A method for checking positioning information based on a domain controller

Abstract

This invention provides a location information verification method based on a domain controller. The method includes: Step 1, setting a verification base point; Step 2, acquiring current verification calculation parameters at a preset period; Step 3, calculating the total vehicle displacement at the end of the current judgment period; Step 4, acquiring second location information from an unreliable system and calculating the distance to be verified based on the initial location information; Step 5, determining whether the deviation between the total displacement at the end of the current judgment period and the distance to be verified exceeds a preset distance threshold. If yes, the unreliable system is deemed to be faulty; otherwise, the unreliable system is deemed to be valid. This invention enables the verification of location information output by an unreliable system using a reliable system, ensuring the safety of autonomous driving.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method for verifying positioning information based on a domain controller. Background Technology

[0002] In current domain controllers that enable autonomous driving, positioning technology that combines inertial navigation with satellite navigation is crucial for determining the vehicle's location. However, the algorithms for this positioning technology operate in unreliable systems with high computing power and complex algorithms. If the operating environment does not meet functional safety requirements, functional failures may occur, leading to incorrect positioning information and jeopardizing autonomous driving.

[0003] Therefore, there is an urgent need for a method to determine whether the positioning information output by an unreliable system is reliable, so as to ensure the safety and reliability of autonomous driving. Summary of the Invention

[0004] This invention provides a location information verification method based on a domain controller, aiming to overcome the deficiencies in the prior art, realize the verification of location information output by an unreliable system using a reliable system, and ensure the safety of autonomous driving.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A location information verification method based on a domain controller includes:

[0007] Step 1: Set the verification base point, which is the initial positioning information output by the unreliable system;

[0008] Step 2: Obtain the current verification calculation parameters at a preset cycle. The verification calculation parameters include the four wheel speeds, steering wheel angle, and vehicle speed.

[0009] Step 3: Calculate the total vehicle displacement at the end of the current judgment period based on the current verification calculation parameters;

[0010] Step 4: Obtain the second positioning information of the unreliable system and calculate the distance to be verified based on the initial positioning information. The second positioning information is the positioning information output by the unreliable system positioning algorithm at the same time as the end of the current judgment period.

[0011] Step 5: Determine whether the deviation between the total displacement at the end of the current judgment period and the distance to be verified exceeds a preset distance threshold. If yes, the unreliable system is determined to be faulty; otherwise, the unreliable system is determined to be effective.

[0012] Specifically, step 3 includes:

[0013] Step 301: Define the positive directions as directly in front, horizontally to the right, and vertically upward in the vehicle coordinate system;

[0014] Step 302: Obtain the absolute position of the vehicle at the end of the previous judgment period;

[0015] Step 303: Calculate the absolute position of the vehicle at the end of the current judgment period based on the absolute position of the vehicle at the end of the previous judgment period and the current verification calculation parameters.

[0016] Step 304: Calculate the total vehicle displacement at the end of the current judgment period based on the absolute vehicle position at the end of the previous judgment period and the absolute vehicle position at the end of the current judgment period.

[0017] Specifically, step 303 includes:

[0018] Step 3031: Construct judgment triangles for the front wheel and rear wheel respectively according to preset rules;

[0019] Step 3032: Calculate the current front wheel reference angle and rear wheel reference angle of the vehicle according to the first preset formula in the judgment triangle;

[0020] Step 3033: Determine whether at least one of the current front wheel reference angle and rear wheel reference angle has an error within a preset angle threshold compared with the steering wheel angle. If yes, use the reference angle as the valid reference angle and proceed to the next step; otherwise, discard the current calculation and return to step 3032.

[0021] Step 3034: Calculate the absolute position of the left wheel before the previous calculation cycle according to the second preset formula;

[0022] Step 3035: Calculate the absolute position of the front left wheel in the current calculation cycle according to the third preset formula;

[0023] Step 3036: Calculate the absolute position of the current vehicle according to the fourth preset formula;

[0024] Step 3037: Determine whether the current calculation count is equal to the calculation count of the judgment period. If yes, assign the absolute position of the current vehicle to the absolute position of the current vehicle and proceed to the next step. Otherwise, increment the current calculation count by 1 and return to step 3032.

[0025] Specifically, the preset rule is as follows: the center points of the front left wheel and the front right wheel of the vehicle in the previous calculation cycle are respectively used as the first vertex and the second vertex of the judgment triangle. The distance between the third vertex of the judgment triangle and the first vertex is the wheel track, and the distance between the third vertex and the second vertex is the difference in driving distance between the front left wheel and the front right wheel.

[0026] Specifically, the first preset formula is:

[0027] sin(α k / 2)=(c k / 2) / a k sin(β) k / 2)=(f k / 2) / d k ,

[0028] Where, α k Indicates the current front wheel reference steering angle, β k Indicates the current rear wheel reference steering angle, a k Indicates the first side A k B k The side length, b k Indicates the second side A k C k The side length, c k Indicates the third side B k C k The side length, d k Indicates the fourth side D k E k The side length, e k Indicates the fifth side D k F k The side length, f k Indicates the sixth side F k E k The side length.

[0029] Specifically, the second preset formula is:

[0030] L wfl_k-1 .lon=L k-1 .lon-W r / 2,

[0031] L wfl_k-1 .lat=L k-1 .lat+W b / 2,

[0032] L0(lon,lat)=L pre (lon,lat)

[0033] Among them, L wfl_k-1 (lon,lat) represents the absolute position of the left wheel before the previous calculation cycle, L k-1 (lon,lat) represents the absolute position of the vehicle in the previous calculation cycle, W b W represents the wheelbase. r Indicates wheel track.

[0034] Specifically, the third preset formula is:

[0035] L wfl_k.lon=L wfl_k-1-i .lon-L fl_k *sinθ k ,

[0036] L wfl_k .lat=L wfl_k-1-i .lat+L fl_k *cosθ k ,

[0037] L fl_k =V fl_k *t*(i+1), L fr_k =V fr_k *t*(i+1),

[0038] Among them, L wfl_k (lon,lat) represents the absolute position of the front left wheel in the current calculation cycle, where L is the position of the front left wheel. wfl_k-1-i (lon,lat) represents the absolute position of the left wheel before the first (1+i)th calculation cycle, θ k Indicates the currently valid reference angle, L fl_k Indicates the displacement of the front left wheel, i represents the number of failure angles, and V fl_k V fr_k These represent the wheel speeds of the front left and front right wheels, respectively, and t represents the preset cycle.

[0039] Specifically, the fourth preset formula is:

[0040] L k .lon=L wfl_k .lon+W r / 2,

[0041] L k .lat=L wfl_k .lat-W b / 2,

[0042] Among them, L k (lon,lat) represents the absolute position of the current vehicle, L wfl_k (lon,lat) represents the absolute position of the front left wheel in the current calculation cycle, W b W represents the wheelbase. r Indicates wheel track.

[0043] Specifically, the total vehicle displacement D at the end of the current judgment period n Calculate using the following formula:

[0044]

[0045] Among them, L pre(lon,lat) represents the absolute position of the vehicle at the end of the previous judgment period, where L now (lon,Lat) represents the absolute position of the vehicle at the end of the current judgment period.

[0046] Specifically, the distance to be verified is determined according to the following preset formula:

[0047]

[0048] Where P0(lon,lat) represents the initial positioning information and P2(lon,lat) represents the second positioning information.

[0049] The beneficial effects of this invention are as follows: By setting a verification base point, obtaining the current verification calculation parameters at a preset period, calculating the total vehicle displacement at the end of the current judgment period, obtaining the second positioning information of the unreliable system, and calculating the distance to be verified based on the initial positioning information, the invention determines whether the unreliable system has failed by comparing the deviation between the total displacement at the end of the current judgment period and the distance to be verified. This realizes the verification of the positioning information output by the unreliable system using the reliable system, thus ensuring the safety of autonomous driving. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating the location information verification method based on a domain controller according to the present invention.

[0051] Figure 2 This is a schematic diagram of the front wheel judgment triangle of the present invention. Detailed Implementation

[0052] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The drawings are for reference and illustration only and do not constitute a limitation on the scope of protection of the present invention.

[0053] In the process described in the specification, claims, or drawings of this invention, each step is numbered (e.g., step 10, 20, etc.). These numbers are used only to distinguish the steps and do not represent any execution order. It should be noted that the terms "first," "second," etc., used herein are only for distinguishing the objects being described and do not represent a chronological order, nor do they indicate that "first," "second," etc., are different types.

[0054] like Figure 1 As shown, this embodiment provides a location information verification method based on a domain controller, including:

[0055] Step 1: Set the verification base point, which is the initial positioning information output by the unreliable system.

[0056] In practice, the initial positioning information is generally selected from the location with clear latitude and longitude when the vehicle is stationary, denoted as P0(lon,lat), which means that its longitude is P0.lon and its latitude is P0.lat; similar representation methods are used when the vehicle position parameters are mentioned below.

[0057] Step 2: Obtain the current verification calculation parameters at a preset period t. The verification calculation parameters include the wheel speeds of the four wheels, the steering wheel angle, and the vehicle speed.

[0058] In practice, the verification calculation parameters are generally provided by the chassis domain controller and can be obtained through the vehicle bus (such as CAN or vehicle Ethernet); the preset period t can be set to 20ms or other suitable time.

[0059] Step 3: Calculate the total vehicle displacement D at the end of the current judgment period based on the current verification calculation parameters. n .

[0060] In practice, the judgment period consists of a number of calculations n, for example, 10 times.

[0061] In this embodiment, step 3 includes:

[0062] Step 301: Define the positive directions as the front, horizontal to the right, and vertical upward in the vehicle coordinate system.

[0063] Step 302: Obtain the absolute position L of the vehicle at the end of the previous judgment period. pre (lon,lat).

[0064] In practice, the vehicle's center point is generally taken as the vehicle's absolute position.

[0065] Step 303: Based on the absolute position L of the vehicle at the end of the previous judgment period. pre (lon,lat), the current verification calculation parameters calculate the absolute position L of the vehicle at the end of the current judgment period. now (lon,Lat).

[0066] In this embodiment, step 303 includes:

[0067] Step 3031: Construct judgment triangles for the front wheel and the rear wheel respectively according to the preset rules.

[0068] In this embodiment, the preset rule is as follows: the center points of the front left wheel and the front right wheel of the vehicle in the previous calculation cycle are respectively used as the first vertex and the second vertex of the judgment triangle. The distance between the third vertex of the judgment triangle and the first vertex is the wheel track, and the distance between the third vertex and the second vertex is the difference in driving distance between the front left wheel and the front right wheel.

[0069] Figure 2 The judgment triangle △A for the front wheel k B k C k : The center point A of the vehicle's front left and front right wheels in the previous calculation cycle k B k To determine the two vertices of the triangle for the front wheel, the other vertex is C. k C is determined based on the following conditions: k With A k The distance is the wheelbase, and B k The distance is the difference in travel distance between the front left wheel and the front right wheel. A k B k Let A be the first side. k C k For the second side, B k C k Let A be the third side; let A be the first side. k B k The side length is a k The second side A k C k The side length is b k The third side B k C k The side length is c k .

[0070] Construct the judgment triangle △D for the rear wheel using the same method. k E k F k D: The center point D of the vehicle's left and right rear wheels in the previous calculation period. k E k To determine the two vertices of the triangle for the rear wheel, the other vertex is F. k F is determined based on the following conditions: k With D k The distance is the wheelbase, and E k The distance is the difference in travel distance between the left and right rear wheels. (D) k E k Let D be the fourth side. k F k For the fifth side, F k E k The sixth side; the fourth side D k E k The side length is d k Fifth side D k F k The side length is e k The sixth side F k E k The side length is f k .

[0071] Step 3032: Calculate the current front wheel reference steering angle α of the vehicle according to the first preset formula within the judgment triangle. k Rear wheel reference steering angle β k .

[0072] In practice, k = 1, 2, ..., n, where n represents the number of calculations in one judgment cycle. n can be selected according to actual needs, for example, n = 10.

[0073] like Figure 2 As shown, in the front wheel judgment triangle, the first side A k B k With the second side A k C k The included angle is the front wheel reference steering angle α. k Similarly, the fourth side D k E k With the fifth side D k F k The included angle is the rear wheel reference steering angle β. k .

[0074] In this embodiment, the first preset formula is:

[0075] sin(α k / 2)=(c k / 2) / a k sin(β) k / 2)=(f k / 2) / d k ,

[0076] Where, α k Indicates the current front wheel reference steering angle, β k Indicates the current rear wheel reference steering angle, a k Indicates the first side A k B k The side length, b k Indicates the second side A k C k The side length, c k Indicates the third side B k C k The side length, d k Indicates the fourth side D k E k The side length, e k Indicates the fifth side D k F k The side length, f k Indicates the sixth side F k E k The side length.

[0077] Step 3033: Determine the current front wheel reference steering angle α k Rear wheel reference steering angle β k If at least one of the reference angles is within a preset angle threshold, then that reference angle is taken as the valid reference angle θ. k Proceed to the next step; otherwise, discard the current calculation and return to step 3032.

[0078] Step 3034: Calculate the absolute position L of the left wheel before the previous calculation cycle according to the second preset formula. wfl_k-1 (lon,lat).

[0079] In this embodiment, the second preset formula is:

[0080] L wfl_k-1 .lon=L k-1 .lon-W r / 2,

[0081] L wfl_k-1 .lat=L k-1 .lat+W b / 2,

[0082] L0(lon,lat)=L pre (lon,lat)

[0083] Among them, L wfl_k-1 (lon,lat) represents the absolute position of the left wheel before the previous calculation cycle, L k-1 (lon,lat) represents the absolute position of the vehicle in the previous calculation cycle, W b W represents the wheelbase. r Indicates wheel track.

[0084] Step 3035: Calculate the absolute position L of the front left wheel in the current calculation cycle according to the third preset formula. wfl_k (lon,lat).

[0085] In this embodiment, the third preset formula is:

[0086] L wfl_k .lon=L wfl_k-1-i .lon-L fl_k *sinθ k ,

[0087] L wfl_k .lat=L wfl_k-1-i .lat+L fl_k *cosθ k ,

[0088] L fl_k =V fl_k*t*(i+1), L fr_k =V fr_k *t*(i+1),

[0089] Among them, L wfl_k (lon,lat) represents the absolute position of the front left wheel in the current calculation cycle, where L is the position of the front left wheel. wfl_k-1-i (lon,lat) represents the absolute position of the left wheel before the first (1+i)th calculation cycle, θ k Indicates the currently valid reference angle, L fl_k Indicates the displacement of the front left wheel, i represents the number of failure angles, and V fl_k V fr_k These represent the wheel speeds of the front left and front right wheels, respectively, and t represents the preset cycle.

[0090] In this embodiment, the failure angle count i is defined as the number of consecutive failure angles preceding the current valid angle. For example, if the current calculation is the 3rd time, and the 2nd and 1st angles were both failure angles, then i = 2.

[0091] Step 3036: Calculate the absolute position L of the current vehicle according to the fourth preset formula. k (lon, lat).

[0092] In this embodiment, the fourth preset formula is:

[0093] L k .lon=L wfl_k .lon+W r / 2,

[0094] L k .lat=L wfl_k .lat-W b / 2,

[0095] Among them, L k (lon,lat) represents the absolute position of the current vehicle, L wfl_k (lon,lat) represents the absolute position of the front left wheel in the current calculation cycle, W b W represents the wheelbase. r Indicates wheel track.

[0096] Step 3037: Determine whether the current calculation count k is equal to the calculation count n of the judgment period. If yes, then set the absolute position L of the current vehicle. k (lon, Lat) is assigned the absolute position L of the current vehicle. now (lon,Lat) and proceed to the next step; otherwise, increment the current number of calculations k by 1 and return to step 3032.

[0097] Step 304: Based on the absolute position L of the vehicle at the end of the previous judgment period. pre (lon,lat), the absolute position L of the vehicle at the end of the current judgment period. now (lon,Lat) calculates the total vehicle displacement D at the end of the current judgment period. n .

[0098] In this embodiment, the total vehicle displacement D at the end of the current judgment period n Calculate using the following formula:

[0099]

[0100] Among them, L pre (lon,lat) represents the absolute position of the vehicle at the end of the previous judgment period, where L now (lon,Lat) represents the absolute position of the vehicle at the end of the current judgment period.

[0101] Step 4: Obtain the second positioning information of the unreliable system, and calculate the distance S to be verified based on the initial positioning information. n The second positioning information is the positioning information output by the unreliable system positioning algorithm at the same time as the end of the current judgment period.

[0102] In specific implementation, the second positioning information is denoted as P2(lon,lat).

[0103] In this embodiment, the distance S to be verified n Determined according to the following preset formula:

[0104]

[0105] Step 5: Determine the total displacement D at the end of the current determination period. n The distance S to be verified n If the deviation exceeds the preset distance threshold Δs, the unreliable system is determined to be faulty; otherwise, the unreliable system is determined to be valid and the process returns to step 2.

[0106] In practice, the preset distance threshold △s can be determined and adjusted through actual vehicle road tests.

[0107] When the unreliable system is determined to have failed, an alarm module can be notified for processing, such as resetting the positioning system.

[0108] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A location information verification method based on a domain controller, characterized in that, include: Step 1: Set the verification base point, which is the initial positioning information output by the unreliable system; Step 2: Obtain the current verification calculation parameters at a preset cycle. The verification calculation parameters include the four wheel speeds, steering wheel angle, and vehicle speed. Step 3: Calculate the total vehicle displacement at the end of the current judgment period based on the current verification calculation parameters; Step 4: Obtain the second positioning information of the unreliable system and calculate the distance to be verified based on the initial positioning information. The second positioning information is the positioning information output by the unreliable system positioning algorithm at the same time as the end of the current judgment period. Step 5: Determine whether the deviation between the total displacement at the end of the current judgment period and the distance to be verified exceeds a preset distance threshold. If yes, the unreliable system is determined to be faulty; otherwise, the unreliable system is determined to be effective. Step 3 includes: constructing judgment triangles for the front wheel and the rear wheel according to preset rules; The judgment triangle △A for the front wheel k B k C k For: the center point A of the vehicle's left and right front wheels in the previous calculation cycle. k B k Let C be a vertex. k According to C k With A k The distance is the wheelbase W. r , with B k The distance is determined by the difference in travel distance between the front left wheel and the front right wheel, A k B k The side length is a k A k C k The side length is b k B k C k The side length is c k ; Construct the judgment triangle △D for the rear wheel according to the same rules. k E k F k D k E k The side length is d k D k F k The side length is e k F k E k The side length is f k ; According to sin(α) k / 2)=(c k / 2) / a k sin(β) k / 2)=(f k / 2) / d k Calculate the current front wheel reference steering angle α of the vehicle. k Rear wheel reference steering angle β k ; Determine whether at least one of the current front wheel reference angle and rear wheel reference angle has an error within a preset angle threshold compared to the steering wheel angle. If yes, use that reference angle as a valid reference angle and proceed to the next step; otherwise, discard the current calculation and return to the previous step. According to L wfl_k-1 .lon=L k-1 .lon-W r / 2,L wfl_k-1 .lat=L k-1 .lat+W b / 2, L0(lon,lat)=L pre (lon,lat) calculates the absolute position L of the left wheel before the previous calculation cycle. wfl_k-1 (lon,lat), L k-1 (lon,lat) represents the absolute position of the vehicle in the previous calculation period, where L is the position of the vehicle. pre (lon,lat) represents the absolute position of the vehicle at the end of the previous judgment period, W b Indicates wheelbase; According to L wfl_k .lon=L wfl_k-1-i .lon-L fl_k *sinθ k L wfl_k .lat=L wfl_k-1-i .lat+L fl_k *cosθ k L fl_k =V fl_k *t*(i+1), L fr_k =V fr_k *t*(i+1) calculates the absolute position L of the front left wheel in the current calculation cycle. wfl_k (lon,lat), θ k Indicates the currently valid reference angle, L fl_k Indicates the displacement of the front left wheel, i represents the number of failure angles, and V fl_k V fr_k These represent the wheel speeds of the front left wheel and the front right wheel, respectively, and t represents the preset cycle. According to L k .lon=L wfl_k .lon+W r / 2,L k .lat=L wfl_k .lat-W b / 2 Calculate the absolute position L of the current vehicle k (lon, lat); Determine if the current calculation count k is equal to the calculation count n of the judgment period. If yes, then set the absolute position L of the current vehicle. wfl_k (lon,lat) is assigned to the absolute position L of the current vehicle. now (lon,Lat) and proceed to the next step; otherwise, increment the current calculation count by 1 and return to the current front wheel reference steering angle α. k Rear wheel reference steering angle β k The calculation steps; Based on the vehicle's absolute position L at the end of the previous judgment period pre (lon,lat), the absolute position L of the vehicle at the end of the current judgment period. now (lon,Lat) calculates the total vehicle displacement D at the end of the current judgment period. n .

2. The location information verification method based on a domain controller according to claim 1, characterized in that, The total vehicle displacement D at the end of the current judgment period n Calculate using the following formula: Among them, L pre (lon,lat) represents the absolute position of the vehicle at the end of the previous judgment period, where L now (lon,Lat) represents the absolute position of the vehicle at the end of the current judgment period.

3. The location information verification method based on a domain controller according to claim 1, characterized in that, The distance to be verified is determined according to the following preset formula: Where P0(lon,lat) represents the initial positioning information and P2(lon,lat) represents the second positioning information.

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