A field-end high-precision positioning method, device, system and component

Abstract

An embodiment of the present invention relates to a method, device, system and component for high-precision positioning at the field end. The method includes: the vehicle refuels, including refueling or charging, receives perception data sent by multiple sensors, and obtains environmental perception information after fusion processing; obtains the first to third signals when a tag on the vehicle end communicates with at least three base stations at the field end; determines the first position of the vehicle in the field end coordinate system according to the first to third signals and the positions of the base stations in the field end coordinate system; obtains the GPS signal of the earth coordinate system and converts it into the second position in the field end coordinate system; determines the vehicle position according to the first position and / or the second position; determines the driving path according to the environmental perception information, the vehicle position, the preset field end map and the pile position; encapsulates the driving speed and driving direction of each waypoint to generate a control instruction; sends the control instruction to the vehicle; when it is detected that the vehicle is at the pile position, sends a parking instruction to the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of signal processing technology, and in particular to a field-side high-precision positioning method, device, system and component. Background Art

[0002] In the prior art, when a vehicle needs to be recharged, it usually drives into a recharging station. The driver of the vehicle searches for a charging port while driving the vehicle. This often causes chaos among multiple vehicles at the station. In order to avoid this chaos, dispatchers are sometimes required to guide vehicles to the charging port or refueling port. The guidance by a dedicated person results in a waste of human resources.

[0003] Therefore, how to perform real-time positioning when the vehicle approaches the terminal and how to control the vehicle's movement becomes a problem that needs to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a field-side high-precision positioning method, device, system and component to address the problem of how to perform real-time positioning in the prior art.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention provides a field-side high-precision positioning method, the method comprising:

[0006] Receive perception data sent by multiple sensors, and perform fusion processing on the perception data to obtain environmental perception information;

[0007] When the vehicle enters the terminal, obtain a first signal, a second signal, and a third signal when the tag on the vehicle communicates with at least three base stations on the terminal; determine a first position of the vehicle in the terminal coordinate system according to the first signal, the second signal, and the third signal, and the position of the base station in the terminal coordinate system; and / or,

[0008] When the signal strength of the GPS signal on the vehicle meets the requirement, the GPS signal of the earth coordinate system is acquired; and the GPS signal is converted into a second position in the field end coordinate system;

[0009] Determine a vehicle position based on the first position and / or the second position;

[0010] Determine a driving path according to the environmental perception information, the vehicle position, a preset field map and the pile position; the driving path includes a plurality of waypoints, each waypoint having a driving speed and a driving direction;

[0011] Encapsulate the driving speed and direction of each waypoint and generate control instructions;

[0012] Send the control instruction to the vehicle so that the vehicle travels according to the control instruction;

[0013] When it is detected that the vehicle is in the pile position, send a parking instruction to the vehicle to control the vehicle to stop.

[0014] In a possible implementation manner, the receiving of the perception data sent by multiple sensors and the fusion processing of the perception data to obtain the environmental perception information specifically include:

[0015] Receive the first perception data sent by the lidar;

[0016] Receive the second perception data sent by the image sensor;

[0017] Receive the third perception data sent by the millimeter-wave radar;

[0018] Perform fusion processing on the first perception data, the second perception data, and the third perception data to obtain the environmental perception information.

[0019] In a possible implementation manner, before the method, it further includes:

[0020] Receive the arrival message and the vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and the vehicle CAN signal;

[0021] Start the wireless communication with the vehicle and determine whether the vehicle has arrived;

[0022] When the wireless communication is successful, if the vehicle has arrived, send a vehicle arrival confirmation message to the cloud;

[0023] Send a vehicle control request message to the vehicle;

[0024] Receive the control response message returned by the vehicle.

[0025] In a possible implementation manner, the determining of the first position of the vehicle in the field end coordinate system according to the first signal, the second signal, the third signal, and the position of the base station in the field end coordinate system specifically includes:

[0026] According to the first signal, determine the first distance between the first base station in the base station and the tag;

[0027] According to the second signal, determine the second distance between the second base station in the base station and the tag;

[0028] According to the third signal, determine the third distance between the third base station in the base station and the tag;

[0029] Determine the first position of the tag in the field-end coordinate system through a triangulation method based on the first distance, the second distance, and the third distance, as well as the positions of the first base station, the second base station, and the third base station.

[0030] In a possible implementation, the determining of the vehicle position according to the first position and / or the second position specifically includes:

[0031] Judge whether the signal strength of the GPS signal on the vehicle meets the requirements;

[0032] When the flag bit of the GPS signal is the preset flag bit, the signal strength meets the requirements;

[0033] When the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirements;

[0034] When the GPS signal strength meets the requirements, determine the vehicle position according to the first position and the second position;

[0035] When the GPS signal strength does not meet the requirements, determine the vehicle position according to the first position.

[0036] In a possible implementation, the encapsulating the driving speed and driving direction of each waypoint to generate a control instruction specifically includes:

[0037] Encapsulate the driving speed and driving direction of each vehicle to obtain a control instruction;

[0038] Send the control instruction to the corresponding vehicle according to the vehicle ID.

[0039] In a possible implementation, before the method of sending a parking instruction to the vehicle to control the vehicle to stop when it is detected that the vehicle is in the pile position, the method further includes:

[0040] Obtain dynamic obstacle information; the dynamic obstacle information includes the shape, speed, and orientation of the dynamic obstacle;

[0041] Judge whether the dynamic obstacle will intersect with the driving path according to the speed and orientation of the dynamic obstacle, the vehicle guiding orientation, and the vehicle guiding speed;

[0042] When the dynamic obstacle intersects with the driving path, obtain the lane width;

[0043] Determine whether the vehicle has a waiting space according to the lane width, the rigid body model of the vehicle, and the shape of the dynamic obstacle;

[0044] When there is a waiting space, send a parking instruction to the vehicle to control the vehicle to park and wait within the waiting space.

[0045] In a possible implementation manner, the method further includes:

[0046] When there is no waiting space, re - perform path planning according to the environmental perception information, the field - end map, and the vehicle position.

[0047] In a possible implementation manner, each of the waypoints further includes a timestamp, and the dynamic obstacle information further includes the current position of the dynamic obstacle. Specifically, determining whether the dynamic obstacle will intersect the driving path includes:

[0048] According to the timestamp, the current position of the dynamic obstacle, the speed and the orientation of the dynamic obstacle, determine whether the dynamic obstacle will intersect the driving path.

[0049] A second aspect of the embodiments of the present invention provides a field - end high - precision positioning device for implementing the field - end high - precision positioning method in the first aspect of the embodiments of the present invention. The field - end high - precision positioning device includes:

[0050] A receiving module, which is used to receive the perception data sent by multiple sensors, and perform fusion processing on the perception data to obtain environmental perception information;

[0051] A first obtaining module, which is used to obtain the first signal, the second signal, and the third signal when the vehicle - end enters the field - end and the tags on the vehicle - end communicate with at least three base stations;

[0052] A first determining module, which is used to determine the first position of the vehicle in the field - end coordinate system according to the first signal, the second signal, the third signal, and the positions of the base stations in the field - end coordinate system; and / or,

[0053] A second obtaining module, which is used to obtain the GPS signal in the earth coordinate system when the signal strength of the GPS signal on the vehicle meets the requirements; and convert the GPS signal into the second position in the field - end coordinate system;

[0054] A second determining module, which is used to determine the vehicle position according to the first position and / or the second position;

[0055] A third determining module, which is used to determine the driving path according to the environmental perception information, the vehicle position, a preset field - end map, and the pile position; the driving path includes multiple waypoints, and each waypoint has a driving speed and a driving direction;

[0056] An encapsulation module, which is used to encapsulate the driving speed and driving direction of each waypoint to generate a control instruction;

[0057] A first sending module, which is used to send the control instruction to the vehicle so that the vehicle travels according to the control instruction;

[0058] A second sending module, which is used to send a parking instruction to the vehicle when it is detected that the vehicle is in the pile position to control the vehicle to stop.

[0059] In a possible implementation, the receiving module receives the perception data sent by multiple sensors and performs fusion processing on the perception data to obtain the environmental perception information, specifically including:

[0060] Receiving the first perception data sent by the lidar,

[0061] Receiving the second perception data sent by the image sensor,

[0062] Receiving the third perception data sent by the millimeter wave radar;

[0063] Performing fusion processing on the first perception data, the second perception data and the third perception data to obtain the environmental perception information.

[0064] In a possible implementation, the vehicle authority takeover module is used for:

[0065] Receiving the arrival message and vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and the vehicle CAN signal;

[0066] Starting the wireless communication with the vehicle and determining whether the vehicle has arrived;

[0067] When the wireless communication is successful, if the vehicle has arrived, sending a vehicle arrival confirmation message to the cloud;

[0068] Sending a vehicle control request message to the vehicle;

[0069] Receiving the control response message returned by the vehicle.

[0070] In a possible implementation, the first determination module determines the first position of the vehicle in the field-end coordinate system according to the first signal, the second signal and the third signal, and the position of the base station in the field-end coordinate system, specifically including:

[0071] Determining the first distance between the first base station in the base station and the tag according to the first signal;

[0072] Determine a second distance between a second base station in the base station and the tag according to the second signal;

[0073] Determine a third distance between a third base station in the base station and the tag according to the third signal;

[0074] Determine a first position of the tag in the field-end coordinate system by a triangulation method according to the first distance, the second distance, and the third distance, and the positions of the first base station, the second base station, and the third base station.

[0075] In a possible implementation manner, the second determination module determines the vehicle position according to the first position and / or the second position, which specifically includes:

[0076] Judge whether the signal strength of the GPS signal on the vehicle meets the requirements;

[0077] When the flag bit of the GPS signal is a preset flag bit, the signal strength meets the requirements;

[0078] When the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirements;

[0079] When the GPS signal strength meets the requirements, determine the vehicle position according to the first position and the second position;

[0080] When the GPS signal strength does not meet the requirements, determine the vehicle position according to the first position.

[0081] In a possible implementation manner, the encapsulation module encapsulates the driving speed and driving direction of each waypoint to generate a control instruction, which specifically includes:

[0082] Encapsulate the driving speed and driving direction of each vehicle to obtain a control instruction;

[0083] Send the control instruction to the corresponding vehicle according to the vehicle ID.

[0084] In a possible implementation manner, before the second sending module sends a parking instruction to the vehicle to control the vehicle to stop when it detects that the vehicle is in the pile position, the device further includes: a dynamic obstacle planning module; the dynamic obstacle planning module is used for:

[0085] Obtain dynamic obstacle information; the dynamic obstacle information includes the shape, speed, and orientation of the dynamic obstacle;

[0086] Judge whether the dynamic obstacle will intersect with the driving path according to the speed and orientation of the dynamic obstacle, the vehicle guiding orientation, and the vehicle guiding speed;

[0087] When the dynamic obstacle intersects with the driving path, obtain the lane width;

[0088] Determine whether the vehicle has a waiting space according to the lane width, the rigid body model of the vehicle, and the shape of the dynamic obstacle;

[0089] When there is a waiting space, send a parking instruction to the vehicle to control the vehicle to park and wait within the waiting space.

[0090] In a possible implementation manner, the device further includes: a replanning module; the replanning module is configured to:

[0091] When there is no waiting space, re-perform path planning according to the environment perception information, the field-end map, and the vehicle position.

[0092] In a possible implementation manner, each of the waypoints further includes a timestamp, the dynamic obstacle information further includes the current position of the dynamic obstacle, and the dynamic obstacle planning module determines whether the dynamic obstacle will intersect with the driving path specifically by: determining whether the dynamic obstacle will intersect with the driving path according to the timestamp, the current position of the dynamic obstacle, the speed and the orientation of the dynamic obstacle.

[0093] A third aspect of the embodiments of the present invention provides a field-end high-precision positioning system, and the system includes the field-end high-precision positioning device of the first aspect.

[0094] A fourth aspect of the embodiments of the present invention provides a field-end high-precision positioning component, and the component includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the field-end high-precision positioning method as described in any one of the first aspects of the embodiments of the present invention.

[0095] By applying the field-end high-precision positioning method of the present application, after the vehicle enters the field-end, the field-end controller can obtain the controller of the vehicle, thereby obtaining sensor information according to various sensors arranged at the field-end, and obtaining the vehicle position. This vehicle position combines two positioning methods of GPS and tags. Thus, the field-end performs path planning according to high-precision positioning and controls the vehicle to park at the pile position, realizing the control of the vehicle through high-precision positioning and improving the control accuracy. Description of the Drawings

[0096] Figure 1 One of the schematic diagrams of a field-end high-precision positioning method provided in Embodiment 1 of the present invention;

[0097] Figure 2 Schematic diagram of the specific implementation of step 110 provided in the first embodiment of the present invention Figure 1

[0098] Figure 3 Schematic diagram of the specific implementation of step 120 provided in the first embodiment of the present invention Figure 1

[0099] Figure 4 Schematic diagram of the second implementation of step 120 provided in the first embodiment of the present invention

[0100] Figure 5 Schematic diagram of the third implementation of step 120 provided in the first embodiment of the present invention

[0101] Figure 6 Schematic diagram of the fourth implementation of step 120 provided in the first embodiment of the present invention

[0102] Figure 7 Schematic diagram of the fifth implementation of step 120 provided in the first embodiment of the present invention

[0103] Figure 8 Schematic diagram of the sixth implementation of step 120 provided in the first embodiment of the present invention

[0104] Figure 9 One of the schematic diagrams of the structure of a field-end high-precision positioning device provided in the second embodiment of the present invention

[0105] Figure 10 Two of the schematic diagrams of the structure of a field-end high-precision positioning device provided in the second embodiment of the present invention

[0106] Figure 11 Three of the schematic diagrams of the structure of a field-end high-precision positioning device provided in the second embodiment of the present invention

[0107] Figure 12 Four of the schematic diagrams of the structure of a field-end high-precision positioning device provided in the second embodiment of the present invention

[0108] Figure 13 Module structure diagram of a scheduling system provided in the third embodiment of the present invention

[0109] Figure 14 Module structure diagram of a field-end high-precision positioning component provided in the fourth embodiment of the present invention Specific implementation mode

[0110] ​​To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0111] Embodiment 1 of the present invention provides a method for high-precision positioning at the field end. The execution entity of this application is a field-end controller, which is a device with computing and processing capabilities. The field end is the end that provides energy replenishment services for the vehicle end. A refueling device or a charging device can be set at this field end. As Figure 1 As shown in the schematic diagram of the method for high-precision positioning at the field end provided in Embodiment 1 of the present invention, this method mainly includes the following steps:

[0112] Step 110: Receive the perception data sent by multiple sensors, and perform fusion processing on the perception data to obtain environmental perception information;

[0113] Among them, before performing Step 110, the cloud server schedules the vehicle to determine the field end for replenishing energy for the vehicle. Specifically, the vehicle end has a vehicle controller. The type of energy required can be refueling or charging. The vehicle controller can automatically monitor the remaining amount of fuel or electric energy. When the fuel level is lower than a certain threshold, the vehicle needs to be refueled, or when the battery level is lower than a certain threshold, the vehicle needs to be charged. At this time, the vehicle controller can send a replenishment request message to the cloud. This replenishment request message can be an identification code agreed upon by the cloud and the vehicle end. After receiving this identification code, the cloud allocates a field end to this vehicle end to determine the field end that can provide energy replenishment for this vehicle. At the same time, after determining the field end that can provide energy replenishment for the vehicle, the cloud can pre-lock the pile positions at this field end. For example, the cloud sends a request message to the field-end controller. This request message can include the vehicle-end ID to lock the idle pile positions at the field end, and the field-end controller can send the locked pile position to the cloud, so as to facilitate the vehicle to quickly drive to the locked pile position for energy replenishment after arriving at the field end. In this application, the focus will be on how the field-end controller controls the vehicle to avoid obstacles based on the perception data.

[0114] Specifically, when the vehicle travels to the terminal of the yard, the yard terminal controller can establish a wireless connection with the vehicle controller, such as establishing communications such as 4G and 5G, so as to control the vehicle in the yard terminal, and receive the arrival message and vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and the vehicle CAN signal; start the wireless communication with the vehicle, and determine whether the vehicle has arrived; after the wireless communication is successful, if the vehicle has arrived, send a vehicle arrival confirmation message to the cloud; send a vehicle control request message to the vehicle; receive the control response message returned by the vehicle.

[0115] Specifically, after the vehicle end arrives at the predetermined yard terminal, it searches for and connects to the yard terminal wifi. The vehicle end simultaneously sends an arrival message to the cloud and the yard terminal, and automatically sends vehicle status information to the yard terminal controller. The vehicle status information includes the vehicle IP, the vehicle CAN signal, etc.; the yard terminal controller starts the wifi communication with the vehicle end to determine whether the vehicle has arrived; the vehicle end replies to the communication request of the yard terminal; after the wifi communication is successful, the yard terminal sends a vehicle arrival confirmation message to the cloud; the yard terminal sends a vehicle control request to the vehicle end; the vehicle end replies to the control request of the yard terminal. Thus, the yard terminal has the control authority over the vehicle end to control the vehicle to enter the yard in real time and guide the vehicle to the predetermined pile position.

[0116] The pile position is obtained after the yard terminal controller and the cloud confirm before the vehicle arrives at the yard terminal. It can be understood that if an unexpected situation occurs to the pile when the vehicle arrives at the yard terminal, the yard terminal controller can also allocate a new pile position for the vehicle in real time. The acquisition of the vehicle position will be specifically described in this application later.

[0117] As Figure 2 shown, step 110 specifically includes:

[0118] Step 1101, receive the first perception data sent by the lidar;

[0119] Step 1102, receive the second perception data sent by the image sensor;

[0120] Step 1103, receive the third perception data sent by the millimeter wave radar;

[0121] Step 1104, perform fusion processing on the first perception data, the second perception data and the third perception data to obtain environmental perception information.

[0122] Specifically, various types of sensors are set at the field end, such as image sensors, lidars, millimeter-wave radars, etc. These sensors communicate with the field-end server in real time to obtain environmental perception information in real time. For example, the image sensor collects image information, the lidar collects lidar point cloud information, and the millimeter-wave radar collects millimeter-wave data. The image information, lidar point cloud information, and millimeter-wave data can be fused to obtain environmental perception information.

[0123] Step 120: When the vehicle end enters the field end, obtain the first signal, second signal, and third signal when the tag on the vehicle end communicates with at least three base stations at the field end; determine the first position of the vehicle in the field-end coordinate system according to the first signal, second signal, third signal, and the positions of the base stations in the field-end coordinate system.

[0124] Specifically, multiple base stations are set at the field end. The base station can be understood as a device that can communicate with the tag on the vehicle end. After the vehicle end enters the field end, the base stations at the field end establish wireless communication with the tag on the vehicle end. This communication method can be through Ultra Wide Band (UWB). UWB technology has the advantages of low system complexity, low transmit signal power spectral density, insensitivity to channel fading, low interceptability, and high high-precision positioning accuracy at the field end, and is especially suitable for high-speed wireless access in indoor and other dense multipath places.

[0125] The tag in this application can communicate with multiple base stations at the field end. To facilitate high-precision positioning at the field end through the principle of triangular high-precision positioning at the field end, this application can select the signals of three base stations to obtain the vehicle position through the positions of the three base stations.

[0126] Specifically, assume that the three base stations selected to communicate with the tag are the first base station, the second base station, and the third base station respectively. How to perform high-precision positioning of the vehicle end at the field end through the base stations will be described. As Figure 3 shown, step 120 includes the following steps 1201 - step 1204:

[0127] Step 1201: Determine the first distance between the first base station in the base station and the tag according to the first signal.

[0128] Specifically, each base station has a UWB chip. The UWB chip records the timestamp when receiving and transmitting data frames, which is the basic condition for measuring the distance between two points, that is, by calculating the time the data flies in the air * the speed of light = the distance the data flies, so as to measure the distance between two nodes.

[0129] With the data frame transceiver timestamps, it is necessary to provide a clock accuracy high enough. The UWB chip has microcode for LDE, and through the PLL, the clock reaches a frequency of 64G. Of course, this clock is only provided for LDE use, enabling the UWB chip to have ultra-high-precision timestamps. The 64G clock can make the UWB clock resolution 15.65ps.

[0130] The process of ranging through the interaction between the base station and the tag is as follows:

[0131] First, at time T1, the tag initiates a ranging request data packet;

[0132] Second, at time T2, the UWB base station receives the ranging request data packet;

[0133] Third, at time T3, the UWB base station sends a reply data packet to the tag;

[0134] Then, at time T4, the tag receives the reply data packet from the UWB base station;

[0135] Then, at time T5, the tag sends a final data packet to the UWB base station;

[0136] Finally, at time T6, the UWB base station receives the final reply data packet to complete the ranging process.

[0137] Thus, the distance between the first base station and the tag can be obtained through this ranging process.

[0138] Step 1202: Determine the second distance between the second base station in the base station and the tag according to the second signal;

[0139] Correspondingly, the second distance between the second base station and the tag can also be obtained through the above method, which will not be elaborated here.

[0140] Step 1203: Determine the third distance between the third base station in the base station and the tag according to the third signal;

[0141] Correspondingly, the second distance between the second base station and the tag can also be obtained through the above method, which will not be elaborated here.

[0142] Step 1204: Determine the first position of the tag in the field-end coordinate system through the high-precision positioning method of the triangular field end according to the first distance, the second distance, and the third distance, as well as the positions of the first base station, the second base station, and the third base station.

[0143] Specifically, on the above basis, the function of ranging between two points of the base station and the tag can be realized. Then, if high-precision positioning of the tag field end is required, a tag needs to communicate with multiple base stations respectively to obtain the distances between the tag and each base station, and the positions and distances between the base stations can be obtained through surveying means in the early stage of field deployment. Thus, the position of the tag in the high-precision positioning system of this field end is obtained. At this time, the spherical intersection method can be used to calculate the accurate position information by inputting the distance from the terminal to the base station, or the triangular field end high-precision positioning method can also be applied. Knowing the coordinates of the three points of the triangle and the distances from the three points to the tag, the accurate position of the tag can be calculated. Subsequently, the position of the tag can be directly used as the position of the vehicle, or the position of the tag can be processed to obtain the vehicle position. For example, the coordinates of the center point between the tag and the vehicle end are converted, so that according to the position of the tag, the position of the center point of the vehicle end can be obtained, and then the position of this center point is used as the vehicle position. Among them, the center point of the vehicle end can be the midpoint of the rear axle of the vehicle end, or the center of gravity of the vehicle, etc. The present application does not limit the specific position of this center point.

[0144] Step 130, when the signal strength of the GPS signal on the vehicle meets the requirements, obtain the GPS signal in the earth coordinate system; convert the GPS signal into the second position in the field coordinate system;

[0145] Among them, the precondition for executing step 130 is whether the signal strength of the GPS signal on the vehicle meets the requirements. To determine whether the signal strength of the GPS signal meets the requirements, it can be achieved through the following steps. As Figure 4 shown, before the signal strength of the GPS signal on the vehicle meets the requirements, the method further includes:

[0146] Step 410, determine whether the signal strength of the GPS signal on the vehicle meets the requirements;

[0147] Among them, when it is step 420, it means that the signal strength meets the requirements, and when it is step 430, it means that the signal strength does not meet the requirements. When the signal strength does not meet the requirements, execute the subsequent Figure 5 step 510.

[0148] Step 420, when the flag bit of the GPS signal is the preset flag bit, the signal strength meets the requirements;

[0149] Among them, in the GPS signal, there is a flag bit indicating the signal strength, such as digital identifiers 3, 4, 5, etc. When the flag bit of the currently received GPS signal is the preset flag bit, it means that the GPS signal strength meets the requirements.

[0150] Step 430, when the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirements.

[0151] Among them, when the current GPS signal strength does not meet the preset flag bit, it means that the GPS signal strength does not meet the requirements. When the GPS signal strength does not meet the requirements, the following Step 510 is executed. When the GPS signal strength meets the requirements, Step 140 is executed.

[0152] Step 510, when the GPS signal strength does not meet the requirements, determine the vehicle position according to the first position.

[0153] Specifically, when the strength of the GPS signal does not meet the requirements, directly use the position after high-precision positioning of the base station at the field end and the tag at the vehicle end, that is, the first position, as the vehicle position of the present application.

[0154] Step 140, determine the vehicle position according to the first position and / or the second position;

[0155] Specifically, fuse the first position and the second position to determine the vehicle position. The fusion here can be weighted averaging or directly averaging the two positions. The present application does not limit this.

[0156] Thus, when the GPS signal meets the requirements, the high-precision positioning at the field end by the GPS signal is combined with the high-precision positioning of the base station and the tag at the field end, thereby improving the high-precision positioning accuracy at the field end and ensuring the reliability of the high-precision positioning accuracy at the field end.

[0157] Step 150, determine the driving path according to the environmental perception information, vehicle position, preset field end map, and pile position; the driving path includes multiple waypoints, and each waypoint has a driving speed and a driving direction;

[0158] Among them, the map at the field end can also be pre-collected, including the positions of each sensor at the field end, the positions of the piles, etc. After the field end controller obtains the vehicle end position, pile position, environmental perception information, and the map at the field end, it can perform path planning, thereby planning the driving path.

[0159] The driving path includes multiple waypoints, and each waypoint has a planned driving speed, driving direction, and timestamp. This driving speed can be the speed for guiding the vehicle to drive. To distinguish it from the speed of subsequent obstacles, it can be called the vehicle guiding speed. This driving direction is the orientation for guiding the vehicle to drive and can be called the vehicle guiding direction. The vehicle controller can drive according to the driving speed, driving direction, and timestamp of each waypoint on the planned driving path to drive to the pile position.

[0160] The vehicle in this application can be an autonomous vehicle. After the field controller calculates the driving path, it can send the driving path to the vehicle controller, so that the vehicle controller drives according to the vehicle guidance orientation and vehicle guidance speed on the driving path. This avoids the real-time calculation of autonomous vehicles and saves the computing resources of autonomous vehicles, thus promoting more autonomous vehicles to enter the field. The vehicle can also be a manned vehicle. The field controller can send the driving path to the vehicle controller, and the vehicle controller can display the driving path on the in-vehicle display, so that the vehicle can drive intuitively according to the driving path. Or, the vehicle controller can convert the driving path into voice information for real-time voice playback to guide the vehicle to drive.

[0161] Step 160: Package the driving speed and driving direction of each waypoint to generate a control command;

[0162] Specifically, this application packages the driving speed, driving direction, and vehicle ID of each waypoint to generate a control command.

[0163] Step 170: Send the control command to the vehicle so that the vehicle drives according to the control command;

[0164] Specifically, send the control command to the vehicle, and the vehicle drives according to the control command.

[0165] Step 180: When it is detected that the vehicle is in the pile position, send a parking command to the vehicle to control the vehicle to stop.

[0166] Specifically, a lidar can be set on each pile, so that the field can obtain the lidar point cloud information of the lidar, so as to judge whether the vehicle is in the pile position through the lidar point cloud information.

[0167] Thus, by applying the field high-precision positioning method of this application, environmental perception information, vehicle position information in the field, field map, and pile position can be obtained. After path planning, a driving path is obtained, and the driving direction and driving speed of the waypoints on the driving path are packaged into control commands and sent to the vehicle, so that the vehicle can drive according to the control commands, thus greatly improving the driving accuracy of the vehicle in the field.

[0168] Furthermore, before sending a parking command to the vehicle to control the vehicle to stop when it is detected that the vehicle is in the pile position, the method further includes:

[0169] Obtain dynamic obstacle information; the dynamic obstacle information includes the shape, speed, and orientation of the dynamic obstacle; based on the speed and orientation of the dynamic obstacle, the vehicle's guiding orientation, and the vehicle's guiding speed, determine whether the dynamic obstacle will intersect with the driving path; when the dynamic obstacle intersects with the driving path, obtain the lane width; based on the lane width, the vehicle's rigid body model, and the shape of the dynamic obstacle, determine whether the vehicle has a waiting space; when there is a waiting space, send a parking instruction to the vehicle to control the vehicle to stop and wait within the waiting space.

[0170] Specifically, the field end can obtain various obstacle information, such as dynamic obstacles and static obstacles. For static obstacles, when performing path planning, the planned driving path has already considered the obstacle avoidance problem. For dynamic obstacles, real-time processing is required.

[0171] The field end controller in this application can analyze and process the received environmental perception information to obtain dynamic obstacle information, including the shape, speed, and orientation of the dynamic obstacle. It can judge whether the dynamic obstacle will intersect with the driving path based on the time stamp, the current position of the dynamic obstacle, the speed, and the orientation of the dynamic obstacle.

[0172] In an optional implementation, after the field end in this application plans the driving path, in order to more quickly judge whether the dynamic obstacle intersects with the driving path, the field end controller divides the driving path to obtain multiple sub-paths; respectively judge whether the dynamic obstacle will intersect with the driving path on each sub-path.

[0173] Specifically, since the planned driving path is relatively long, in order to improve the processing speed, the field end controller can divide the driving path to obtain multiple sub-paths. Here, the division can be an average division according to the length of the driving path, or a division according to the number of waypoints. This application does not limit this.

[0174] It can be understood that, in order to improve the calculation speed, at this time, the field end controller can adopt a distributed controller cluster, and each controller is responsible for the calculation of a certain field end area, thereby greatly improving the calculation speed.

[0175] The field end area here can be to divide the field end into multiple areas, each area has an area ID, and every 5 controllers in the distributed cluster correspond to one or several area IDs, which further improves the processing speed.

[0176] The field end controller can extract lane information from the environmental perception information; the lane information includes the number of lanes and the lane width of each lane. The extracted lane width is convenient for subsequent calculation of whether the vehicle has a waiting space.

[0177] 0 Among them, when the vehicle-side controller and the field-side controller communicate, the field-side controller can obtain information such as the vehicle model, and then obtain the rigid body model of the vehicle according to the model query. Or the field-side controller directly extracts the rigid body model of the vehicle and the shape of the obstacle according to the environmental perception information. The waiting space is the waiting space when the vehicle stops and waits for the dynamic obstacle to pass. When the lane width allows the vehicle to stop and wait, it can be determined that there is a waiting space at this time.

[0178] It is understood that when the vehicle leaves the pile position and then leaves the terminal, the terminal in this application

[0179] The high-precision positioning method is also applicable, only the positions of the starting point and the end point are different. The specific method of driving away in sequence is consistent with the method of driving from the vehicle position into the pile position in this application, and will not be repeated here.

[0180] Furthermore, based on the GPS field-side high-precision positioning and UWB base station field-side high-precision positioning of the present application, the present application can also use field-side sensors to perform further field-side high-precision positioning. In the field-side 0, a variety of sensors are provided, such as image sensors, lidar sensors, millimeter wave sensors, etc. The function of these sensors can be to control the driving service of the vehicle-side for the field-side, that is, the field-side controller can control the vehicle-side in the field-side according to the sensor information obtained by these sensors, so as to achieve the purpose of dispatching the vehicle-side to the target pile position, thereby controlling the vehicle-side in the form of the field-side.

[0181] The system realizes the unified control of the vehicle end. These sensors can also be used to perform high-precision positioning of the vehicle end. The high-precision positioning of the field end here can be a single sensor to assist the field end.

[0182] High-precision positioning can also be achieved by integrating multiple sensors for high-precision positioning on the field side. The following is a detailed description of how to use these sensors to perform high-precision positioning on the field side.

[0183] It is understandable that there is a connection relationship between the field controller and various sensors deployed at the field, so that the field controller can obtain data from various sensors in real time. The field controller can use these sensors to plan the path of the vehicle, and plan the driving path of the vehicle, so that the vehicle's driving speed and direction, such as forward, backward, left turn, right turn, are all controlled by the field, so that the vehicle can drive to the parking space that has been reserved or locked at the field in order. The reservation or locking means that the field has allocated a parking space for the vehicle.

[0184] In one example, combining Figures 2-5 , when the sensor is an image sensor, such as Figure 6As shown, it includes steps 610 - 630:

[0185] Step 610, receiving the image information of the vehicle end sent by the image sensor;

[0186] Specifically, the image sensor can be a binocular camera, a depth camera, or an ordinary monocular camera, which can collect multiple video frames or images, and the image information can be extracted from these video frames.

[0187] Step 620, determining the third position of the vehicle end according to the image information, the mapping relationship between the preset image coordinate system and the field end coordinate system;

[0188] Specifically, the conversion relationship between the image coordinate system and the field end coordinate system has been preset and stored in the memory at the field end. The controller can directly call this mapping relationship. When it is an ordinary monocular camera, the time stamps when obtaining two frames of images of the vehicle and the mapping relationship between the image coordinate system and the field end coordinate system can be obtained according to the positions of the vehicle in any two frames of image information among multiple frames of image information, so as to determine the third position of the vehicle end.

[0189] When it is a binocular camera, the position of the vehicle end in the image coordinate system can be determined according to the principle of binocular ranging, and then the vehicle position in the vehicle end coordinate system can be obtained by converting the vehicle end position in the image coordinate system. In order to distinguish it from the previous first position and second position, the vehicle end position at this time can be called the third position.

[0190] When it is a depth camera, the vehicle end position in the image coordinate system can be determined according to the depth information of the depth camera, and then the third position of the vehicle end can be determined after coordinate conversion.

[0191] Step 630, determining the vehicle position according to the first position, and / or, the second position, and / or, the third position.

[0192] Specifically, any two of the first position, the second position, the third position, and the third position can be fused, for example, by weighted average. Preset weight coefficients for the positions obtained by different methods, then multiply the positions by the weight coefficients and perform weighted average to obtain the vehicle end position, or directly take the average value to obtain the vehicle end position. Further, when any one or two positions are limited, the remaining one position can also be used as the vehicle position, so as to realize the diversified high-precision positioning of the vehicle end at the field end, enabling high-precision positioning of the vehicle end at the field end in various situations, expanding the way of high-precision positioning of the vehicle end at the field end, and providing a basis for the subsequent field end to control the vehicle to drive to the charging or refueling position.

[0193] In another example, combined with Figures 2-6 , when the sensor is a lidar, such asFigure 7 As shown, the present application may further include steps 710 - 730:

[0194] Step 710, receiving the laser point cloud information sent by the lidar;

[0195] Specifically, the lidar can sense the surrounding environment to obtain multiple frames of laser point cloud information. The laser point cloud information includes multiple laser point clouds, and a laser point cloud is a set of scanned points. The lidar installed at the field end scans the ground to obtain the three-dimensional coordinates of the ground reflection points. Each ground reflection point is distributed in three-dimensional space in the form of a point according to the three-dimensional coordinates, which is called a scanned point.

[0196] Step 720, determining the position of the vehicle end in the laser point cloud coordinate system according to the laser point cloud information;

[0197] Specifically, the vehicle position can be obtained from the scanned points, and this position is the vehicle position in the laser point cloud coordinate system.

[0198] Step 730, determining the fourth position of the vehicle end according to the position of the vehicle end in the laser point cloud coordinate system and the preset mapping relationship between the laser point cloud coordinate system and the field end coordinate system;

[0199] Specifically, the field end controller may preset the mapping relationship between several point cloud coordinate systems and the field end coordinate system. The conversion relationship between this coordinate system and the field end coordinate system has been preset and stored in the memory of the field end, and the position of the lidar at the field end is known. Therefore, after obtaining the vehicle position in the laser point cloud coordinate system, this position can be converted into the vehicle position in the field end coordinate system, that is, the fourth position.

[0200] Step 740, determining the vehicle position according to the first position, and / or, the second position, and / or, the third position, and / or, the fourth position.

[0201] Specifically, at least two of the first position, the second position, the third position, and the fourth position can be fused. It is also possible to directly use one of the field end high-precision positioning methods to perform field end high-precision positioning on the vehicle end when some field end high-precision positioning methods fail, thereby further improving the field end high-precision positioning accuracy through lidar field end high-precision positioning.

[0202] In yet another example, in combination with Figures 2-7 , when the sensor is a millimeter-wave radar, as Figure 8 shown, the present application may further include steps 810 - 840.

[0203] Step 810, receiving the ranging information sent by the millimeter-wave radar;

[0204] Specifically, the millimeter-wave radar in this application can perform ranging, which can measure the positions of multiple points from the vehicle end, and then calculate the distance from the vehicle end to the center point based on the positions of these multiple points from the vehicle end.

[0205] Step 820: Determine the position of the vehicle end in the millimeter-wave radar coordinate system according to the ranging information;

[0206] Specifically, in this application, the position of the millimeter-wave radar at the field end is known, and the millimeter-wave radar coordinate system is a three-dimensional coordinate system. In applications, when the distance and the position of the millimeter-wave radar are known, the position of the vehicle end in the millimeter-wave radar coordinate system can be determined.

[0207] Step 830: Determine the fifth position of the vehicle end according to the position of the vehicle end in the millimeter-wave radar coordinate system and the preset mapping relationship between the millimeter-wave radar coordinate system and the field end coordinate system;

[0208] Specifically, the conversion relationship between the millimeter-wave radar coordinate system and the field end coordinate system has been preset and stored in the memory at the field end. By directly invoking this mapping relationship, the position of the vehicle end in the millimeter-wave radar coordinate system can be converted into the position of the vehicle end in the field end coordinate system, that is, the fifth position.

[0209] Step 840: Determine the vehicle position according to the first position, and / or the second position, and / or the third position, and / or the fourth position, and / or the fifth position.

[0210] Specifically, at least two of the first position, the second position, the third position, the fourth position, and the fifth position can be fused. Also, when some field end high-precision positioning methods fail, one of the field end high-precision positioning methods can be directly used to perform field end high-precision positioning on the vehicle end. Thus, through millimeter-wave radar field end high-precision positioning, the field end high-precision positioning accuracy is further improved.

[0211] Therefore, through the above method of positioning the vehicle within the field end, the field end can determine the vehicle position after communicating with the vehicle end base station based on the vehicle end tag. And when the vehicle end GPS signal strength meets the requirements, the vehicle end GPS signal can be obtained, and then the vehicle end positions obtained by the two methods are fused to obtain the vehicle position, improving the vehicle end field end high-precision positioning accuracy. Further, this application can also use existing sensors at the field end for field end high-precision positioning, such as using an image sensor for field end high-precision positioning, further improving the vehicle end field end high-precision positioning accuracy. Even further, this application can also combine lidar for field end high-precision positioning, which further improves the vehicle end field end high-precision positioning accuracy. Even further, this application can also perform field end high-precision positioning of the vehicle end according to the millimeter-wave radar, which further improves the field end high-precision positioning accuracy.

[0212] Further, this application also includes: when there is no waiting space, re - perform path planning according to the environmental perception information, the field - end map, and the vehicle position.

[0213] Specifically, if the vehicle does not have a waiting space, the vehicle - end controller re - performs path planning to obtain a new driving path.

[0214] By applying the field - end high - precision positioning method of this application, after the vehicle enters the field - end, the field - end controller can obtain the vehicle's controller, thereby obtaining sensor information based on various sensors arranged at the field - end, and acquiring the vehicle position. This vehicle position combines two positioning methods, GPS and tags. Thus, the field - end performs path planning based on high - precision positioning and controls the vehicle to stop at the pile position, realizing the control of the vehicle through high - precision positioning and improving the control accuracy.

[0215] Embodiment 2

[0216] Figure 9 This is the module structure diagram of a field - end high - precision positioning device provided in Embodiment 2 of the present invention. This device is a field - end high - precision positioning device capable of implementing the field - end high - precision positioning method provided in Embodiment 1 of the present invention. As Figure 9 shown, this device includes: a receiving module 910, a first acquisition module 920, a first determination module 930, a second acquisition module 940, a second determination module 950, a third determination module 960, a packaging module 970, a first sending module 980, and a second sending module 990.

[0217] The receiving module 910 is used to receive the perception data sent by multiple sensors, and perform fusion processing on the perception data to obtain environmental perception information;

[0218] The first acquisition module 920 is used to, when the vehicle - end enters the field - end, acquire the first signal, the second signal, and the third signal when the tag on the vehicle - end communicates with at least three base stations at the field - end;

[0219] The first determination module 930 is used to determine the first position of the vehicle in the field - end coordinate system according to the first signal, the second signal, the third signal, and the positions of the base stations in the field - end coordinate system; and / or,

[0220] The second acquisition module 940 is used to, when the signal strength of the GPS signal on the vehicle meets the requirements, acquire the GPS signal of the earth coordinate system; convert the GPS signal into the second position in the field - end coordinate system;

[0221] The second determination module 950 is used to determine the vehicle position according to the first position and / or the second position;

[0222] The third determination module 960 is configured to determine a driving path according to the environmental perception information, the vehicle position, the preset yard map, and the pile position; the driving path includes multiple waypoints, and each waypoint has a driving speed and a driving direction;

[0223] The encapsulation module 970 is configured to encapsulate the driving speed and the driving direction of each waypoint to generate a control instruction;

[0224] The first sending module 980 is configured to send the control instruction to the vehicle so that the vehicle drives according to the control instruction;

[0225] The second sending module 990 is configured to send a parking instruction to the vehicle when it is detected that the vehicle is at the pile position to control the vehicle to stop.

[0226] Further, the receiving module 910 receives the perception data sent by multiple sensors and performs fusion processing on the perception data to obtain the environmental perception information, specifically including: receiving the first perception data sent by the lidar; receiving the second perception data sent by the image sensor; receiving the third perception data sent by the millimeter-wave radar; performing fusion processing on the first perception data, the second perception data, and the third perception data to obtain the environmental perception information.

[0227] Further, as Figure 10 shown, the device further includes a vehicle authority takeover module 1010, and the vehicle authority takeover module 1010 is configured to:

[0228] Receive the arrival message and the vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and the vehicle CAN signal;

[0229] Start wireless communication with the vehicle and determine whether the vehicle has arrived;

[0230] When the wireless communication is successful, if the vehicle has arrived, send a vehicle arrival confirmation message to the cloud;

[0231] Send a vehicle control request message to the vehicle;

[0232] Receive the control response message returned by the vehicle.

[0233] Further, the first determination module 930 determines the first position of the vehicle in the yard coordinate system according to the first signal, the second signal, the third signal, and the position of the base station in the yard coordinate system, specifically including:

[0234] Determine the first distance between the first base station in the base station and the tag according to the first signal;

[0235] Determine the second distance between the second base station in the base station and the tag according to the second signal;

[0236] Determine the third distance between the third base station in the base station and the tag according to the third signal;

[0237] According to the first distance, the second distance and the third distance, as well as the positions of the first base station, the second base station and the third base station, determine the first position of the tag in the field-end coordinate system by means of triangulation.

[0238] Further, the second determination module 950 determines the vehicle position according to the first position and / or the second position, which specifically includes:

[0239] Judge whether the signal strength of the GPS signal on the vehicle meets the requirements;

[0240] When the flag bit of the GPS signal is the preset flag bit, the signal strength meets the requirements;

[0241] When the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirements;

[0242] When the GPS signal strength meets the requirements, determine the vehicle position according to the first position and the second position;

[0243] When the GPS signal strength does not meet the requirements, determine the vehicle position according to the first position.

[0244] Further, the encapsulation module 970 encapsulates the driving speed and driving direction of each waypoint to generate a control instruction, which specifically includes:

[0245] Encapsulate the driving speed and driving direction of each vehicle to obtain a control instruction;

[0246] Send the control instruction to the corresponding vehicle according to the vehicle ID.

[0247] Further, before the second sending module 990 sends a parking instruction to the vehicle to control the vehicle to stop when it detects that the vehicle is in the pile position, as Figure 11 shown, the device further includes: a dynamic obstacle planning module 1110; the dynamic obstacle planning module 1110 is used for:

[0248] Obtain dynamic obstacle information; the dynamic obstacle information includes the shape, speed and orientation of the dynamic obstacle;

[0249] According to the speed and orientation of the dynamic obstacle, the vehicle guiding orientation and the vehicle guiding speed, judge whether the dynamic obstacle will intersect with the driving path;

[0250] When the dynamic obstacle intersects with the driving path, obtain the lane width;

[0251] According to the lane width, the rigid body model of the vehicle and the shape of the dynamic obstacle, determine whether the vehicle has a waiting space;

[0252] When there is a waiting space, send a parking instruction to the vehicle to control the vehicle to park and wait within the waiting space.

[0253] Furthermore, as Figure 12 shown, the device further includes: a replanning module 1210; the replanning module 1210 is used for:

[0254] When there is no waiting space, re-perform path planning according to the environmental perception information, the field terminal map, and the vehicle position.

[0255] Furthermore, each waypoint further includes a timestamp, and the dynamic obstacle information further includes the current position of the dynamic obstacle. The dynamic obstacle planning module 1310 determines whether the dynamic obstacle will intersect the driving path specifically including:

[0256] According to the timestamp, the current position of the dynamic obstacle, the speed and the orientation of the dynamic obstacle, determine whether the dynamic obstacle will intersect the driving path.

[0257] A field terminal high-precision positioning device provided in Embodiment 2 of the present invention is used to execute the steps of the method provided in Embodiment 2 of the present invention. The implementation principle and technical effects are similar and will not be described in detail here.

[0258] It should be noted that it should be understood that the division of each module of the above device is only a logical function division. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the acquisition module can be a separately established processing element, or can be integrated in a certain chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device to perform the functions of the above acquisition module. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together or independently implemented. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the method provided in the embodiment of the present invention or each module of the device provided in the embodiment of the present invention can be completed by the integrated logic circuit in the hardware of the processor element or the instructions in the form of software.

[0259] For example, the modules of the device provided in the embodiments of the present invention may be one or more integrated circuits configured to implement the methods provided in the embodiments of the present invention. For example: one or more Application Specific Integrated Circuits (ASICs), or, one or more Digital Signal Processors (DSPs), or, one or more Field Programmable Gate Arrays (FPGAs), etc. Again, when a certain module of the device provided in the embodiments of the present invention is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processors that can call program code. Again, these modules of the device provided in the embodiments of the present invention may be integrated together and implemented in the form of a System-on-a-chip (SOC).

[0260] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with the methods provided in the embodiments of the present invention are generated in whole or in part. The above computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.). The above computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The above available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a 5 tape), an optical medium (for example, a High-Definition Digital Video Disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0261] Center, etc. The above available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a 5 tape), an optical medium (for example, a High-Definition Digital Video Disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0262] Embodiment Three

[0263] Figure 13 This is the module structure diagram of a field-end high-precision positioning system provided in Embodiment 3 of the present invention. As shown in 0 Figure 13 shown, the system of Embodiment 3 of the present invention may specifically include: as Figure 9 or Figure 10 or Figure 11

[0264] or Figure 12 shown field-end high-precision positioning device.

[0265] Embodiment 4

[0266] Figure 14 This is the module structure diagram of a scheduling component provided in Embodiment 4 of the present invention. This component is an electronic component, electronic device or server for implementing the method provided in Embodiment 1 of the present invention. As Figure 14 shown,

[0267] This component 1400 may include: a processor 1410 (such as a CPU) and a memory 1420; the memory 1420 stores instructions executable by at least one processor 1410, and the instructions are executed by at least one processor 1410 so that at least one processor 1410 can execute the method provided in Embodiment 1 of the present invention. Preferably, the component involved in Embodiment 4 of the present invention may further include: a transceiver 1430, a power supply 1440, a system bus 1450, and a communication port 1460. The transceiver 1430 is coupled to the processor 1410, the system bus 1450 is used to implement communication connections between components, and the above communication port 1460 is used for the component to connect and communicate with other peripherals.

[0268] The system bus mentioned in

[0269] In Figure 14 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This system bus can be divided into an address

[0270] bus, a data bus, a control bus, etc. For the convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to implement communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include a Random Access Memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0271] The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0272] The field-end high-precision positioning method, device, system and component provided by the embodiments of the present invention enable the field-end controller to obtain the vehicle controller, thereby obtaining sensor information based on various sensors arranged at the field end, and acquiring the vehicle position. This vehicle position combines two positioning methods, GPS and tags. Thus, the field end performs path planning based on high-precision positioning and controls the vehicle to stop at the pile position, realizing the control of the vehicle through high-precision positioning and improving the control accuracy.

[0273] Those skilled in the art should further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0274] The steps of the method or algorithm described in combination with the embodiments disclosed herein can be implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field.

[0275] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for high-precision positioning at the field end, characterized in that, The method includes: The field controller receives the perception data sent by multiple sensors, and performs fusion processing on the perception data to obtain environmental perception information; wherein, the field controller schedules the vehicle on the cloud server, and after determining the field end for vehicle charging, if the vehicle enters the field end, the field controller and the vehicle controller establish a wireless connection; When the vehicle end enters the field end, obtain the first signal, the second signal, and the third signal when the tag on the vehicle end communicates with at least three base stations of the field end; according to the first signal, the second signal, and the third signal, and the positions of the base stations in the field end coordinate system, determine the first position of the vehicle in the field end coordinate system; and / or, When the signal strength of the GPS signal on the vehicle meets the requirements, obtain the GPS signal in the earth coordinate system; convert the GPS signal into the second position in the field end coordinate system; Determine the vehicle position according to the first position and / or the second position; Determine the driving path according to the environmental perception information, the vehicle position, the preset field end map, and the pile position; the driving path includes multiple waypoints, and each waypoint has a driving speed and a driving direction; Package the driving speed and driving direction of each waypoint to generate a control instruction; Send the control instruction to the vehicle so that the vehicle drives according to the control instruction; When it is detected that the vehicle is at the pile position, send a parking instruction to the vehicle to control the vehicle to stop; Before the step of when it is detected that the vehicle is at the pile position and sending a parking instruction to the vehicle to control the vehicle to stop, the method further includes: Obtain dynamic obstacle information; the dynamic obstacle information includes the shape, speed, and orientation of the dynamic obstacle; Judge whether the dynamic obstacle will intersect with the driving path according to the speed and orientation of the dynamic obstacle, the vehicle guiding orientation, and the vehicle guiding speed; When the dynamic obstacle intersects with the driving path, obtain the lane width; Determine whether the vehicle has a waiting space according to the lane width, the rigid body model of the vehicle, and the shape of the dynamic obstacle; When there is a waiting space, send a parking instruction to the vehicle to control the vehicle to stop and wait in the waiting space; When there is no waiting space, re-plan the path according to the environmental perception information, the field end map, and the vehicle position.

2. The method according to claim 1, characterized in that, The step of receiving the perception data sent by multiple sensors and performing fusion processing on the perception data to obtain environmental perception information specifically includes: Receive the first perception data sent by the lidar; Receive the second perception data sent by the image sensor; Receive the third perception data sent by the millimeter wave radar; Perform fusion processing on the first perception data, the second perception data, and the third perception data to obtain environmental perception information.

3. The method according to claim 1, wherein Before the method, it further includes: Receive the arrival message and vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and the vehicle CAN signal; Start wireless communication with the vehicle and judge whether the vehicle has arrived; After successful wireless communication, if the vehicle has arrived, send a vehicle arrival confirmation message to the cloud; Send a vehicle control request message to the vehicle; Receive the control response message returned by the vehicle.

4. The method according to claim 1, wherein The determining the first position of the vehicle in the field-end coordinate system according to the first signal, the second signal, the third signal, and the position of the base station in the field-end coordinate system specifically includes: Determine the first distance between the first base station in the base station and the tag according to the first signal; Determine the second distance between the second base station in the base station and the tag according to the second signal; Determine the third distance between the third base station in the base station and the tag according to the third signal; Determine the first position of the tag in the field-end coordinate system by a triangulation method according to the first distance, the second distance, the third distance, and the positions of the first base station, the second base station, and the third base station.

5. The method according to claim 1, characterized in that The determining the vehicle position according to the first position and / or the second position specifically includes: Judge whether the signal strength of the GPS signal on the vehicle meets the requirements; When the flag bit of the GPS signal is a preset flag bit, the signal strength meets the requirements; When the flag bit of the GPS signal is not a preset flag bit, the signal strength does not meet the requirements; When the GPS signal strength meets the requirements, determine the vehicle position according to the first position and the second position; When the GPS signal strength does not meet the requirements, determine the vehicle position according to the first position.

6. The method according to claim 1, wherein The encapsulating the driving speed and driving direction of each waypoint to generate a control instruction specifically includes: Encapsulate the driving speed and driving direction of each vehicle to obtain a control instruction; Send the control instruction to the corresponding vehicle according to the vehicle ID.

7. The method according to claim 1, characterized in that, Each of the waypoints further includes a timestamp, and the dynamic obstacle information further includes the current position of the dynamic obstacle. The judging whether the dynamic obstacle will intersect with the driving path specifically includes: Judge whether the dynamic obstacle will intersect with the driving path according to the timestamp, the current position of the dynamic obstacle, the speed and the orientation of the dynamic obstacle.

8. A field-end high-precision positioning device, characterized in that, The device includes: A receiving module, which is used to receive the perception data sent by multiple sensors and perform fusion processing on the perception data to obtain environmental perception information; wherein, after the field-end high-precision positioning device schedules the vehicle in the cloud server and determines the field-end for vehicle charging, if the vehicle enters the field-end, the field-end high-precision positioning device and the vehicle controller establish a wireless connection; A first obtaining module, which is used to obtain the first signal, the second signal, and the third signal when the tag on the vehicle end communicates with at least three base stations at the field end when the vehicle end enters the field end; A first determining module, which is used to determine the first position of the vehicle in the field-end coordinate system according to the first signal, the second signal, the third signal, and the position of the base station in the field-end coordinate system; and / or, A second acquisition module, which is used to acquire the GPS signal in the earth coordinate system when the signal strength of the GPS signal on the vehicle meets the requirements; and convert the GPS signal into a second position in the field terminal coordinate system. A second determination module, which is used to determine the vehicle position according to the first position and / or the second position. A third determination module, which is used to determine a driving path according to the environmental perception information, the vehicle position, a preset field terminal map, and the pile position; the driving path includes a plurality of waypoints, and each waypoint has a driving speed and a driving direction. An encapsulation module, which is used to encapsulate the driving speed and driving direction of each waypoint to generate a control instruction. A first sending module, which is used to send the control instruction to the vehicle so that the vehicle drives according to the control instruction. A second sending module, which is used to send a parking instruction to the vehicle to control the vehicle to stop when it is detected that the vehicle is at the pile position. Wherein, before the second sending module sends a parking instruction to the vehicle to control the vehicle to stop when it is detected that the vehicle is at the pile position, the device further includes: a dynamic obstacle planning module; the dynamic obstacle planning module is used for: Acquiring dynamic obstacle information; the dynamic obstacle information includes the shape, speed, and orientation of the dynamic obstacle. Judging whether the dynamic obstacle will intersect with the driving path according to the speed and orientation of the dynamic obstacle, the vehicle guiding orientation, and the vehicle guiding speed. When the dynamic obstacle intersects with the driving path, acquiring the lane width. Determining whether the vehicle has a waiting space according to the lane width, the rigid body model of the vehicle, and the shape of the dynamic obstacle. When there is a waiting space, sending a parking instruction to the vehicle to control the vehicle to stop and wait within the waiting space. The device further includes: a replanning module; the replanning module is used for: When there is no waiting space, re-planning the path according to the environmental perception information, the field terminal map, and the vehicle position.

9. The device according to claim 8, wherein The receiving module receives the perception data sent by multiple sensors and performs fusion processing on the perception data to obtain environmental perception information, specifically including: Receiving the first perception data sent by the lidar. Receiving the second perception data sent by the image sensor. Receiving the third perception data sent by the millimeter wave radar. Performing fusion processing on the first perception data, the second perception data, and the third perception data to obtain environmental perception information.

10. The device according to claim 8, wherein, A vehicle permission takeover module, which is used for: Receiving the arrival message and vehicle status information sent by the vehicle; the vehicle status information includes at least one of the vehicle IP and the vehicle CAN signal. Starting wireless communication with the vehicle and judging whether the vehicle has arrived. When the wireless communication is successful, if the vehicle has arrived, sending a vehicle arrival confirmation message to the cloud. Sending a vehicle control request message to the vehicle. Receiving the control response message returned by the vehicle.

11. The device according to claim 8, wherein The specific process of the first determination module determining the first position of the vehicle in the field - end coordinate system based on the first signal, the second signal, the third signal, and the position of the base station in the field - end coordinate system includes: Determining the first distance between the first base station in the base station and the tag according to the first signal; Determining the second distance between the second base station in the base station and the tag according to the second signal; Determining the third distance between the third base station in the base station and the tag according to the third signal; Determining the first position of the tag in the field - end coordinate system by the triangulation method according to the first distance, the second distance, the third distance, the position of the first base station, the position of the second base station, and the position of the third base station.

12. The device according to claim 8, characterized in that, The specific process of the second determination module determining the vehicle position based on the first position and / or the second position includes: Judging whether the signal strength of the GPS signal on the vehicle meets the requirements; When the flag bit of the GPS signal is the preset flag bit, the signal strength meets the requirements; When the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirements; When the GPS signal strength meets the requirements, determining the vehicle position according to the first position and the second position; When the GPS signal strength does not meet the requirements, determining the vehicle position according to the first position.

13. The device according to claim 8, characterized in that, The specific process of the encapsulation module encapsulating the driving speed and driving direction of each waypoint to generate a control instruction includes: Encapsulating the driving speed and driving direction of each vehicle to obtain a control instruction; Sending the control instruction to the corresponding vehicle according to the vehicle ID.

14. The device according to claim 8, characterized in that, Each of the waypoints further includes a timestamp, and the dynamic obstacle information further includes the current position of the dynamic obstacle. The specific process of the dynamic obstacle planning module judging whether the dynamic obstacle will intersect with the driving path includes: Judging whether the dynamic obstacle will intersect with the driving path according to the timestamp, the current position of the dynamic obstacle, the speed and the orientation of the dynamic obstacle.

15. A field-end high-precision positioning system, characterized in that, The field - end high - precision positioning system includes the field - end high - precision positioning device according to any one of claims 8 - 14.

16. A field-end high-precision positioning component, characterized in that, The component includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the field - end high - precision positioning method according to any one of claims 1 - 7.

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