Method for eliminating the influence of deflection plug jitter of a vehicle-mounted multi-source fusion positioning system

Abstract

The application provides a method for eliminating the influence of deflection plug jitter of a vehicle-mounted multi-source fusion positioning system, comprising: acquiring real-time single-frame sensing feature element information, IMU information, VCU information and biased front and rear GNSS information of a vehicle, performing one-time fusion on current frame IMU information, biased front GNSS information and VCU information to obtain one-time fusion position information after biasing; performing biasing processing on the one-time fusion position information after biasing to obtain current position information after biasing, and acquiring high-precision map data within a specified range according to the current position information after biasing; judging whether the high-precision map data corresponding to the current position information is consistent with the current sensing feature element information, and offsetting the position jitter caused by the deflection plug according to the judgment result. The application can eliminate the influence of plug jitter on the positioning system and improve the positioning accuracy of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and more specifically, to a method for eliminating the jitter of the deflection plug in an in-vehicle multi-source fusion positioning system. Background Technology

[0002] With the promotion of intelligent driving services and products, the requirements for positioning accuracy, stability, and real-time performance of intelligent driving systems are becoming increasingly stringent. Intelligent driving systems based on high-precision maps receive map information and fused positioning information that has been processed by a deflection plugin. Because the deflection plugin introduces a certain degree of random error into each input data (map information or positioning information), there is a deviation between the vehicle's position on the high-precision map and its position in the real physical environment, causing malfunctions in subsequent auxiliary functions such as traffic control. To address the positioning jitter problem caused by the deflection plugin, corresponding auxiliary measures need to be taken to eliminate the impact of plugin jitter on the positioning system. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a method to eliminate the impact of deflection plug jitter in an in-vehicle multi-source fusion positioning system. This method can eliminate the impact of plug jitter on the positioning system and improve vehicle positioning accuracy.

[0004] According to a first aspect of the present invention, a method for eliminating the jitter effect of the deflection plug-in in an in-vehicle multi-source fusion positioning system is provided, comprising:

[0005] The system acquires real-time single-frame perception feature information, IMU information, VCU information, and GNSS information before and after offsetting of the vehicle. It then fuses the current frame IMU information, the GNSS information before offsetting, and the VCU information once to obtain the first-fuse-attribute-off ...

[0006] The previously fused location information is biased to obtain the biased current location information, and high-precision map data within a specified range is obtained based on the biased current location information.

[0007] Determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and offset the position jitter caused by the deflection plugin based on the judgment result.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Optionally, the step of determining whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and offsetting the position jitter caused by the deflection plugin based on the determination result, includes:

[0010] If the high-precision map data is consistent with the current perceived feature information, then the single-frame perceived feature information and the high-precision map are matched to calculate the horizontal and vertical errors of the current offset position; the horizontal and vertical errors are fused with the current frame IMU information, the offset GNSS information and VCU information to obtain the offset position information of the current frame.

[0011] If the high-precision map data is inconsistent with the current perceived feature information, the increment between the current frame plus the previous fused position information and the previous frame plus the previous fused position information is calculated. The increment and the position information after deflection in the previous frame are used to recursively obtain the position information after deflection in the current frame.

[0012] Optionally, the method further includes: initializing the system using biased GNSS information and IMU information.

[0013] Optionally, the VCU information includes at least speed, gear, and time.

[0014] Optionally, the perceived feature information is the feature information of the vehicle's surrounding environment acquired by a camera and / or lidar.

[0015] According to a second aspect of the present invention, a system for eliminating the jitter effect of the deflection plug in an in-vehicle multi-source fusion positioning system is provided, comprising:

[0016] The first fusion module is used to acquire real-time single-frame perception feature information, IMU information, VCU information and GNSS information before and after offset of the vehicle. It performs a first fusion of the current frame IMU information, the GNSS information before offset and the VCU information to obtain the first fused position information before offset.

[0017] The map acquisition module is used to perform offset processing on the previously fused location information to obtain the offset current location information, and is also used to acquire high-precision map data within a specified range based on the offset current location information;

[0018] The correction module is used to determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and also to counteract the position jitter caused by the deflection plugin based on the judgment result.

[0019] Optionally, the correction module includes:

[0020] The judgment module is used to determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information;

[0021] The first de-biasing module is used to match the single-frame perception feature information with the high-precision map when the high-precision map data is consistent with the current perception feature information, so as to calculate the horizontal and vertical errors of the current bias position; it is also used to fuse the horizontal and vertical errors with the current frame IMU information, the biased GNSS information and VCU information to obtain the position information after the current frame bias.

[0022] The second debiasing module is used to calculate the increment between the fused position information of the current frame and the fused position information of the previous frame when the high-precision map data is inconsistent with the current perceived feature element information. It is also used to recursively calculate the position information of the current frame after debiasing by using the increment and the position information after debiasing of the previous frame.

[0023] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement the steps of the aforementioned method for eliminating the jitter effect of the deflection plug in an in-vehicle multi-source fusion positioning system.

[0024] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management program is stored, wherein when executed by a processor, the computer management program implements the steps of the aforementioned method for eliminating the jitter effect of the deflection plug in a vehicle-mounted multi-source fusion positioning system.

[0025] This invention provides a method, system, electronic device, and storage medium for eliminating the impact of deflection plug jitter in a vehicle-mounted multi-source fusion positioning system. It comprehensively considers real-time perceived feature information output from both camera and LiDAR sensors and the multi-source fusion positioning information before deflection: when the perceived information is valid, it matches the perceived result with the high-precision map corresponding to the fused positioning information after deflection; when the perceived information is unavailable, it incrementally recursively uses the fused positioning information before deflection to ensure consistency between the fused positioning result and the high-precision map. This invention eliminates the impact of plug jitter on the multi-source positioning system, improving vehicle positioning accuracy. Attached Figure Description

[0026] Figure 1 This invention provides a flowchart of a method for eliminating the jitter effect of the deflection plug-in in an in-vehicle multi-source fusion positioning system.

[0027] Figure 2 A schematic diagram of the composition structure of a system for eliminating the jitter of the deflection plug in a vehicle-mounted multi-source fusion positioning system provided by the present invention;

[0028] Figure 3 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0029] Figure 4This is a schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Detailed Implementation

[0030] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0031] Figure 1 The flowchart of a method for eliminating the jitter of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system provided by the present invention is as follows: Figure 1 As shown, the method includes:

[0032] The system acquires real-time single-frame perception feature information, IMU information, VCU information, and GNSS information before and after offsetting of the vehicle. It then fuses the current frame IMU information, the GNSS information before offsetting, and the VCU information once to obtain the first-fused position information before offsetting. The VCU information includes at least speed, gear, and time. The perception feature information is the vehicle's surrounding environment feature information acquired by the camera and / or lidar.

[0033] The previously fused location information is biased to obtain the biased current location information. High-precision map data within a specified range is then obtained based on the biased current location information. Here, the high-precision map data refers to the data within a specified range on the high-precision map, centered on the biased current location information.

[0034] Determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and offset the position jitter caused by the deflection plugin based on the judgment result.

[0035] Understandably, based on the deficiencies in the background technology, this invention proposes a method to eliminate the impact of deflection plug-in jitter in an onboard multi-source fusion positioning system. This method comprehensively considers the real-time perceived feature information output by the camera or LiDAR and the multi-source fusion positioning information before deflection: when the perceived information is valid, it matches the perceived result with the high-precision map corresponding to the fused positioning information after deflection; when the perceived information is unavailable, it incrementally recursively uses the fused positioning information before deflection to ensure the consistency between the fused positioning result and the high-precision map. This invention eliminates the impact of plug-in jitter on the multi-source positioning system, improving vehicle positioning accuracy.

[0036] In one possible embodiment, determining whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and offsetting the position jitter caused by the deflection plugin based on the determination result, includes:

[0037] If the high-precision map data is consistent with the current perceived feature information, then the single-frame perceived feature information and the high-precision map are matched to calculate the horizontal and vertical errors of the current offset position; the horizontal and vertical errors are fused with the current frame IMU information, the offset GNSS information and VCU information to obtain the offset position information of the current frame.

[0038] If the high-precision map data is inconsistent with the current perceived feature information, the increment between the current frame plus the previous fused position information and the previous frame plus the previous fused position information is calculated. The increment and the position information after deflection in the previous frame are used to recursively obtain the position information after deflection in the current frame.

[0039] It is understood that this embodiment determines the specific anti-biasing method by comparing the consistency between the high-precision map information corresponding to the biased current location information (i.e., the biased first-stage fused location information) and the current perceived feature element information. For example, if the road feature information indicated by the high-precision map information is consistent with the road information indicated by the current perceived feature element information, then it is determined that the high-precision map and the current perceived feature element information are both valid; otherwise, it is considered that the high-precision map information and the current perceived feature element information are inconsistent. When the perceived feature element information and the high-precision map information are valid, the perception result is matched with the high-precision map corresponding to the biased fused positioning information. The horizontal and vertical errors of the current biased position are calculated through the matching process. The horizontal and vertical errors are used to offset the position jitter caused by the biasing plugin, and finally, the biased current location information is obtained. When the perceived feature element information or the high-precision map is invalid, the incremental value of the first-stage fused location information before biasing in adjacent frames is recursively calculated to obtain the biased location information of the current frame and offset the position jitter caused by the biasing plugin.

[0040] In one possible embodiment, the method further includes: after the system is powered on, initializing the system using biased GNSS information and IMU information.

[0041] Figure 2 This is a system structure diagram of an embodiment of the present invention for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system, as shown in the figure. Figure 2 As shown, a system for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system includes a primary fusion module, a map acquisition module, and a deviation correction module, wherein:

[0042] The first fusion module is used to acquire real-time single-frame perception feature information, IMU information, VCU information and GNSS information before and after offset of the vehicle. It performs a first fusion of the current frame IMU information, the GNSS information before offset and the VCU information to obtain the first fused position information before offset.

[0043] The map acquisition module is used to perform offset processing on the previously fused location information to obtain the offset current location information, and is also used to acquire high-precision map data within a specified range based on the offset current location information;

[0044] The correction module is used to determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and also to counteract the position jitter caused by the deflection plugin based on the judgment result.

[0045] The correction module includes:

[0046] The judgment module is used to determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information;

[0047] The first de-biasing module is used to match the single-frame perception feature information with the high-precision map when the high-precision map data is consistent with the current perception feature information, so as to calculate the horizontal and vertical errors of the current bias position; it is also used to fuse the horizontal and vertical errors with the current frame IMU information, the biased GNSS information and VCU information to obtain the position information after the current frame bias.

[0048] The second debiasing module is used to calculate the increment between the fused position information of the current frame and the fused position information of the previous frame when the high-precision map data is inconsistent with the current perceived feature element information. It is also used to recursively calculate the position information of the current frame after debiasing by using the increment and the position information after debiasing of the previous frame.

[0049] It is understood that the system for eliminating the jitter of the deflection plug in the vehicle multi-source fusion positioning system provided by the present invention corresponds to the method for eliminating the jitter of the deflection plug in the vehicle multi-source fusion positioning system provided in the foregoing embodiments. The relevant technical features of the system for eliminating the jitter of the deflection plug in the vehicle multi-source fusion positioning system can be referred to the relevant technical features of the method for eliminating the jitter of the deflection plug in the vehicle multi-source fusion positioning system, and will not be repeated here.

[0050] Please see Figure 3 , Figure 3 This is a schematic diagram illustrating an embodiment of the electronic device provided in this invention. For example... Figure 3 As shown, this embodiment of the invention provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, it performs the following steps:

[0051] The system acquires real-time single-frame perception feature information, IMU information, VCU information, and GNSS information before and after offsetting of the vehicle. It then fuses the current frame IMU information, the GNSS information before offsetting, and the VCU information once to obtain the first-fuse-attribute-off ...

[0052] The previously fused location information is biased to obtain the biased current location information, and high-precision map data within a specified range is obtained based on the biased current location information.

[0053] Determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and offset the position jitter caused by the deflection plugin based on the judgment result.

[0054] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating an embodiment of a computer-readable storage medium provided by the present invention. (See diagram below.) Figure 4 As shown, this embodiment provides a computer-readable storage medium 400 on which a computer program 411 is stored. When the computer program 411 is executed by a processor, it performs the following steps:

[0055] The system acquires real-time single-frame perception feature information, IMU information, VCU information, and GNSS information before and after offsetting of the vehicle. It then fuses the current frame IMU information, the GNSS information before offsetting, and the VCU information once to obtain the first-fuse-attribute-off ...

[0056] The previously fused location information is biased to obtain the biased current location information, and high-precision map data within a specified range is obtained based on the biased current location information.

[0057] Determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and offset the position jitter caused by the deflection plugin based on the judgment result.

[0058] This invention provides a method, system, electronic device, and storage medium for eliminating the impact of deflection plug jitter in a vehicle-mounted multi-source fusion positioning system. It comprehensively considers real-time perceived feature information output by both camera and LiDAR sensors, along with the multi-source fusion positioning information before deflection. When the perceived information is valid, the system matches the perceived result with the high-precision map corresponding to the fused positioning information after deflection. When the perceived information is unavailable, the system incrementally recursively uses the fused positioning information before deflection to ensure consistency between the fused positioning result and the high-precision map. This invention eliminates the impact of plug jitter on the multi-source positioning system, improving vehicle positioning accuracy.

[0059] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0060] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0061] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0062] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0063] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0064] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0065] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system, characterized in that, include: The system acquires real-time single-frame perception feature information, IMU information, VCU information, and GNSS information before and after offsetting of the vehicle. It then fuses the current frame IMU information, the GNSS information before offsetting, and the VCU information once to obtain the first-fuse-attribute-off ... The previously fused location information is biased to obtain the biased current location information, and high-precision map data within a specified range is obtained based on the biased current location information. Determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and based on the determination result, offset the position jitter caused by the deflection plugin, specifically including: If the high-precision map data is consistent with the current perceived feature information, then the single-frame perceived feature information and the high-precision map are matched to calculate the horizontal and vertical errors of the current offset position; the horizontal and vertical errors are fused with the current frame IMU information, the offset GNSS information and VCU information to obtain the offset position information of the current frame. If the high-precision map data is inconsistent with the current perceived feature information, the increment between the current frame plus the previous fused position information and the previous frame plus the previous fused position information is calculated. The increment and the position information after deflection in the previous frame are used to recursively obtain the position information after deflection in the current frame.

2. The method for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system according to claim 1, characterized in that, Also includes: The system is initialized using GNSS and IMU information that have undergone biasing.

3. The method for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system according to claim 1, characterized in that, The VCU information includes at least speed, gear, and time.

4. The method for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system according to claim 1, characterized in that, The perceived feature information refers to the feature information of the vehicle's surrounding environment acquired by cameras and / or lidar.

5. A system for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system, characterized in that, include: The first fusion module is used to acquire real-time single-frame perception feature information, IMU information, VCU information and GNSS information before and after offset of the vehicle. It performs a first fusion of the current frame IMU information, the GNSS information before offset and the VCU information to obtain the first fused position information before offset. The map acquisition module is used to perform offset processing on the previously fused location information to obtain the offset current location information, and is also used to acquire high-precision map data within a specified range based on the offset current location information; The correction module is used to determine whether the high-precision map data corresponding to the current location information is consistent with the current perceived feature element information, and also to counteract the position jitter caused by the deflection plugin based on the judgment result; specifically, it includes: If the high-precision map data is consistent with the current perceived feature information, then the single-frame perceived feature information and the high-precision map are matched to calculate the horizontal and vertical errors of the current offset position; the horizontal and vertical errors are fused with the current frame IMU information, the offset GNSS information and VCU information to obtain the offset position information of the current frame. If the high-precision map data is inconsistent with the current perceived feature information, the increment between the current frame plus the previous fused position information and the previous frame plus the previous fused position information is calculated. The increment and the position information after deflection in the previous frame are used to recursively obtain the position information after deflection in the current frame.

6. An electronic device, characterized in that, The system includes a memory and a processor, wherein the processor is used to execute computer management programs stored in the memory to implement the steps of the method for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, It stores a computer management program, which, when executed by a processor, implements the steps of the method for eliminating the jitter effect of the deflection plug-in in a vehicle-mounted multi-source fusion positioning system as described in any one of claims 1-4.

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