning information, the position information of all mobile devices in the second scan information is converted to obtain the predicted position of all mobile devices in the second scan information according to each group of the second scan information and the positioning information, and the point cloud information comprises the position information;

[0019] According to the historical positioning information of the first mobile device, the predicted positioning of the first mobile device is obtained;

[0020] The predicted positioning of the first mobile device is matched with the predicted position of all mobile devices in the second scan information to obtain the predicted position belonging to the first mobile device;

[0021] According to at least one group of the predicted positioning of the first mobile device and the predicted position, the pose of the first mobile device is determined.

[0022] Optionally, the pose of the first mobile device is determined according to at least one group of the second scan information and the positioning information, and the method comprises:

[0023] For each set of the second scanning information and the positioning information, according to a target shape of the first mobile device, position information belonging to the first mobile device is determined in the second scanning information, and the point cloud information comprises the position information;

[0024] According to the positioning information and the position information of the first mobile device, a predicted position of the first mobile device is determined;

[0025] According to historical positioning information of the first mobile device, a predicted positioning of the first mobile device is obtained by prediction;

[0026] According to at least one set of the predicted positioning and the predicted position of the first mobile device, a pose of the first mobile device is determined.

[0027] Optionally, the determining of the pose of the first mobile device according to at least one set of the predicted positioning and the predicted position of the first mobile device comprises:

[0028] When a set of the second scanning information and the positioning information is obtained, the predicted positioning and the predicted position of the first mobile device are fused to obtain the pose of the first mobile device;

[0029] When at least two sets of the second scanning information and the positioning information are obtained, the predicted positioning and the predicted position of each set of the first mobile device are fused to obtain the pose of at least two first mobile devices;

[0030] The poses of the at least two first mobile devices are fused to obtain a final pose of the first mobile device.

[0031] In a second aspect, an embodiment of the present application provides a positioning system based on a laser radar, comprising: a plurality of mobile devices and an electronic device;

[0032] The electronic device is configured to acquire radar scanning information, wherein the radar scanning information is first scanning information obtained by a first mobile device by scanning an external environment, or the radar scanning information comprises second scanning information obtained by at least one or two second mobile devices by scanning an external environment, and the radar scanning information comprises point cloud information of a target arranged on other mobile devices;

[0033] The electronic device is further configured to acquire positioning information of at least one or two second mobile devices, wherein the first mobile device is a device in a no-positioning-signal area, and the second mobile device is a device in a have-positioning-signal area;

[0034] when the radar scan information is the first scan information, determining the pose of the first mobile device according to the first scan information and the at least two positioning information;

[0035] when the radar scan information is the second scan information, determining the pose of the first mobile device according to at least one set of the second scan information and the positioning information, each set of the second scan information and the positioning information being from a same second mobile device.

[0036] Optionally, the mobile device is provided with the target, the positioning device, the radar and the vehicle-mounted control unit.

[0037] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method in any of the above first aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method in any of the above first aspect.

[0039] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, causes the electronic device to perform the method in any of the above first aspect.

[0040] It can be understood that the beneficial effects of the above-mentioned second aspect to fifth aspect can be referred to the related description in the above-mentioned first aspect, which will not be repeated here.

[0041] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows:

[0042] The embodiment of the present application obtains radar scanning information, the radar scanning information is first scanning information obtained by a first mobile device by scanning an external environment or the radar scanning information includes second scanning information obtained by at least one or two second mobile devices by scanning an external environment, and the radar scanning information includes position information of a target arranged on the other mobile device; positioning information of the at least one or two second mobile devices is obtained, the first mobile device is a device in a no-positioning-signal area, and the second mobile device is a device in a positioning-signal area; when the radar scanning information is the first scanning information, a pose of the first mobile device is determined according to the first scanning information and the at least two positioning information; when the radar scanning information is the second scanning information, a pose of the first mobile device is determined according to at least one set of second scanning information and positioning information, and positioning is performed in combination with a positioning signal and radar information, so that the first mobile device can be continuously and accurately positioned when the first mobile device is in the no-positioning-signal area. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0044] Figure 1 is a system schematic diagram provided by an embodiment of the present application;

[0045] Figure 2 is a first flowchart of a positioning method provided by an embodiment of the present application;

[0046] Figure 3 is a second flowchart of a positioning method provided by an embodiment of the present application;

[0047] Figure 4 is a first application scenario example diagram provided by an embodiment of the present application;

[0048] Figure 5 is a third flowchart of a positioning method provided by an embodiment of the present application;

[0049] Figure 6 is a fourth flowchart of a positioning method provided by an embodiment of the present application;

[0050] Figure 7 is a second application scenario diagram provided by an embodiment of the present application;

[0051] Figure 8 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0053] It is to be understood that the terminology "includes", "has", "holds", "contains" or "comprises", "comprising", or "including" when used in this specification and in the following claims, specifies the presence of stated features, integers, steps, operations, elements, or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0054] It is also to be understood that the terminology "and / or" when used in this specification and in the following claims, refers to one and / or all possible combinations of one or more relevantly listed items.

[0055] As used in this specification and in the claims, the terms "if" and "when" can each be interpreted to mean "upon" or "in response to a determination" or "in response to a detection" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can each be interpreted to mean "upon determining" or "in response to a determination" or "upon detecting [the described condition or event]" or "in response to a detection of [the described condition or event]" depending on the context.

[0056] In addition, the terms "first", "second", "third", etc. in the description of the application are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0057] Reference in the specification to "one embodiment" or "some embodiments" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", etc. in various places in the specification are not necessarily all referring to the same embodiment, although they can. The terms "comprise", "comprising", "have", "having", "include", "including", and "contain", "containing" or variants thereof, mean "including but not limited to", unless otherwise indicated by the context.

[0058] The existing outdoor positioning method may cause serious deviation or even positioning failure in some scenes where positioning devices are not equipped or buildings are blocked. Embodiments of the present application provide a laser radar-based positioning system and method to solve the problem of serious deviation or even positioning failure in the absence of positioning signals. The scenes where buildings are blocked include urban interchanges, underground parking lots, and regional boundaries.

[0059] Figure 1 is a schematic diagram of a system provided by an embodiment of the present application. As shown in Figure 1 , the system includes a plurality of mobile devices 10 and an electronic device 20. The mobile device 10 is provided with a target 11, a positioning device 12, a radar 13, and a vehicle-mounted control unit 14. The target 11 is used to identify the mobile device 10 to provide the position of the mobile device 10 in a positioning signal-free area. The outer surface of the target 11 is provided with a high-strength reflective surface. The positioning device 12 is used to obtain the position of the mobile device 10 in a positioning signal area. The radar 13 is used to scan the external environment to obtain radar scan information of the external environment. The vehicle-mounted control unit 14 is used to interact with the electronic device 20. The shapes of the targets 11 on the respective mobile devices can be the same or different.

[0060] The first mobile device is when the mobile device is in a positioning signal-free area. At this time, the first mobile device cannot obtain its own positioning information through the positioning device, but can obtain the radar scan information of the external environment through the radar. The second mobile device is when the mobile device is in a positioning signal area. At this time, the second mobile device can obtain its own positioning information through the positioning device, and can also obtain the radar scan information of the external environment through the radar.

[0061] When the mobile device is only in a positioning signal-free area or a positioning signal area, and the first mobile device is provided with a radar and a vehicle-mounted control unit, and the second mobile device is provided with a target, a positioning device, and a vehicle-mounted control unit, the electronic device is used to obtain the radar scan information. The radar scan information is first scan information obtained by the first mobile device by scanning the external environment, and the radar scan information includes point cloud information of the target provided on the other mobile devices. Specifically, the point cloud information of the target is used to represent the point cloud information of the mobile device. The first mobile device transmits the first scan information to the electronic device through the vehicle-mounted control unit.

[0062] It is also used to obtain the positioning information of at least one or two second mobile devices.

[0063] The second mobile device transmits the positioning information to the electronic device through the vehicle-mounted control unit.

[0064] It is also used to determine the pose of the first mobile device according to the first scan information and the positioning information of at least two mobile devices.

[0065] In the application, after the first scanning information of the first mobile device and the positioning information of the at least two second mobile devices are acquired, the pose of the first mobile device is determined according to the positioning information of the at least two groups of second mobile devices and the point cloud information of the target.

[0066] In the application, the mobile device is only in the area without positioning signals or the area with positioning signals, the first mobile device is provided with a target and a vehicle-mounted control unit, the second mobile device is provided with a target, a positioning device and a vehicle-mounted control unit, and the electronic device is used for acquiring radar scanning information. The radar scanning information includes the second scanning information obtained by the at least one or two second mobile devices by scanning the external environment, and the radar scanning information includes the point cloud information of the target arranged on the other mobile device. Specifically, the point cloud information of the target is used to represent the point cloud information of the mobile device. The second mobile device transmits the second scanning information to the electronic device through the vehicle-mounted control unit.

[0067] The electronic device is also used for acquiring the positioning information of the at least one or two second mobile devices.

[0068] The second mobile device transmits the positioning information to the electronic device through the vehicle-mounted control unit.

[0069] The electronic device is also used for determining the pose of the first mobile device according to the at least one group of second scanning information and positioning information. The second scanning information and the positioning information of each group are from the same second mobile device.

[0070] In the application, after the second scanning information and the positioning information of the at least one group of second mobile devices are acquired, the pose of the first mobile device is determined according to the point cloud information of the target of the first mobile device in the at least one group of second scanning information and the positioning information of the second mobile device.

[0071] When the mobile device is not limited to a certain area and is in the area without positioning signals or the area with positioning signals during driving, the first mobile device and the second mobile device are both provided with a target, a positioning device, a radar and a vehicle-mounted control unit.

[0072] The electronic device is used for acquiring radar scanning information.

[0073] The radar scanning information is the first scanning information obtained by the first mobile device by scanning the external environment, or the radar scanning information includes the second scanning information obtained by the at least one or two second mobile devices by scanning the external environment, and the radar scanning information includes the point cloud information of the target arranged on the other mobile device.

[0074] The electronic device is also used for acquiring the positioning information of the at least one or two second mobile devices.

[0075] When the radar scanning information is the first scanning information, the pose of the first mobile device is determined according to the first scanning information and the at least two positioning information.

[0076] When the radar scanning information is the second scanning information, the pose of the first mobile device is determined according to at least one set of the second scanning information and the positioning information, the second scanning information and the positioning information in each set being obtained from the same second mobile device.

[0077] It can be understood that, by combining the positioning signal and the radar information for positioning, the embodiment can solve the problem of limited application caused by the laser radar positioning method, and improve the applicability and practicability. Because when the feature points of the scene are few or the area is too wide or too large, in order to realize laser radar positioning, additional devices need to be arranged to assist positioning, resulting in poor applicability and practicability.

[0078] The embodiment obtains radar scanning information, the radar scanning information being first scanning information obtained by a first mobile device by scanning an external environment or the radar scanning information including second scanning information obtained by at least one or two second mobile devices by scanning the external environment, the radar scanning information including position information of a target arranged on another mobile device; obtains positioning information of the at least one or two second mobile devices, the first mobile device being a device in a positioning signal-free area, and the second mobile device being a device in a positioning signal area; when the radar scanning information is the first scanning information, determines the pose of the first mobile device according to the first scanning information and the at least two positioning information; when the radar scanning information is the second scanning information, determines the pose of the first mobile device according to at least one set of the second scanning information and the positioning information, and combines the positioning signal and the radar information for positioning, so that the first mobile device can be continuously and accurately positioned when being in the positioning signal-free area.

[0079] Corresponding to the system described in the above embodiment, only parts related to the embodiments of the present application are shown for ease of illustration.

[0080] Figure 2 is a first flowchart of a positioning method provided by an embodiment of the present application. As shown in Figure 2 , the method comprises:

[0081] S11: Obtain radar scanning information.

[0082] The radar scanning information is first scanning information obtained by a first mobile device by scanning an external environment or the radar scanning information includes second scanning information obtained by at least one or two second mobile devices by scanning the external environment, and the radar scanning information includes point cloud information of a target arranged on another mobile device.

[0083] When the external environment includes the second mobile device, the point cloud information of the target on the other mobile device is the point cloud information of the target of the second mobile device. When the external environment includes the second mobile device and other first mobile devices, the point cloud information of the target on the other mobile device includes the point cloud information of the target of the second mobile device and the point cloud information of the target of the other first mobile devices.

[0084] When the external environment includes the first mobile device, the point cloud information of the target on the other mobile device is the point cloud information of the target of the first mobile device. When the external environment includes the first mobile device and other second mobile devices, the point cloud information of the target on the other mobile device includes the point cloud information of the target of the first mobile device and the point cloud information of the target of the other second mobile devices.

[0085] S12: Obtain the positioning information of at least one or two second mobile devices.

[0086] S13: When the radar scanning information is the first scanning information, determine the pose of the first mobile device according to the first scanning information and the positioning information of at least two second mobile devices.

[0087] S14: When the radar scanning information is the second scanning information, determine the pose of the first mobile device according to at least one set of second scanning information and positioning information.

[0088] Each set of second scanning information and positioning information is derived from the same second mobile device.

[0089] In the application, the electronic device can determine the pose of the first mobile device in two ways. Way one: obtain the first scanning information of the first mobile device and the positioning signals of at least two second mobile devices, and determine the pose of the first mobile device according to the positioning information of at least two second mobile devices and the point cloud information of the target in the first scanning information. Way two: obtain at least one set of second scanning information and positioning information of the second mobile device, and determine the pose of the first mobile device according to the point cloud information of the target of the first mobile device in the at least one set of second scanning information and the positioning information of the second mobile device.

[0090] When there is only one first mobile device in the scene, the electronic device determines the pose of the first mobile device through the above steps. When there are multiple first mobile devices in the scene, the electronic device determines the pose of each first mobile device through the above steps.

[0091] The embodiment determines the pose by combining the positioning signal and the radar information, so that the first mobile device can be continuously and accurately positioned when it is in a region without positioning signals.

[0092] Figure 3 is a second flowchart of a positioning method provided by an embodiment of the present application. As shown in Figure 3As shown, step S13 comprises:

[0093] S131: For each second mobile device, determining the position information belonging to the second mobile device in the first scanning information according to the positioning information of the second mobile device or the shape of the target.

[0094] In the application, when the shapes of the targets of the mobile devices are the same, the mobile devices in the first scanning information cannot be distinguished by the target shape, and the electronic device distinguishes the mobile devices by coordinate matching. For each second mobile device, the predicted positioning of the first mobile device is obtained according to the historical positioning information of the first mobile device.

[0095] Specifically, the electronic device predicts the current predicted positioning of the first mobile device according to the speed of the first mobile device and the last positioning information.

[0096] According to the predicted positioning of the first mobile device, the position information of all the mobile devices in the first scanning information is converted to obtain the predicted positions of all the mobile devices in the first scanning information. The point cloud information includes the position information.

[0097] Specifically, the electronic device converts the position information of all the mobile devices in the first scanning information of the first mobile device to the coordinate system of the positioning device according to the current predicted positioning of the first mobile device based on the calibration relationship between the coordinate system of the positioning device and the coordinate system of the radar, to obtain the predicted positions of all the mobile devices in the coordinate system of the positioning device. The position information is information in the radar coordinate system.

[0098] The positioning information is matched with the predicted positions of all the mobile devices in the first scanning information to obtain the predicted positions belonging to the second mobile device; and the position information belonging to the second mobile device is determined according to the predicted positions belonging to the second mobile device.

[0099] Specifically, the electronic device calculates the maximum matching radius according to the speed and the matching radius formula. According to the maximum matching radius, the closest predicted position to the second mobile device is found in the predicted positions of all the mobile devices, and then the position information of the second mobile device in the first scanning information is determined.

[0100] In order to improve the accuracy of the position information of the mobile device, the electronic device can further calculate the position information of the target center point according to the point cloud information of the target. The position information of the target center point is used to represent the position information of the mobile device. Specifically, the starting point sequence number and the ending point sequence number of the target are determined according to the point cloud reflectivity in the point cloud information, the target center point is determined according to the starting point sequence number and the ending point sequence number and the target diameter, and the position information of the target center point relative to the radar is calculated.

[0101] In application, when the target shapes of mobile devices are not identical, the mobile devices in the first scan information are directly distinguished by their target shapes. Specifically, for each second mobile device, the target outline is determined based on the point cloud information of the targets of all mobile devices in the first scan information. A target with the same shape as the target of the second mobile device is found among the target outlines of all mobile devices, thereby determining the position information of the second mobile device in the first scan information.

[0102] S132: Based on geometric relationships, determine the pose of the first mobile device according to at least two sets of positioning information and location information of the second mobile device.

[0103] For example, the geometric relationship is triangulation.

[0104] Figure 4 This is an example diagram of the first application scenario provided in an embodiment of this application. For example... Figure 4 As shown in the diagram, there are three regions. The left and right regions are areas with RTK positioning signals, while the middle region is an area without RTK positioning signals due to building obstruction. Devices in the area without RTK positioning signals are designated as the first mobile device, and devices in the area with RTK positioning signals are designated as the second mobile device. Vehicles D and E are the first mobile devices, while vehicles A, B, and C are the second mobile devices. Vehicle D scans the external environment to obtain first scan information, as does vehicle E. Vehicles A, B, and C each acquire positioning signals to obtain positioning information: RTK coordinates and orientation angle.

[0105] The electronic device acquires the first scan information of vehicle D and the positioning information of vehicles A and B. It can also acquire the information of vehicles A and C, vehicles B and C, or vehicles A, B, and C. The first scan information of vehicle D includes point cloud information of targets positioned on vehicles A, B, C, and E. This point cloud information includes positional information, representing the position of the mobile device, which includes the distance and angle between the target and the radar in the radar coordinate system.

[0106] When the target shape is the same for mobile devices, the electronic device predicts the current predicted position of vehicle D based on its previous positioning information and speed: predicted RTK coordinates and azimuth angle. Based on the calibration relationship between the RTK coordinate system and the radar coordinate system, and according to the current predicted position of vehicle D, the distances and angles of vehicles A, B, C, and E in the first scan information are transformed to the RTK coordinate system, yielding the predicted positions of vehicles A, B, C, and E: predicted RTK coordinates and azimuth angle. Based on the maximum matching radius, the predicted position closest to vehicle A is found among the predicted positions of vehicles A, B, C, and E, thus determining the position information of vehicle A. Similarly, the predicted position closest to vehicle B is found among the predicted positions of vehicles A, B, C, and E, thus determining the position information of vehicle B.

[0107] When the target shapes of mobile devices are different: vehicle A's target is cylindrical, vehicle B's target is circular, vehicle C's target is rhomboid, and vehicle E's target is triangular, the target outline of vehicle A is determined to be cylindrical based on the point cloud information of vehicle A's target. Similarly, the target outline of vehicle B is determined to be circular based on the point cloud information of vehicle B's target. The target outline of vehicle C is determined to be rhomboid based on the point cloud information of vehicle E's target. Finally, the target outline of vehicle E is determined to be triangular based on the point cloud information of vehicle E's target. A target with the same shape as vehicle A's target is found among the target outlines of vehicles A, B, C, and E, thus determining the position information of vehicle A. Similarly, a target with the same shape as vehicle B's target is found among the target outlines of vehicles A, B, C, and E, thus determining the position information of vehicle B.

[0108] Then, based on geometric relationships and the positioning and location information of vehicles a and b, the electronic device determines the pose of vehicle d.

[0109] Similarly, for vehicle e, its own position and orientation can be determined.

[0110] Figure 5 This is a schematic diagram of the third step in the positioning method provided in one embodiment of this application. For example... Figure 5 As shown, step S14 includes:

[0111] S141: For each group of second scan information and positioning information, based on the positioning information, the position information of all mobile devices in the second scan information is transformed to obtain the predicted position of all mobile devices in the second scan information.

[0112] Point cloud information includes location information.

[0113] In application, based on the calibration relationship between the coordinate system of the positioning device and the coordinate system of the radar, the position information of all mobile devices in the second scanning information of the second mobile device is converted to the coordinate system of the positioning device according to the positioning information of the second mobile device, and the predicted positions of all mobile devices in the coordinate system of the positioning device are obtained. The position information is information in the coordinate system of the radar.

[0114] S142: predicting according to the historical positioning information of the first mobile device to obtain the predicted position of the first mobile device.

[0115] In application, the predicted position of the first mobile device is obtained by predicting according to the speed of the first mobile device and the last positioning information.

[0116] S143: matching the predicted position of the first mobile device with the predicted positions of all mobile devices in the second scanning information to obtain the predicted position belonging to the first mobile device.

[0117] In application, the maximum matching radius is calculated according to the speed and the matching radius formula. According to the maximum matching radius, the closest predicted position to the first mobile device is found in the predicted positions of all mobile devices.

[0118] S144: determining the pose of the first mobile device according to at least one set of predicted positions and predicted positions of the first mobile device.

[0119] In application, when a set of second scanning information and positioning information is obtained, the predicted positions and the predicted positions of the first mobile device are fused to obtain the pose of the first mobile device. Because there may be errors in radar ranging, the predicted positions and the predicted positions of the first mobile device are fused to obtain the accurate pose of the first mobile device.

[0120] When at least two sets of second scanning information and positioning information are obtained, the predicted positions and the predicted positions of the first mobile device in each set are fused to obtain the poses of at least two first mobile devices; and the poses of the at least two first mobile devices are fused to obtain the final pose of the first mobile device. Specifically, the poses of the at least two first mobile devices are fused by Kalman filtering to obtain a more accurate pose of the first mobile device.

[0121] Figure 6 is a fourth flowchart of a positioning method provided by an embodiment of the present application. As shown in Figure 6 , step S14 comprises;

[0122] S141`: for each set of second scanning information and positioning information, determining the position information belonging to the first mobile device in the second scanning information according to the target shape of the first mobile device.

[0123] In application, the electronic device determines the contour of the target according to the point cloud information of the target of all mobile devices in the second scanning information of the second mobile device. The target with the same shape as the target of the first mobile device is found in the target contour of all mobile devices, and the position information of the first mobile device in the first scanning information is determined.

[0124] S142`: Determine the predicted position of the first mobile device according to the positioning information and the position information of the first mobile device.

[0125] In application, the electronic device converts the position information of the first mobile device in the second scanning information to the coordinate system of the positioning device according to the positioning information of the second mobile device based on the calibration relationship between the coordinate system of the positioning device and the coordinate system of the radar, and obtains the predicted position of the first mobile device in the coordinate system of the positioning device.

[0126] S143`: Obtain the predicted position of the first mobile device according to the historical positioning information of the first mobile device.

[0127] In application, the electronic device obtains the predicted position of the first mobile device according to the speed and the last positioning information of the first mobile device.

[0128] S144`: Determine the pose of the first mobile device according to at least one set of predicted position and predicted position of the first mobile device.

[0129] In application, when a set of second scanning information and positioning information is obtained, the predicted position and the predicted position of the first mobile device are fused to obtain the pose of the first mobile device.

[0130] When at least two sets of second scanning information and positioning information are obtained, the predicted position and the predicted position of the first mobile device in each set are fused to obtain the pose of at least two first mobile devices. The poses of at least two first mobile devices are fused to obtain the final pose of the first mobile device.

[0131] Please continue to refer to Figure 4 , a car, b car and c car each obtain positioning signals to obtain positioning information: rtk coordinates and direction angles, and each scan the external environment to obtain second scanning information.

[0132] The electronic device obtains the positioning information and the second scanning information of the a car, the positioning information and the second scanning information of the b car. It can also obtain the a car, the c car, the a car and the c car, the b car and the c car, or the a car, the b car and the c car. Among them, the second scanning information of the a car includes the point cloud information of the target set on the b car, the c car, the d car and the e car. The second scanning information of the b car includes the point cloud information of the target set on the a car, the c car, the d car and the e car.

[0133] The electronic device obtains the predicted position of the d vehicle according to the positioning information and the speed of the d vehicle.

[0134] When the target shapes of the mobile devices are the same, the electronic device converts the distances and angles of the b vehicle, the c vehicle, the d vehicle and the e vehicle in the radar coordinate system to the rtk coordinate system according to the positioning information of the a vehicle based on the calibration relationship between the rtk coordinate system and the radar coordinate system, to obtain the predicted positions of the b vehicle, the c vehicle, the d vehicle and the e vehicle: predicted rtk coordinates and direction angles. According to the maximum matching radius, the predicted position closest to the d vehicle is found in the predicted positions of the b vehicle, the c vehicle, the d vehicle and the e vehicle, to obtain the predicted position of the d vehicle. The predicted position and the predicted position of the d vehicle are fused to obtain the pose of the d vehicle.

[0135] When the target shapes of the mobile devices are different, the target shape of the b vehicle is a circle, the target shape of the c vehicle is a diamond, the target shape of the d vehicle is a trapezoid, and the target shape of the e vehicle is a triangle. According to the point cloud information of the target of the b vehicle, it is determined that the target contour of the b vehicle is a circle. According to the point cloud information of the target of the c vehicle, it is determined that the target contour of the c vehicle is a diamond. According to the point cloud information of the target of the d vehicle, it is determined that the target contour of the d vehicle is a trapezoid. According to the point cloud information of the target of the e vehicle, it is determined that the target contour of the e vehicle is a triangle. The target with the same shape as the target shape of the d vehicle is found in the target contours of the b vehicle, the c vehicle, the d vehicle and the e vehicle, and the position information of the d vehicle is determined. According to the positioning information of the a vehicle and the position information of the d vehicle, the predicted position of the d vehicle is determined. The predicted position and the predicted position of the d vehicle are fused to obtain the pose of the d vehicle.

[0136] For the b vehicle, the pose of the d vehicle is obtained in the same way.

[0137] Because two sets of second scanning information and positioning information are obtained, the poses of the two d vehicles are fused to obtain the final pose of the d vehicle.

[0138] For the e vehicle, the pose of the e vehicle is determined in the same way.

[0139] Figure 7 is a second application scenario diagram provided by an embodiment of the present application. For the convenience of description, only the different parts are described. As shown in Figure 7 , the d vehicle and the e vehicle are the first mobile device, and the a vehicle and the c vehicle are the second mobile device.

[0140] The electronic device obtains the positioning information and the second scanning information of the a vehicle, and the positioning information and the second scanning information of the c vehicle. The second scanning information of the a vehicle includes the point cloud information of the target arranged on the d vehicle. The second scanning information of the c vehicle includes the point cloud information of the target arranged on the e vehicle.

[0141] The electronic device obtains a current predicted position of the d vehicle according to the positioning information and the speed of the d vehicle, and obtains a predicted RTK coordinate and a predicted direction angle.

[0142] When the target shapes of the mobile devices are the same, the electronic device finds the closest predicted position of the d vehicle according to the maximum matching radius, and obtains the predicted position of the d vehicle.

[0143] When the target shapes of the mobile devices are different, the electronic device determines the target contour of the d vehicle to be a trapezoid according to the point cloud information of the target of the d vehicle, finds a target with the same shape as the target of the d vehicle, and determines the position information of the d vehicle. The electronic device determines the predicted position of the d vehicle according to the positioning information of the a vehicle and the position information of the d vehicle.

[0144] The electronic device fuses the predicted position and the predicted position of the d vehicle according to the obtained set of second scanning information and the positioning information, and obtains the pose of the d vehicle.

[0145] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0146] Figure 8 The electronic device provided by an embodiment of the present application is shown in a structural schematic diagram. As shown in the figure, Figure 8 the electronic device 3 of the embodiment includes at least one processor 30 (only one is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30. When the processor 30 executes the computer program 32, the steps in any of the above method embodiments are implemented. Figure 8 The electronic device 3 can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The electronic device 3 can include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art can understand that

[0147] The electronic device 3 is only an example and does not constitute a limitation on the electronic device 3, and can include more or fewer components than shown, or combine certain components, or different components, for example, can also include input / output devices, network access devices, and the like. Figure 8

[0148] ​The processor 30 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0149] The memory 31 can be an internal storage unit of the electronic device 3 in some embodiments, for example, a hard disk or a memory of the electronic device 3. The memory 31 can also be an external storage device of the electronic device 3 in other embodiments, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 31 can include both the internal storage unit and the external storage device of the electronic device 3. The memory 31 is used to store an operating system, an application program, a boot loader, data and other programs, for example, program codes of the computer program, etc. The memory 31 can also be used to temporarily store data that has been output or is to be output.

[0150] It should be noted that the information interaction, execution process, etc. between the above apparatuses / units, since based on the same concept as the method embodiments of the present application, the specific functions and the brought technical effects can be referred to the method embodiments part, and will not be described here in detail.

[0151] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0152] The embodiment of the application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps in each of the method embodiments.

[0153] The embodiment of the application provides a computer program product, when the computer program product runs on an electronic device, the electronic device executes the steps in each of the method embodiments.

[0154] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the application implements all or part of the processes in the above-mentioned embodiment methods, which can be completed by a computer program to instruct related hardware, and the computer program can be stored in a computer readable storage medium. The computer program, when executed by a processor, can implement the steps in each of the method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0155] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0156] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0157] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0158] The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0159] The above described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications 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 application, and should be included in the protection scope of the present application.

Claims

1. A laser radar-based positioning method, characterized by, The method comprises: obtaining radar scanning information, the radar scanning information being first scanning information obtained by a first mobile device by scanning an external environment, the radar scanning information comprising point cloud information of a target arranged on other mobile devices; obtaining positioning information of at least two second mobile devices, the first mobile device being a device in a positioning signal-free area, and the second mobile device being a device in a positioning signal area; determining a pose of the first mobile device according to the first scanning information and the positioning information of at least two second mobile devices.

2. The method of claim 1, wherein, The method comprises: for each second mobile device, determining position information belonging to the second mobile device in the first scanning information according to the positioning information of the second mobile device or a target shape; determining the pose of the first mobile device according to the positioning information of at least two groups of second mobile devices and the position information based on geometric relationships.

3. The method of claim 2, wherein, The method comprises: predicting the first mobile device according to historical positioning information of the first mobile device to obtain predicted positioning of the first mobile device; transforming the position information of all mobile devices in the first scanning information according to the predicted positioning of the first mobile device to obtain predicted positions of all mobile devices in the first scanning information, the point cloud information comprising the position information; matching the positioning information with the predicted positions of all mobile devices in the first scanning information to obtain the predicted positions belonging to the second mobile device; determining the position information belonging to the second mobile device according to the predicted positions belonging to the second mobile device.

4. The method of claim 1, wherein, The method further comprises that the radar scanning information comprises second scanning information obtained by at least one second mobile device by scanning an external environment. The method further comprises: determining the pose of the first mobile device according to at least one group of second scanning information and the positioning information, the second scanning information and the positioning information of each group being derived from the same second mobile device.

5. The method of claim 4, wherein, The method comprises: for each group of second scanning information and positioning information, transforming position information of all mobile devices in the second scanning information according to the positioning information to obtain predicted positions of all mobile devices in the second scanning information, the point cloud information comprising the position information; predicting the first mobile device according to historical positioning information of the first mobile device to obtain predicted positioning of the first mobile device; matching the predicted positioning of the first mobile device with the predicted positions of all mobile devices in the second scanning information to obtain the predicted positions belonging to the first mobile device; determining the pose of the first mobile device according to at least one group of predicted positioning of the first mobile device and the predicted positions.

6. The method of claim 4, wherein, The determining the pose of the first mobile device according to at least one set of the second scanning information and the positioning information comprises: For each set of the second scanning information and the positioning information, determining position information belonging to the first mobile device in the second scanning information according to a target shape of the first mobile device, the point cloud information comprising the position information; Determining a predicted position of the first mobile device according to the positioning information and the position information of the first mobile device; Predicting according to historical positioning information of the first mobile device to obtain a predicted positioning of the first mobile device; Determining the pose of the first mobile device according to at least one set of the predicted positioning and the predicted position of the first mobile device.

7. The method according to claim 5 or 6, characterized in that, The determining the pose of the first mobile device according to at least one set of the predicted positioning and the predicted position of the first mobile device comprises: When a set of the second scanning information and the positioning information is acquired, fusing a set of the predicted positioning and the predicted position of the first mobile device to obtain the pose of the first mobile device; When at least two sets of the second scanning information and the positioning information are acquired, fusing the predicted positioning and the predicted position of the first mobile device of each set to obtain the pose of at least two first mobile devices; Fusing the pose of at least two first mobile devices to obtain a final pose of the first mobile device.

8. A laser radar based positioning system, characterized by Comprise: A plurality of mobile devices and electronic devices; An electronic device is configured to acquire radar scanning information, the radar scanning information being first scanning information obtained by a first mobile device by scanning an external environment, the radar scanning information comprising point cloud information of a target arranged on other mobile devices; Further configured to acquire positioning information of at least two second mobile devices, the first mobile device being a device in a no-positioning-signal area, and the second mobile device being a device in a positioning-signal area; Further configured to determine a pose of the first mobile device according to the first scanning information and at least two positioning information.

9. The system of claim 8, wherein, The mobile device is provided with the target, a positioning device, a radar and a vehicle-mounted control unit.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method of any one of claims 1 to 7.

11. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: The computer program is executed by the processor to implement the method of any one of claims 1 to 7.

Images