Engineering vehicle positioning method, apparatus, and computer program product

Abstract

The application relates to an engineering vehicle positioning method, device and computer program product. The method comprises the following steps: determining coordinate information corresponding to a target lane edge line in road image data of a road where an engineering vehicle is located; determining initial position information of an image acquisition device used for acquiring the road image data according to the coordinate information corresponding to the target lane edge line; and determining position information of the engineering vehicle according to the initial position information of the image acquisition device, a first preset distance between the image acquisition device and a preset calibration position, and a second preset distance between the image acquisition device and a vehicle head of the engineering vehicle, wherein the preset calibration position is a position close to one side of a vehicle tail of the engineering vehicle and having the preset distance from the image acquisition device. The method can improve the positioning accuracy of the engineering vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent engineering machinery, and in particular to an engineering vehicle positioning method, device and computer program product. BACKGROUND

[0002] With the progress of science and technology, people rely more on mechanization for work. Taking paving work as an example, a paver is a construction device mainly used for paving various materials on the base and surface layer of a highway. The driver of a traditional paver not only needs to control the paver to travel, but also needs to be responsible for paver feeding, monitoring whether there are safety hazards in front of the vehicle, and the like.

[0003] Unmanned driving technology can greatly reduce the workload of the paver driver, but the control accuracy of the unmanned driving of the paver needs to be high enough to ensure the work quality of the paver and the personal safety of the driver, and the control accuracy of the unmanned driving mainly depends on the positioning accuracy of the vehicle, so it is necessary to provide a positioning method capable of greatly improving the positioning accuracy of the paver. SUMMARY

[0004] Based on this, the present application provides an engineering vehicle positioning method, device and computer program product capable of improving the positioning accuracy of an engineering vehicle.

[0005] In a first aspect, the present application provides an engineering vehicle positioning method, which comprises:

[0006] determining coordinate information corresponding to a target lane edge line in road image data of a road where the engineering vehicle is located;

[0007] determining initial position information of an image acquisition device used to acquire the road image data according to the coordinate information corresponding to the target lane edge line;

[0008] determining position information of the engineering vehicle according to the initial position information of the image acquisition device, a first preset distance of the image acquisition device from a preset calibration position, and a second preset distance of the image acquisition device from a front of the engineering vehicle;

[0009] The preset calibration position is a position close to one side of a tail of the engineering vehicle and having the preset distance from the image acquisition device.

[0010] In one embodiment, the determination of the position information of the engineering vehicle according to the initial position information of the image acquisition device, the first preset distance of the image acquisition device from the preset calibration position, and the second preset distance of the image acquisition device from the front of the engineering vehicle comprises:

[0011] According to a first preset distance between the image acquisition device and a preset calibration position, the initial position information of the image acquisition device is corrected to obtain the position information of the image acquisition device.

[0012] According to the position information of the image acquisition device and the initial position information of the image acquisition device, the corresponding angle information of the engineering vehicle is determined.

[0013] According to the corresponding angle information of the engineering vehicle, the initial position information of the image acquisition device, and a second preset distance between the image acquisition device and the front of the engineering vehicle, the position information of the engineering vehicle is obtained.

[0014] In one embodiment, the position information of the engineering vehicle is obtained according to the corresponding angle information of the engineering vehicle, the initial position information of the image acquisition device, and the second preset distance between the image acquisition device and the front of the engineering vehicle, including:

[0015] According to the corresponding angle information of the engineering vehicle and the second preset distance between the image acquisition device and the front of the engineering vehicle, the adjustment information is determined.

[0016] According to the adjustment information and the initial position information of the image acquisition device, the initial position information of the engineering vehicle is determined.

[0017] According to the corresponding angle information of the engineering vehicle, the initial position information of the engineering vehicle is corrected to obtain the position information of the engineering vehicle.

[0018] In one embodiment, the initial position information of the engineering vehicle is determined according to the adjustment information and the initial position information of the image acquisition device, including:

[0019] In the case where the front of the engineering vehicle approaches the target lane edge line, the difference between the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle; or,

[0020] In the case where the front of the engineering vehicle is away from the target lane edge line, the sum of the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle.

[0021] In one embodiment, the initial position information of the image acquisition device for collecting the road image data is determined according to the coordinate information corresponding to the target lane edge line, including:

[0022] obtain a target conversion relationship corresponding to the engineering vehicle, the target conversion relationship being a conversion relationship between a distance and a coordinate obtained through a calibration operation;

[0023] convert the coordinate information corresponding to the target lane edge line through the target conversion relationship to obtain initial position information of the image acquisition device.

[0024] In a second aspect, the present application further provides a positioning device, the device comprising:

[0025] a first determining module configured to determine coordinate information corresponding to a target lane edge line in road image data of a road where an engineering vehicle is located;

[0026] a second determining module configured to determine initial position information of an image acquisition device used to collect the road image data according to the coordinate information corresponding to the target lane edge line;

[0027] a third determining module configured to determine position information of the engineering vehicle according to the initial position information of the image acquisition device, a first preset distance of the image acquisition device from a preset calibration position, and a second preset distance of the image acquisition device from a front of the engineering vehicle;

[0028] wherein the preset calibration position is a position close to a side of a tail of the engineering vehicle and having the preset distance from the image acquisition device.

[0029] In one of the embodiments, the third determining module is further configured to:

[0030] perform a deviation correction on the initial position information of the image acquisition device according to the first preset distance of the image acquisition device from the preset calibration position to obtain position information of the image acquisition device;

[0031] determine angle information corresponding to the engineering vehicle according to the position information of the image acquisition device and the initial position information of the image acquisition device;

[0032] obtain the position information of the engineering vehicle according to the angle information corresponding to the engineering vehicle, the initial position information of the image acquisition device, and the second preset distance of the image acquisition device from the front of the engineering vehicle.

[0033] In one of the embodiments, the third determining module is further configured to:

[0034] determine adjustment information according to the angle information corresponding to the engineering vehicle and the second preset distance of the image acquisition device from the front of the engineering vehicle;

[0035] According to the adjustment information and initial position information of the image acquisition device, initial position information of the engineering vehicle is determined.

[0036] According to the corresponding angle information of the engineering vehicle, the initial position information of the engineering vehicle is corrected to obtain position information of the engineering vehicle.

[0037] In one embodiment, the third determining module is further configured to:

[0038] In the case that the front of the engineering vehicle is close to the target lane edge line, the difference between the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle; or

[0039] In the case that the front of the engineering vehicle is away from the target lane edge line, the sum of the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle.

[0040] In one embodiment, the second determining module is further configured to:

[0041] A target conversion relationship corresponding to the engineering vehicle is obtained, the target conversion relationship being a conversion relationship between distance and coordinate obtained through calibration operation fitting;

[0042] The coordinate information corresponding to the target lane edge line is converted through the target conversion relationship to obtain the initial position information of the image acquisition device.

[0043] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements any of the above engineering vehicle positioning methods when executing the computer program.

[0044] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement any of the above engineering vehicle positioning methods.

[0045] In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, and the computer program is executed by a processor to implement any of the above engineering vehicle positioning methods.

[0046] The engineering vehicle positioning method, apparatus, and computer program product provided in this disclosure can determine the coordinate information corresponding to the edge line of the target carriageway in the road image data of the road where the engineering vehicle is located, and determine the initial position information of the image acquisition device used to collect road image data based on the coordinate information corresponding to the edge line of the target carriageway. The position information of the engineering vehicle is determined based on the initial position information of the image acquisition device, a first preset distance between the image acquisition device and a preset calibration position, and a second preset distance between the image acquisition device and the front of the engineering vehicle; wherein, the preset calibration position is a position near the rear of the engineering vehicle, at a preset distance from the image acquisition device. Using the engineering vehicle positioning method, apparatus, and computer program product provided in this disclosure, the positioning of engineering vehicles can be achieved through road image data. The entire positioning process is unaffected by the strength of the positioning signal, greatly improving the accuracy of engineering vehicle positioning and thus enhancing the adaptability of autonomous driving of engineering vehicles to complex environments. Attached Figure Description

[0047] Figure 1 Here is a flowchart of a method for positioning engineering vehicles in one embodiment;

[0048] Figure 2 Here is a flowchart of a method for positioning engineering vehicles in one embodiment;

[0049] Figure 3a This is a schematic diagram of a method for positioning engineering vehicles in one embodiment;

[0050] Figure 3b This is a schematic diagram of a method for positioning engineering vehicles in one embodiment;

[0051] Figure 4 Here is a flowchart of a method for positioning engineering vehicles in one embodiment;

[0052] Figure 5 Here is a flowchart of a method for positioning engineering vehicles in one embodiment;

[0053] Figure 6 This is a structural block diagram of an engineering vehicle positioning device in one embodiment;

[0054] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0056] Figure 1FIG. 1 is a flowchart of a method for positioning an engineering vehicle according to an example embodiment. The method is exemplarily applied to a terminal. It should be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and can be implemented through interaction between the terminal and the server. The method includes the following steps.

[0057] In step 102, coordinate information corresponding to a target lane edge line in road image data of a road where the engineering vehicle is located is determined.

[0058] In the example embodiment of the present disclosure, an image acquisition device can be installed on the engineering vehicle. The image acquisition device can include, but is not limited to, a monocular camera, a binocular camera, etc. The example embodiment of the present disclosure does not make a specific limitation on the image acquisition device, and the example embodiment of the present disclosure is exemplarily described below by taking a monocular camera as an example.

[0059] The target lane edge line can be a lane line in a road to be constructed, such as a white line in a lane. The image acquisition device can be arranged to face the target lane edge, for example, installed on both sides of a paver, so that the road image data including the target lane edge line can be acquired by the image acquisition device. The road image data can be image information acquired, or an image frame in video data acquired. The example embodiment of the present disclosure does not make a specific limitation on this.

[0060] The coordinate information of the target lane edge line in the road image data can be obtained by image recognition on the road image data. The example embodiment of the present disclosure does not make a specific limitation on the image recognition method, and any method capable of recognizing the coordinate information of the target lane edge line in the road image data is applicable to the example embodiment of the present disclosure.

[0061] In step 104, initial position information of the image acquisition device used to acquire the road image data is determined according to the coordinate information of the target lane edge line.

[0062] In the example embodiment of the present disclosure, the position information includes at least one of a measured distance and a measured angle between the front of the engineering vehicle and the target lane edge line. The measured distance is a distance between the front of the engineering vehicle and the target lane edge line measured through the road image data. The measured angle is an angle between the front of the engineering vehicle and the target lane edge line measured through the road image data.

[0063] Exemplarily, monocular ranging can be performed through the road image data, and then initial position information of the image collection device is obtained. For example, coordinate information of the target lane edge line can be determined through the road image data, and then the coordinate information is transformed through the transformation relationship between the image coordinate system and the world coordinate system, and initial measurement distance between the image collection device and the target lane edge line is obtained. Alternatively, the image collection device can be calibrated in advance, and then the conversion relationship between the coordinate information of the target lane edge line in the image and the actual distance is obtained, and then the initial measurement distance between the image collection device and the target lane edge line is obtained through the coordinate information of the target lane edge line in the road image data.

[0064] It should be noted that the manner of determining the position information of the image collection device through the road image data is not specifically limited in the embodiments of the present application, and any monocular camera ranging manner is applicable to the embodiments of the present application.

[0065] In step 106, the position information of the engineering vehicle is determined according to the initial position information of the image collection device, the first preset distance between the image collection device and the preset calibration position, and the second preset distance between the image collection device and the front of the engineering vehicle. The preset calibration position is a position close to one side of the tail of the engineering vehicle and having a preset distance from the image collection device.

[0066] In the embodiments of the present disclosure, the angle of the image collection device relative to the target lane edge line can be determined through the initial position information of the image collection device and the first preset distance between the image collection device and the preset calibration position, and the position information of the engineering vehicle can be determined based on the angle of the image collection device relative to the target lane edge line and the second preset distance between the image collection device and the front of the engineering vehicle. Exemplarily, a right triangle can be constructed according to the initial position information of the image collection device, the first preset distance between the image collection device and the preset calibration position, and the second preset distance between the image collection device and the front of the engineering vehicle, and the position information of the engineering vehicle is obtained through corresponding conversion by a trigonometric function.

[0067] The method for positioning the engineering vehicle provided in the embodiments of the present disclosure can determine the coordinate information corresponding to the target lane edge line in the road image data of the road where the engineering vehicle is located, and determine the initial position information of the image collection device used to collect the road image data according to the coordinate information corresponding to the target lane edge line. The position information of the engineering vehicle is determined according to the initial position information of the image collection device, the first preset distance of the image collection device from the preset calibration position, and the second preset distance of the image collection device from the front of the engineering vehicle, wherein the preset calibration position is a position close to one side of the tail of the engineering vehicle and having a preset distance from the image collection device. The method for positioning the engineering vehicle provided in the embodiments of the present disclosure can realize the positioning of the engineering vehicle through the road image data, the whole positioning process is not disturbed by the strength of the positioning signal, the positioning accuracy of the engineering vehicle is greatly improved, and the adaptability of the automatic driving of the engineering vehicle to complex environments is improved.

[0068] In an exemplary embodiment, referring to Figure 2 In step 106, the position information of the engineering vehicle is determined according to the initial position information of the image collection device, the first preset distance of the image collection device from the preset calibration position, and the second preset distance of the image collection device from the front of the engineering vehicle. Specifically, the following steps can be used to achieve this:

[0069] In step 202, the initial position information of the image collection device is corrected to obtain the position information of the image collection device according to the first preset distance of the image collection device from the preset calibration position.

[0070] In step 204, the angle information corresponding to the engineering vehicle is determined according to the position information of the image collection device and the initial position information of the image collection device.

[0071] In step 206, the position information of the engineering vehicle is obtained according to the angle information corresponding to the engineering vehicle, the initial position information of the image collection device, and the second preset distance of the image collection device from the front of the engineering vehicle.

[0072] In the embodiments of the present disclosure, during the actual measurement, the engineering vehicle and the target lane edge line do not always remain parallel, that is, there is a certain angle between them. When there is an angle between them, the initial position information of the image collection device (i.e., the distance between the image collection device and the target lane edge line determined based on the road image data) is converted according to the conversion relationship between the distance and the coordinate and the abscissa in the coordinate information. After obtaining the initial position information of the image collection device, the initial position information of the image collection device can be corrected according to the first preset distance of the image collection device from the preset calibration position to obtain the position information of the image collection device.

[0073] Exemplarily, referring toFigure 3a As shown, starting from position A of the image acquisition device, a line segment p1 perpendicular to the edge line of the target roadway is drawn. The intersection of line segment p1 and the edge line of the target roadway is position B. Starting from position B, a line segment p2 perpendicular to the engineering vehicle is drawn. The intersection of line segment p2 and the edge line of the target roadway is position C. Position C is the preset calibration position. The distance (p3) between position A and position C is the first preset distance.

[0074] For example, multiple right triangles can be constructed between the engineering vehicle, image acquisition equipment, calibration location, and the edge line of the target roadway (for example, refer to...). Figure 3a and Figure 3b As shown in the figure, after obtaining the initial position information of the image acquisition device, the preset calibration position on the engineering vehicle and the first preset distance of the image acquisition device, the angle information between the image acquisition device and the edge line of the target roadway can be determined according to the trigonometric function formula.

[0075] Reference Figure 3a As shown, when the rear of the engineering vehicle is close to the edge line of the target roadway and the front of the vehicle is far away from the edge line of the target roadway, the angle between the front of the engineering vehicle and the edge line of the target roadway is θ1, and the measured distance (position information) between the front of the engineering vehicle and the edge line of the target roadway is L.

[0076] sinθ1 can be obtained from trigonometric function formulas. 2 +cosθ1 2 =1, by Figure 3a It can be seen that, Equations can be constructed Since the initial position information Y and the first preset distance corresponding to p3 of the image acquisition device are known values, the distance corresponding to p1 can be obtained by solving the equation. The distance corresponding to p1 is the position information of the image acquisition device after correction.

[0077] After obtaining the position information of the image acquisition device, the included angle information (or the included angle information of the image acquisition device) θ1 corresponding to the engineering vehicle can be obtained using trigonometric function formulas. For example: still using Figure 3a For example, through That is, the included angle information θ1 can be obtained.

[0078] After obtaining the included angle information corresponding to the engineering vehicle, the measurement distance between the engineering vehicle and the edge line of the target roadway can be determined based on the initial position information of the image acquisition device and the included angle information corresponding to the engineering vehicle (that is, the position information of the engineering vehicle). For example, a second preset distance (refer to...) can be used to determine the distance between the image acquisition device and the front of the engineering vehicle. Figure 3aAs shown, the second preset distance can be h) and the corresponding angle information of the engineering vehicle, the first adjustment distance is determined, and then the measurement distance between the engineering vehicle and the target lane edge line is obtained according to the initial position information of the image acquisition device, the first adjustment distance and the corresponding angle information of the engineering vehicle, that is, the position information of the engineering vehicle is obtained.

[0079] By adopting the engineering vehicle positioning method provided in the embodiments of the present disclosure, the positioning of the engineering vehicle can be realized through the road image data, the whole positioning process is not disturbed by the strength of the positioning signal, the positioning accuracy of the engineering vehicle is greatly improved, and the adaptability of the engineering vehicle automatic driving to the complex environment is improved.

[0080] In an exemplary embodiment, referring to Figure 4 As shown, in the step 206, the position information of the engineering vehicle is obtained according to the corresponding angle information of the engineering vehicle, the initial position information of the image acquisition device and the second preset distance between the image acquisition device and the vehicle head of the engineering vehicle. It can be realized by the following steps:

[0081] In step 402, adjustment information is determined according to the corresponding angle information of the engineering vehicle and the second preset distance between the image acquisition device and the vehicle head of the engineering vehicle.

[0082] In step 404, the initial position information of the engineering vehicle is determined according to the adjustment information and the initial position information of the image acquisition device.

[0083] In step 406, the initial position information of the engineering vehicle is corrected according to the corresponding angle information of the engineering vehicle to obtain the position information of the engineering vehicle.

[0084] In the embodiments of the present disclosure, after obtaining the corresponding angle information of the engineering vehicle, the adjustment information can be determined according to the corresponding angle information of the engineering vehicle and the second preset distance between the image acquisition device and the vehicle head of the engineering vehicle.

[0085] For example, still taking Figure 3a and Figure 3b as an example, referring to Figure 3a It can be known that the line segment p4 is perpendicular to the target lane edge line, the end point of the line segment p4 is the intersection point E of the target lane edge line, and the length of the line segment p4 is the sum of the initial position information Y of the image acquisition device and the adjustment information L1. The corresponding adjustment information L1 can be obtained through the second preset distance h between the image acquisition device position A and the engineering vehicle head position D (which can be obtained by pre-measurement) and the angle information θ1. Exemplarily, L1=tanθ1*h.

[0086] Referring to Figure 3bAs shown, when the vehicle head of the engineering vehicle is close to the target carriageway edge line and the vehicle tail is far away from the target carriageway edge line, the included angle information between the vehicle head of the engineering vehicle and the target carriageway edge line is θ2. In this case, the corresponding adjustment information L2 can be obtained by the second preset distance h (which can be obtained by pre-measurement) between the position A of the image acquisition device and the position D of the vehicle head of the paving machine, and the included angle information θ2. Exemplarily, L2=tanθ2*h.

[0087] After obtaining the adjustment information, the initial position information of the engineering vehicle can be determined based on the adjustment information, i.e., the initial position information of the image acquisition device.

[0088] In an exemplary embodiment, in step 404, the initial position information of the engineering vehicle can be determined according to the adjustment information and the initial position information of the image acquisition device, which can include:

[0089] In the case that the vehicle head of the engineering vehicle is close to the target carriageway edge line, the difference between the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle; or,

[0090] In the case that the vehicle head of the engineering vehicle is far away from the target carriageway edge line, the sum of the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle.

[0091] Exemplarily, in the case that the vehicle head of the engineering vehicle is far away from the target carriageway edge line, the initial position information of the engineering vehicle can be determined according to Figure 3a As shown, in the case that the vehicle head of the engineering vehicle is far away from the target carriageway edge line, the initial position information of the engineering vehicle can be determined according to Figure 3b As shown, in the case that the vehicle head of the engineering vehicle is close to the target carriageway edge line, the initial position information of the engineering vehicle can be determined according to the difference between the initial position information of the image acquisition device and the adjustment information, i.e., (Y-L2). Figure 3a As shown in the example, the initial position information of the engineering vehicle is (Y+L1); in the case that the vehicle head of the engineering vehicle is close to the target carriageway edge line, the initial position information of the engineering vehicle can be determined according to the difference between the initial position information of the image acquisition device and the adjustment information, i.e., (Y-L2). Figure 3b As shown in the example, the initial position information of the engineering vehicle is (Y-L2).

[0092] Since there is a certain included angle information between the engineering vehicle and the target carriageway edge line, after obtaining the initial position information of the engineering vehicle, the initial position information of the engineering vehicle can be corrected according to the corresponding included angle information of the engineering vehicle to obtain the position information of the engineering vehicle.

[0093] Exemplarily, still taking Figure 3a and Figure 3b As shown in the example. Referring to Figure 3aAs shown in FIG. 1, the line segment p4 is perpendicular to the engineering vehicle, and the end point of the line segment p4 is the intersection point E of the target lane edge line. The length of the line segment p4 is the sum of the initial position information Y of the image acquisition device and the adjustment information L1. The adjustment information L1 is obtained by the second preset distance h between the image acquisition device position A and the engineering vehicle head position D (which can be obtained by pre-measurement) and the angle information θ1, and the L1=tanθ1*h. The initial position information of the engineering vehicle obtained by the adjustment information and the initial position information of the image acquisition device is Y+L1. Further, the initial position information of the engineering vehicle is corrected by the angle information, and the position information L of the engineering vehicle is (Y+L1)*cosθ1.

[0094] Referring to Figure 3b As shown in FIG. 1, when the head of the engineering vehicle is close to the target lane edge line, and the tail is far away from the target lane edge line, the angle information between the head of the engineering vehicle and the target lane edge line is θ2. In this case, the adjustment information L2 is obtained by the second preset distance h between the image acquisition device position A and the engineering vehicle head position D and the angle information θ2, and the L2=tanθ2*h. The initial position information of the engineering vehicle obtained by the adjustment information and the initial position information of the image acquisition device is Y-L2. Further, the initial position information of the engineering vehicle is corrected by the angle information, and the position information L of the engineering vehicle is (Y-L2)*cosθ2.

[0095] Based on the engineering vehicle positioning method provided in the embodiments of the present application, in the process of positioning the engineering vehicle, the measurement angle between the engineering vehicle and the target lane edge line can be determined based on the initial position information of the image acquisition device, and then the initial position information of the head of the engineering vehicle is corrected according to the measurement angle to obtain the position information of the engineering vehicle. The precise positioning of the engineering vehicle can be realized, and the adaptability of the automatic driving of the engineering vehicle to the application scene is improved.

[0096] In an exemplary embodiment, referring to Figure 5 As shown in FIG. 1, in step 104, the initial position information of the image acquisition device for collecting road image data is determined according to the coordinate information corresponding to the target lane edge line. The initial position information of the image acquisition device can be obtained by the following steps:

[0097] In step 502, the target conversion relationship corresponding to the engineering vehicle is obtained. The target conversion relationship is the conversion relationship between the distance and the coordinate obtained by the calibration operation fitting;

[0098] In step 504, the coordinate information corresponding to the target lane edge line is converted by the target conversion relationship to obtain the initial position information of the image acquisition device.

[0099] In the embodiments of the present application, the image acquisition device can be calibrated in advance before the automatic driving of the engineering vehicle. For example, a calibration object can be arranged on the target lane edge line, such as a calibration strip arranged above the target lane edge line in a direction parallel to the target lane edge line, and a plurality of calibration points are arranged on the calibration strip (the calibration strip is an example of the calibration object, and the calibration object can also be in the form of a calibration image, and the embodiments of the present application do not make specific limitations on the calibration object).

[0100] The engineering vehicle is parallel to the target lane edge line, and the image acquisition device is perpendicular to the target lane edge line, and the target lane edge line is located at the center position in the calibration road image data acquired by the image acquisition device.

[0101] The distance between each calibration point in the calibration object and the front of the engineering vehicle can be obtained by pre-measurement. By image recognition on the calibration road image data, the coordinate information (x, y) of each calibration point in the calibration road image data can be recognized, wherein x represents the horizontal coordinate of the calibration point, and y represents the vertical coordinate of the calibration point. After obtaining the coordinate information of each calibration point in the calibration road image data, the conversion relationship between the distance and the coordinate can be fitted by combining the distance between each calibration point and the front of the engineering vehicle, and then when the automatic driving of the engineering vehicle is performed, the coordinate information of the target lane edge line in the road image data can be obtained, and the conversion relationship between the distance and the coordinate can be used to convert the coordinate information to obtain the measurement distance between the target lane edge line and the image acquisition device, that is, to obtain the initial position information of the image acquisition device.

[0102] For example, the fitted conversion relationship between the distance and the coordinate can be a binary first-order equation, and the following formula (I) is referred to.

[0103] Y = ax + bx + c 2 Formula (I)

[0104] Wherein, a, b, and c are constants, x is the horizontal coordinate of the target lane edge line in the road image data, and Y is the measurement distance between the image acquisition device and the target lane edge line.

[0105] In an example embodiment, the target lane edge line in the road image data can be recognized by image recognition, image segmentation (for example, automatic threshold segmentation algorithm), and the like, and the coordinate information of the target lane edge line in the road image data can be obtained. The embodiments of the present application do not make specific limitations on the method for determining the coordinate information of the target lane edge line in the road image data.

[0106] In an example embodiment, the road image data can be subjected to light compensation processing to obtain compensated road image data, and the coordinate information of the target lane edge line in the compensated road image data can be determined.

[0107] After the road image data is collected, the road image data can be subjected to light compensation processing, and the compensated road image data obtained after light compensation can be subjected to image recognition, image detection, and other processing, and then the coordinate information of the target lane edge line in the compensated road image data can be obtained.

[0108] The optical compensation method used in the optical compensation processing is not specifically limited in the embodiments of the present application, and includes but is not limited to optical compensation algorithms such as color balance algorithm and reference white-based algorithm.

[0109] Since the collected road image data is preprocessed by light compensation processing, the target in the road image data is enhanced by tone stretching, which can improve the recognition accuracy of the target lane edge line, and can overcome the situations such as bending, interruption, and uneven thickness of the lane edge line due to long-term disrepair, etc. The engineering vehicle positioning method provided in the embodiments of the present application can adapt to various complex scenes.

[0110] After the coordinate information of the target lane edge line in the road image data is obtained, the initial position information of the image acquisition device can be obtained according to the horizontal coordinate in the coordinate information and the conversion relationship between distance and coordinate. For example, the horizontal coordinate in the coordinate information is input into the conversion relationship between distance and coordinate, and the obtained Y can be used as the initial position information of the image acquisition device. Further, according to the initial position information of the image acquisition device and the distance between the image acquisition device and the front of the engineering vehicle, the angle information between the engineering vehicle and the target lane edge line can be determined, and then the position information of the engineering vehicle can be determined based on the angle information.

[0111] Based on the engineering vehicle positioning method provided in the embodiments of the present application, the conversion relationship between distance and coordinate can be determined in advance through calibration operation, and then the coordinate information of the target lane edge line in the road image data is converted through the conversion relationship between distance and coordinate to obtain the initial position information of the image acquisition device, and then the positioning of the engineering vehicle is realized based on the second preset distance between the image acquisition device and the front of the engineering vehicle, which can improve the positioning accuracy of the engineering vehicle and improve the adaptability of the engineering vehicle automatic driving to application scenarios.

[0112] In the embodiments of the present application, after obtaining the position information of the engineering vehicle, the position information of the engineering vehicle can be sent to a controller of the engineering vehicle. The controller of the engineering vehicle can be used to control the automatic driving of the engineering vehicle, so as to assist the controller to control the engineering vehicle, so that the engineering vehicle realizes unmanned automatic driving. After the controller receives the position information of the engineering vehicle, the controller can plan a path for the engineering vehicle according to the position information, and control the paver to drive. For example, the controller can perform PID control on the paver according to the position information of the engineering vehicle, so as to control the direction and route of the engineering vehicle.

[0113] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0114] Based on the same inventive concept, the embodiments of the present application also provide an engineering vehicle positioning device for implementing the above-mentioned engineering vehicle positioning method. The solution provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more engineering vehicle positioning device embodiments provided below can refer to the limitations of the engineering vehicle positioning method described above, which will not be repeated here.

[0115] In one embodiment, as shown in Figure 6 An engineering vehicle positioning device is provided, comprising: a first determination module 602, a second determination module 604 and a third determination module 606, wherein,

[0116] The first determination module 602 is configured to determine coordinate information corresponding to a target lane edge line in road image data of a road where the engineering vehicle is located;

[0117] The second determination module 604 is configured to determine initial position information of an image acquisition device used to acquire the road image data according to the coordinate information corresponding to the target lane edge line;

[0118] The third determining module 606 is configured to determine the position information of the engineering vehicle according to the initial position information of the image acquisition device, the first preset distance of the image acquisition device from a preset calibration position, and the second preset distance of the image acquisition device from the front of the engineering vehicle.

[0119] The preset calibration position is a position close to one side of the rear of the engineering vehicle and having the preset distance from the image acquisition device.

[0120] The engineering vehicle positioning device provided in the embodiments of the present disclosure can determine the coordinate information corresponding to the target lane edge line in the road image data of the road where the engineering vehicle is located, and determine the initial position information of the image acquisition device for collecting the road image data according to the coordinate information corresponding to the target lane edge line. The position information of the engineering vehicle is determined according to the initial position information of the image acquisition device, the first preset distance of the image acquisition device from a preset calibration position, and the second preset distance of the image acquisition device from the front of the engineering vehicle. The preset calibration position is a position close to one side of the rear of the engineering vehicle and having the preset distance from the image acquisition device. The engineering vehicle positioning device provided in the embodiments of the present disclosure can realize the positioning of the engineering vehicle through the road image data, the entire positioning process is not disturbed by the strength of the positioning signal, the positioning accuracy of the engineering vehicle is greatly improved, and the adaptability of the automatic driving of the engineering vehicle to complex environments is improved.

[0121] In one of the embodiments, the third determining module 606 is further configured to:

[0122] According to the first preset distance of the image acquisition device from the preset calibration position, the initial position information of the image acquisition device is corrected to obtain the position information of the image acquisition device.

[0123] According to the position information of the image acquisition device and the initial position information of the image acquisition device, the corresponding angle information of the engineering vehicle is determined.

[0124] According to the corresponding angle information of the engineering vehicle, the initial position information of the image acquisition device, and the second preset distance of the image acquisition device from the front of the engineering vehicle, the position information of the engineering vehicle is obtained.

[0125] In one of the embodiments, the third determining module 606 is further configured to:

[0126] According to the corresponding angle information of the engineering vehicle and the second preset distance of the image acquisition device from the front of the engineering vehicle, the adjustment information is determined.

[0127] According to the adjustment information and initial position information of the image acquisition device, initial position information of the engineering vehicle is determined.

[0128] According to the corresponding angle information of the engineering vehicle, the initial position information of the engineering vehicle is corrected to obtain position information of the engineering vehicle.

[0129] In one of the embodiments, the third determining module 606 is further configured to:

[0130] In the case that the front of the engineering vehicle is close to the target lane edge line, the difference between the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle; or,

[0131] In the case that the front of the engineering vehicle is away from the target lane edge line, the sum of the initial position information of the image acquisition device and the adjustment information is taken as the initial position information of the engineering vehicle.

[0132] In one of the embodiments, the second determining module 604 is further configured to:

[0133] A target conversion relationship corresponding to the engineering vehicle is obtained, the target conversion relationship being a conversion relationship between distance and coordinate obtained through calibration operation;

[0134] The coordinate information corresponding to the target lane edge line is converted through the target conversion relationship to obtain the initial position information of the image acquisition device.

[0135] The above modules in the engineering vehicle positioning device can be realized by software, hardware and combinations thereof in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0136] In one embodiment, a computer device is provided, which can be a terminal, and its internal structure diagram can be as shown in Figure 7As shown in the figure. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement an engineering vehicle positioning method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0137] Those skilled in the art can understand that, Figure 7 The skilled in the art can understand that,

[0138] In one embodiment, a computer device is also provided, including a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0139] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0140] In one embodiment, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0141] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0142] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0143] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0144] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for positioning engineering vehicles, characterized in that, The method includes: Determine the coordinate information corresponding to the edge line of the target carriageway in the road image data of the road where the engineering vehicle is located; Based on the coordinate information corresponding to the edge line of the target carriageway, determine the initial position information of the image acquisition device used to collect the road image data; Based on a first preset distance between the image acquisition device and a preset calibration position, the initial position information of the image acquisition device is corrected to obtain the position information of the image acquisition device. Based on the position information and initial position information of the image acquisition device, the included angle information corresponding to the engineering vehicle is determined; The position information of the engineering vehicle is obtained based on the included angle information corresponding to the engineering vehicle, the initial position information of the image acquisition device, and the second preset distance between the image acquisition device and the front of the engineering vehicle. The preset calibration position is a position near the rear of the engineering vehicle, at a preset distance from the image acquisition device.

2. The method according to claim 1, characterized in that, The step of obtaining the position information of the engineering vehicle based on the included angle information corresponding to the engineering vehicle, the initial position information of the image acquisition device, and the second preset distance between the image acquisition device and the front of the engineering vehicle includes: Based on the included angle information corresponding to the engineering vehicle and the second preset distance between the image acquisition device and the front of the engineering vehicle, the adjustment information is determined; Based on the adjustment information and the initial position information of the image acquisition device, the initial position information of the engineering vehicle is determined; The initial position information of the engineering vehicle is corrected based on the included angle information corresponding to the engineering vehicle to obtain the position information of the engineering vehicle.

3. The method according to claim 2, characterized in that, Determining the initial position information of the engineering vehicle based on the adjustment information and the initial position information of the image acquisition device includes: When the front of the engineering vehicle approaches the edge line of the target roadway, the difference between the initial position information of the image acquisition device and the adjustment information is used as the initial position information of the engineering vehicle; or, When the front of the engineering vehicle moves away from the edge of the target roadway, the sum of the initial position information of the image acquisition device and the adjustment information is used as the initial position information of the engineering vehicle.

4. The method according to any one of claims 1 to 3, characterized in that, The step of determining the initial position information of the image acquisition device used to collect the road image data based on the coordinate information corresponding to the edge line of the target carriageway includes: Obtain the target transformation relationship corresponding to the engineering vehicle, wherein the target transformation relationship is the distance-coordinate transformation relationship obtained by fitting through calibration operation; The coordinate information corresponding to the edge line of the target roadway is transformed by the target transformation relationship to obtain the initial position information of the image acquisition device.

5. A positioning device, characterized in that, The device includes: The first determining module is used to determine the coordinate information corresponding to the edge line of the target carriageway in the road image data of the road where the engineering vehicle is located; The second determining module is used to determine the initial position information of the image acquisition device used to collect the road image data based on the coordinate information corresponding to the edge line of the target carriageway. The third determining module is used to perform correction processing on the initial position information of the image acquisition device based on a first preset distance between the image acquisition device and the preset calibration position to obtain the position information of the image acquisition device; determine the included angle information corresponding to the engineering vehicle based on the position information of the image acquisition device and the initial position information of the image acquisition device; and obtain the position information of the engineering vehicle based on the included angle information corresponding to the engineering vehicle, the initial position information of the image acquisition device, and a second preset distance between the image acquisition device and the front of the engineering vehicle. The preset calibration position is a position near the rear of the engineering vehicle, at a preset distance from the image acquisition device.

6. The apparatus according to claim 5, characterized in that, The third determining module is also used for: Based on the included angle information corresponding to the engineering vehicle and the second preset distance between the image acquisition device and the front of the engineering vehicle, the adjustment information is determined; Based on the adjustment information and the initial position information of the image acquisition device, the initial position information of the engineering vehicle is determined; The initial position information of the engineering vehicle is corrected based on the included angle information corresponding to the engineering vehicle to obtain the position information of the engineering vehicle.

7. The apparatus according to claim 6, characterized in that, The third determining module is also used for: When the front of the engineering vehicle approaches the edge line of the target roadway, the difference between the initial position information of the image acquisition device and the adjustment information is used as the initial position information of the engineering vehicle. or, When the front of the engineering vehicle moves away from the edge of the target roadway, the sum of the initial position information of the image acquisition device and the adjustment information is used as the initial position information of the engineering vehicle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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