A vehicle weighing positioning method, device, equipment and storage medium

Abstract

The application discloses a vehicle weighing positioning method and device, equipment and storage medium, relates to the unmanned vehicle weighing positioning technical field, and comprises the following steps: when a vehicle enters a weighing area, obtaining a GPS positioning result through a real-time dynamic carrier phase difference technology, and screening laser detection data corresponding to a preset mark area from data detected by a laser radar based on the GPS positioning result; determining a laser positioning result of the vehicle according to a matching relationship between the laser detection data and map data of the preset mark area; and calculating a final positioning result of the vehicle based on the GPS positioning result and the laser positioning result by using a Kalman filtering algorithm, and completing a weighing process of the vehicle based on the final positioning result. In this way, the application can accurately position the vehicle position when the vehicle is weighed, and can avoid overturning accidents of the unmanned vehicle during the weighing process, thereby improving safety.

Description

Technical Field

[0001] This invention relates to the field of weighing and positioning technology for unmanned vehicles, and particularly to a vehicle weighing and positioning method, device, equipment, and storage medium. Background Technology

[0002] With the continuous development of autonomous driving technology, its applications are becoming increasingly widespread. Automated transportation of ore and finished products within mining areas using autonomous vehicles can effectively reduce transportation costs, decrease safety accidents, and improve production efficiency, thus possessing promising application prospects. Precise vehicle positioning is a fundamental prerequisite for achieving safe and accurate autonomous driving. Existing positioning technologies, due to variations in GPS signal strength and the accuracy of pre-set high-precision maps, can have deviations of tens of centimeters. However, during transportation in mining areas, vehicles need to travel to weighbridges for weighing to calculate the transport volume. Weighbridges are typically 20-30 centimeters wider than the vehicle's left and right wheels; if the wheels exceed the width of the weighbridge, accidents such as overturning may occur. Considering a control error of 10-20 centimeters during autonomous driving, the positioning error during weighing must be less than 10 centimeters to avoid overturning accidents.

[0003] Therefore, ensuring high-precision positioning of vehicles during the weighing process is a problem that needs to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a vehicle weighing and positioning method, device, equipment, and storage medium, which can accurately locate the vehicle to be weighed using GPS positioning results and lidar positioning results, thereby completing the vehicle weighing process. The specific solution is as follows:

[0005] Firstly, this application provides a vehicle weighing and positioning method, including:

[0006] When a vehicle enters the weighing area, the GPS positioning result is obtained through real-time dynamic carrier phase difference technology, and the laser detection data corresponding to the preset marker area is selected from the data detected by the lidar based on the GPS positioning result.

[0007] The laser positioning result of the vehicle is determined based on the matching relationship between the laser detection data and the map data of the preset marker area;

[0008] The final positioning result of the vehicle is calculated using the Kalman filter algorithm based on the GPS positioning result and the laser positioning result, and the weighing process of the vehicle is completed based on the final positioning result.

[0009] Optionally, before filtering the laser detection data corresponding to the preset marker area from the data detected by the lidar based on the GPS positioning result, the method further includes:

[0010] Collect lidar data in any area of ​​a vehicle weighing scenario;

[0011] An environmental map of the corresponding area is created based on the lidar data, and the area corresponding to the environmental map is determined as the preset marker area.

[0012] Optionally, the step of filtering laser detection data corresponding to the preset marker area from the data detected by the lidar based on the GPS positioning result includes:

[0013] Based on the GPS positioning results, the data detected by the lidar is converted to a preset coordinate system so that the current preset coordinate system carries the converted data points;

[0014] The target marker region corresponding to the preset marker region in the current preset coordinate system is determined, and the data points located outside the target marker region in the current preset coordinate system are filtered out to select the laser detection data corresponding to the preset marker region.

[0015] Optionally, determining the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area includes:

[0016] The laser positioning result of the vehicle is determined based on a preset map matching function and by utilizing the matching relationship between the laser detection data and the map data of the preset marker area.

[0017] Optionally, the step of calculating the final positioning result of the vehicle using the Kalman filter algorithm based on the GPS positioning result and the laser positioning result includes:

[0018] The GPS positioning results and the laser positioning results are decomposed into horizontal and vertical components according to the current direction of the vehicle weighing scale.

[0019] Based on the Kalman filter algorithm, the horizontal components corresponding to the GPS positioning results and the laser positioning results are fused to obtain the horizontal positioning result;

[0020] The final positioning result of the vehicle is determined based on the lateral positioning result and the longitudinal component corresponding to the GPS positioning result.

[0021] Optionally, the process of weighing the vehicle based on the final positioning result includes:

[0022] Obtain the first pose of the current vehicle weighbridge center position in the preset coordinate system;

[0023] The second pose of the vehicle in the preset coordinate system is determined based on the GPS positioning results.

[0024] The third pose of the vehicle in the preset coordinate system is determined based on the final positioning result;

[0025] The weighing process of the vehicle is completed based on the first pose, the second pose, and the third pose.

[0026] Optionally, the process of weighing the vehicle based on the first pose, the second pose, and the third pose includes:

[0027] The position of the vehicle is adjusted based on the first pose, the second pose, and the third pose in order to perform the weighing process of the vehicle.

[0028] The determination of whether to complete the weighing process of the vehicle is based on whether the real-time GPS positioning result of the vehicle and the center position of the current vehicle weighing scale are greater than the preset weighing distance.

[0029] Secondly, this application provides a vehicle weighing and positioning device, comprising:

[0030] The GPS positioning result determination module is used to determine the GPS positioning result obtained by real-time dynamic carrier phase difference technology when the vehicle enters the weighing area.

[0031] The laser detection data filtering module is used to filter out laser detection data corresponding to the preset marked area from the data detected by the lidar based on the GPS positioning results;

[0032] The laser positioning result determination module is used to determine the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area;

[0033] The final positioning result calculation module is used to calculate the final positioning result of the vehicle based on the GPS positioning result and the laser positioning result using the Kalman filter algorithm, and to complete the weighing process of the vehicle based on the final positioning result.

[0034] Thirdly, this application provides an electronic device, comprising:

[0035] Memory, used to store computer programs;

[0036] A processor is used to execute the computer program to implement the vehicle weighing and positioning method as described above.

[0037] Fourthly, this application provides a computer-readable storage medium for storing a computer program that, when executed by a processor, implements the vehicle weighing and positioning method described above.

[0038] Therefore, this application can, when a vehicle enters the weighing area, obtain GPS positioning results using real-time dynamic carrier phase differential technology, and based on these GPS positioning results, filter laser detection data corresponding to a preset marker area from the data detected by LiDAR; then, determine the vehicle's laser positioning result based on the matching relationship between the laser detection data and the map data of the preset marker area; finally, calculate the vehicle's final positioning result using the Kalman filter algorithm based on the GPS positioning result and the laser positioning result, and complete the vehicle weighing process based on the final positioning result. In this way, this application can calculate the accurate positioning result of the vehicle to be weighed based on the GPS positioning result and the positioning result processed through the preset marker area, thus completing the vehicle weighing process, avoiding overturning accidents during the weighing process of unmanned vehicles, improving vehicle weighing efficiency, and enhancing safety. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 This is a flowchart of a vehicle weighing and positioning method disclosed in this application;

[0041] Figure 2 This is a schematic diagram of a marking area disclosed in this application;

[0042] Figure 3 This is a flowchart of a specific vehicle weighing and positioning method disclosed in this application;

[0043] Figure 4 This is a schematic diagram of a vehicle weighing system disclosed in this application;

[0044] Figure 5 This is a schematic diagram of the structure of a vehicle weighing and positioning device disclosed in this application;

[0045] Figure 6 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] See Figure 1 As shown, an embodiment of the present invention discloses a vehicle weighing and positioning method, including:

[0048] Step S11: When the vehicle enters the weighing area, the GPS positioning result obtained by real-time dynamic carrier phase difference technology is used, and the laser detection data corresponding to the preset marker area is selected from the data detected by the lidar based on the GPS positioning result.

[0049] In this application, when a vehicle enters the weighing area, the current GPS positioning result of the vehicle can be obtained through RTK-GPS (Real-time Dynamic Carrier Phase Differential Technology); simultaneously, environmental data of the surrounding environment is collected by LiDAR; then, based on the GPS positioning result, laser detection data corresponding to a preset marker area is filtered from the environmental data detected by the LiDAR. In a specific embodiment, before filtering the laser detection data corresponding to the preset marker area from the data detected by the LiDAR based on the GPS positioning result, the process may further include: collecting LiDAR data of any area in the vehicle weighing scenario; creating an environmental map of the corresponding area based on the LiDAR data, and determining the area corresponding to the environmental map as the preset marker area. Specifically, LiDAR data of any area in the vehicle weighing scenario can be collected; any area may include weighing electronic signs, weighing equipment rooms, and other related areas. Then, a corresponding environmental map is created based on the LiDAR data corresponding to that area, and the area corresponding to the environmental map is determined as the preset marker area.

[0050] In one specific embodiment, the step of filtering laser detection data corresponding to a preset marker area from the data detected by the lidar based on the GPS positioning result may include: converting the data detected by the lidar to a preset coordinate system based on the GPS positioning result, so that the current preset coordinate system carries the converted data points; determining the target marker area corresponding to the preset marker area in the current preset coordinate system, and filtering out data points located outside the target marker area in the current preset coordinate system to filter out the laser detection data corresponding to the preset marker area. Specifically, the environmental data related to the current GPS positioning result collected by the lidar is converted to a preset coordinate system, thus obtaining a preset coordinate system carrying data points; then, the target marker area of ​​the preset marker area in this coordinate system is determined, and data points outside the target marker area are filtered out, thus obtaining the laser detection data corresponding to the preset marker area. For example, for the data point set P acquired by the lidar... L =(x i y i , z i ) T According to GPS positioning results and the coordinate transformation rules between lidar and GPS sensors According to the formula Data points can be transformed to a global coordinate system. Based on the target marker region in the coordinate system corresponding to the preset marker region, data points located outside the target marker region are filtered out to obtain the marker region data point set P′. M (Laser detection data)

[0051] like Figure 2 As shown, number 5 represents the weighbridge, number 1 represents the first electronic weighing indicator, number 2 represents the second electronic weighing indicator, number 4 represents the preset marked area, number 3 represents the data collected by the lidar within the marked area, and number 6 represents the filtered lidar data. Specifically, before a vehicle is weighed, the lidar can collect data about the surrounding environment. The preset marked area can be the electronic weighing indicator represented by numbers 1 and / or 2 in the diagram. Then, based on the correspondence between the data collected by the lidar and the preset marked area, the lidar detection data is determined. That is, by converting the data to a preset coordinate system to obtain each data point, and filtering the data points within the preset marked area, the lidar detection data is obtained.

[0052] Step S12: Determine the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area.

[0053] Furthermore, the laser positioning result of the current vehicle can be determined based on the matching relationship between the laser detection data and the map data of the preset marker area. In a specific embodiment, determining the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area may include: determining the laser positioning result of the vehicle based on a preset map matching function and utilizing the matching relationship between the laser detection data and the map data of the preset marker area. Specifically, a preset map matching function can be used for map matching; for example, based on the data point set P′ of the target marker area being compared. M and high-precision maps of preset key areas M M Construct the objective function f = ∑ i (p i -q i ) 2 p i ∈P′ M q i ∈M M , and q i For M M Mid-range p i For the nearest point, apply the gradient descent optimization algorithm to obtain the coordinate transformation between the LiDAR and the global coordinate system when f is minimized. This is the result of laser positioning.

[0054] Step S13: Calculate the final positioning result of the vehicle using the GPS positioning result and the laser positioning result based on the Kalman filter algorithm, and complete the weighing process of the vehicle based on the final positioning result.

[0055] In this application, after obtaining the GPS positioning results and the laser positioning results, these two positioning results can be fused based on the Kalman filter algorithm, thus obtaining a more accurate final positioning result; then, the weighing process is completed based on the current final positioning result of the vehicle. It is understood that this application can perform real-time positioning and adjust the vehicle position based on the positioning results to complete the vehicle weighing.

[0056] In one specific embodiment, the process of weighing the vehicle based on the final positioning result may include: obtaining a first pose of the current vehicle weighbridge center position in a preset coordinate system; determining a second pose of the vehicle in the preset coordinate system based on the GPS positioning result; determining a third pose of the vehicle in the preset coordinate system based on the final positioning result; and completing the vehicle weighing process based on the first pose, the second pose, and the third pose. Specifically, the first pose of the current vehicle weighbridge center in the preset coordinate system, the third pose of the final positioning result in the preset coordinate system, and the second pose of the GPS positioning result in the preset coordinate system may be obtained; then, the vehicle position may be adjusted according to the first pose, the second pose, and the third pose to complete the vehicle weighing process.

[0057] In another specific embodiment, the process of weighing the vehicle based on the first pose, the second pose, and the third pose may include: adjusting the vehicle's position based on the first pose, the second pose, and the third pose to facilitate the weighing process; and determining whether the weighing process is complete based on whether the distance between the vehicle's real-time GPS positioning result and the center position of the current vehicle weighbridge is greater than a preset weighing distance. Specifically, the vehicle's position can be adjusted based on the first pose, the second pose, and the third pose to ensure that the vehicle stops precisely on the weighbridge, thus reducing positional deviation during weighing and preventing vehicle overturning. Correspondingly, after weighing is completed, the determination of whether the weighing process is complete can be made based on whether the distance between the real-time GPS positioning result (second pose) and the center position of the current vehicle weighbridge (first pose) is greater than a preset weighing distance. In one specific embodiment, after the vehicle has driven a certain distance away from the weighbridge, the vehicle positioning mode can be switched to GPS positioning only; when the vehicle is being weighed, the weighing positioning method of this application is used to guide the vehicle to weigh; this can improve the positioning accuracy of the weighing process and reduce the positioning cost during non-weighing times.

[0058] Therefore, this application can obtain the final positioning result by combining GPS positioning results and laser positioning results during vehicle weighing, and use the final positioning result to guide the vehicle to complete the weighing process; this can improve the positioning accuracy of the vehicle during weighing and reduce the occurrence of vehicle overturning; and this application can adjust the vehicle position in a timely manner by combining the weighbridge position, the final positioning result of the vehicle and the vehicle GPS positioning result during the vehicle weighing process, and can determine whether the vehicle has completed the weighing based on the real-time GPS positioning result.

[0059] See Figure 3 As shown, an embodiment of the present invention discloses a vehicle weighing and positioning method, including:

[0060] Step S21: When the vehicle enters the weighing area, the GPS positioning result obtained by real-time dynamic carrier phase differential technology is used to filter out the laser detection data corresponding to the preset marker area from the data detected by the lidar based on the GPS positioning result.

[0061] Step S22: Determine the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area.

[0062] Step S23: Using the GPS positioning results and the laser positioning results, decompose them into horizontal and vertical components according to the direction of the current vehicle weighing scale.

[0063] In this embodiment, the GPS positioning result and laser positioning result of the vehicle can be decomposed into lateral and longitudinal components according to the current direction of the vehicle weighbridge; in a specific embodiment, the pose of the weighbridge in the preset coordinate system is S. W =(x W y W , z W θ W ) T Where θ is the heading angle, representing the vehicle's orientation, i.e., the amount of rotation of the vehicle around the Z-axis in the coordinate system. The pose of the GPS positioning result in the coordinate system is S. G =(x G y G , z G θ G ) T The pose of the laser positioning result in the coordinate system is S. L =(x L y L , z L θ L ) T In this way, S can be calculated. G With S L Compared to S W The horizontal and vertical positioning results, Lat G Lon represents the lateral component of the GPS positioning result. G This represents the longitudinal component of the GPS positioning result; correspondingly, Lon L and Lat L This represents the horizontal and vertical components of the laser positioning result. The specific formula is as follows:

[0064]

[0065]

[0066] Step S24: Based on the Kalman filter algorithm, fuse the lateral components corresponding to the GPS positioning result and the laser positioning result to obtain the lateral positioning result.

[0067] Furthermore, the lateral components of GPS positioning results and laser positioning results can be filtered and fused based on the Kalman filter algorithm to obtain a lateral positioning result. It is understood that during the vehicle weighing process, the left and right positioning deviation of the vehicle needs to be considered more often. Therefore, this application can fuse the lateral components of GPS positioning results and laser positioning results to obtain an accurate lateral positioning result.

[0068] Step S25: Determine the final positioning result of the vehicle based on the lateral positioning result and the longitudinal component corresponding to the GPS positioning result, and complete the weighing process of the vehicle based on the final positioning result.

[0069] In this embodiment, the final vehicle positioning result can be determined based on the precise lateral positioning result and the longitudinal component corresponding to the GPS positioning result. It can be understood that during the vehicle weighing process, as long as the distances between the front and rear ends of the vehicle and the left and right sides of the weighbridge are determined before the vehicle enters the weighbridge, it can accurately enter the weighbridge for weighing. Therefore, this application utilizes the longitudinal component of the GPS positioning result and the fused lateral positioning result to ensure accurate vehicle weighing. After obtaining the final vehicle positioning result, the vehicle position can be adjusted according to this final positioning result to guide the vehicle through the weighing process. In a specific embodiment, Lat... G With Lat L This yields the lateral positioning result Lat′; then, it is combined with the longitudinal component Lon of the GPS positioning result. G This allows us to obtain a high-precision final positioning result S′=(x′,y′,z′). G θ G ) T In the final positioning result, Z and θ are the same as Z in the GPS positioning result. G and θ G Based on Lat′ and Lon G The formulas for calculating x' and y' in the final positioning result can be shown below:

[0070]

[0071] In specific embodiments, such as Figure 4The diagram shows a vehicle being weighed on a weighbridge. Number 7 represents the vehicle, number 8 represents the vehicle's attached LiDAR, number 5 represents the weighbridge, number 9 represents the third electronic weighing indicator, and number 10 represents the weighing equipment room. Specifically, this application achieves accurate lateral positioning by fusing the lateral components of GPS and LiDAR positioning results. Combining this with the longitudinal component of the GPS positioning results yields a precise final positioning result, preventing the vehicle from tipping over and improving the safety of vehicle weighing.

[0072] For more detailed processing of steps S21 and S22, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0073] Therefore, this application can integrate the lateral components of GPS positioning results and laser positioning results relative to the weighbridge direction to obtain accurate lateral positioning results. Combining these with the longitudinal component of the GPS positioning results allows for the determination of the vehicle's final positioning. This improves positioning accuracy and reduces computational complexity. The vehicle's position can then be adjusted promptly based on the final positioning result to complete the weighing process.

[0074] like Figure 5 As shown in the figure, this application discloses a vehicle weighing and positioning device, including:

[0075] GPS positioning result determination module 11 is used to determine the GPS positioning result obtained by real-time dynamic carrier phase difference technology when the vehicle enters the weighing area.

[0076] The laser detection data filtering module 12 is used to filter out laser detection data corresponding to a preset marker area from the data detected by the lidar based on the GPS positioning results.

[0077] The laser positioning result determination module 13 is used to determine the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area;

[0078] The final positioning result calculation module 14 is used to calculate the final positioning result of the vehicle based on the GPS positioning result and the laser positioning result using the Kalman filter algorithm, and to complete the weighing process of the vehicle based on the final positioning result.

[0079] Therefore, this application can calculate the precise location of the weighing vehicle based on the GPS positioning results and the famine positioning results processed by the preset marker area. This can complete the vehicle weighing process, avoid overturning accidents during the weighing process of unmanned vehicles, improve vehicle weighing efficiency, and enhance safety.

[0080] In one specific embodiment, the device may further include:

[0081] The lidar data acquisition unit is used to collect lidar data in any area of ​​the vehicle weighing scenario.

[0082] The marker area determination unit is used to create an environmental map of the corresponding area based on the lidar data, and to determine the area corresponding to the environmental map as the preset marker area.

[0083] In one specific embodiment, the laser detection data filtering module 12 may include:

[0084] The data conversion unit is used to convert the data detected by the lidar to a preset coordinate system based on the GPS positioning result, so that the current preset coordinate system carries the converted data points;

[0085] The region filtering unit is used to determine the target marker region corresponding to the preset marker region in the current preset coordinate system, and to filter out data points located outside the target marker region in the current preset coordinate system to filter out laser detection data corresponding to the preset marker region.

[0086] In one specific embodiment, the laser positioning result determination module 13 may include:

[0087] The laser positioning result determination unit is used to determine the laser positioning result of the vehicle based on a preset map matching function and by utilizing the matching relationship between the laser detection data and the map data of the preset marker area.

[0088] In one specific embodiment, the final positioning result calculation module 14 may include:

[0089] The positioning result decomposition unit is used to decompose the GPS positioning result and the laser positioning result into a horizontal component and a vertical component according to the direction of the current vehicle weighing scale.

[0090] The component fusion unit is used to fuse the lateral components corresponding to the GPS positioning result and the laser positioning result based on the Kalman filter algorithm to obtain the lateral positioning result.

[0091] The final positioning result determination unit is used to determine the final positioning result of the vehicle based on the lateral positioning result and the longitudinal component corresponding to the GPS positioning result.

[0092] In one specific embodiment, the final positioning result calculation module 14 may include:

[0093] The first pose acquisition unit is used to acquire the first pose of the center position of the current vehicle weighbridge in the preset coordinate system.

[0094] The second pose acquisition unit is used to determine the second pose of the vehicle in the preset coordinate system based on the GPS positioning result.

[0095] The third pose acquisition unit is used to determine the third pose of the vehicle in the preset coordinate system based on the final positioning result.

[0096] The weighing position adjustment submodule is used to complete the weighing process of the vehicle based on the first pose, the second pose, and the third pose.

[0097] In another specific embodiment, the weighing position adjustment submodule may include:

[0098] A vehicle position adjustment unit is used to adjust the position of the vehicle based on the first pose, the second pose, and the third pose in order to perform the weighing process of the vehicle.

[0099] The weighing completion judgment unit is used to determine whether the weighing process of the vehicle is completed based on whether the real-time GPS positioning result of the vehicle and the center position of the current vehicle weighing scale are greater than a preset weighing distance.

[0100] Furthermore, embodiments of this application also disclose an electronic device, Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0101] Figure 6 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the vehicle weighing and positioning method disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0102] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0103] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0104] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the vehicle weighing and positioning method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program capable of performing other specific tasks.

[0105] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned vehicle weighing and positioning method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0106] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0107] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0109] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0110] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle weighing and positioning method, characterized in that, include: When a vehicle enters the weighing area, the GPS positioning result is obtained through real-time dynamic carrier phase difference technology, and the laser detection data corresponding to the preset marker area is selected from the data detected by the lidar based on the GPS positioning result. The laser positioning result of the vehicle is determined based on the matching relationship between the laser detection data and the map data of the preset marker area; The final positioning result of the vehicle is calculated using the GPS positioning result and the laser positioning result based on the Kalman filter algorithm, and the weighing process of the vehicle is completed based on the final positioning result. The step of calculating the final positioning result of the vehicle using the Kalman filter algorithm based on the GPS positioning result and the laser positioning result includes: The GPS positioning results and the laser positioning results are decomposed into horizontal and vertical components according to the current direction of the vehicle weighing scale. Based on the Kalman filter algorithm, the horizontal components corresponding to the GPS positioning results and the laser positioning results are fused to obtain the horizontal positioning result; The final positioning result of the vehicle is determined based on the lateral positioning result and the longitudinal component corresponding to the GPS positioning result; The step of filtering laser detection data corresponding to a preset marker area from the data detected by the lidar based on the GPS positioning result includes: Based on the GPS positioning results, the data detected by the lidar is converted to a preset coordinate system so that the current preset coordinate system carries the converted data points; the preset coordinate system is a global coordinate system. The target marker region corresponding to the preset marker region in the current preset coordinate system is determined, and the data points located outside the target marker region in the current preset coordinate system are filtered out to select the laser detection data corresponding to the preset marker region.

2. The vehicle weighing and positioning method according to claim 1, characterized in that, Before filtering the laser detection data corresponding to the preset marker area from the data detected by the lidar based on the GPS positioning result, the method further includes: Collect lidar data in any area of ​​a vehicle weighing scenario; An environmental map of the corresponding area is created based on the lidar data, and the area corresponding to the environmental map is determined as the preset marker area.

3. The vehicle weighing and positioning method according to claim 1, characterized in that, The step of determining the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area includes: The laser positioning result of the vehicle is determined based on a preset map matching function and by utilizing the matching relationship between the laser detection data and the map data of the preset marker area.

4. The vehicle weighing and positioning method according to any one of claims 1 to 3, characterized in that, The process of weighing the vehicle based on the final positioning result includes: Obtain the first pose of the center position of the current vehicle weighbridge in the preset coordinate system; The second pose of the vehicle in the preset coordinate system is determined based on the GPS positioning results. The third pose of the vehicle in the preset coordinate system is determined based on the final positioning result; The weighing process of the vehicle is completed based on the first pose, the second pose, and the third pose.

5. The vehicle weighing and positioning method according to claim 4, characterized in that, The process of weighing the vehicle based on the first pose, the second pose, and the third pose includes: The position of the vehicle is adjusted based on the first pose, the second pose, and the third pose in order to perform the weighing process of the vehicle. The determination of whether to complete the weighing process of the vehicle is based on whether the real-time GPS positioning result of the vehicle and the center position of the current vehicle weighing scale are greater than the preset weighing distance.

6. A vehicle weighing and positioning device, characterized in that, include: The GPS positioning result determination module is used to determine the GPS positioning result obtained by real-time dynamic carrier phase difference technology when the vehicle enters the weighing area. The laser detection data filtering module is used to filter out laser detection data corresponding to a preset marker area from the data detected by the lidar based on the GPS positioning results. The laser positioning result determination module is used to determine the laser positioning result of the vehicle based on the matching relationship between the laser detection data and the map data of the preset marker area; The final positioning result calculation module is used to calculate the final positioning result of the vehicle based on the Kalman filter algorithm using the GPS positioning result and the laser positioning result, and to complete the weighing process of the vehicle based on the final positioning result; The final positioning result calculation module includes: The positioning result decomposition unit is used to decompose the GPS positioning result and the laser positioning result into a horizontal component and a vertical component according to the direction of the current vehicle weighing scale. The component fusion unit is used to fuse the lateral components corresponding to the GPS positioning result and the laser positioning result based on the Kalman filter algorithm to obtain the lateral positioning result. The final positioning result calculation unit is used to determine the final positioning result of the vehicle based on the lateral positioning result and the longitudinal component corresponding to the GPS positioning result; The laser detection data filtering module includes: A data conversion unit is used to convert the data detected by the lidar to a preset coordinate system based on the GPS positioning result, so that the current preset coordinate system carries the converted data points; the preset coordinate system is a global coordinate system. The region filtering unit is used to determine the target marker region corresponding to the preset marker region in the current preset coordinate system, and to filter out data points located outside the target marker region in the current preset coordinate system to filter out laser detection data corresponding to the preset marker region.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the vehicle weighing and positioning method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, Used to store a computer program, which, when executed by a processor, implements the vehicle weighing and positioning method as described in any one of claims 1 to 5.

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