Vehicle positioning jump test method, device and equipment

Abstract

A vehicle positioning jump inspection method, device and equipment, the vehicle positioning jump inspection method includes: when the vehicle positioning undergoes a vertical jump, determining the first elevated level where the vehicle is located based on the height information output based on the matching positioning processing; judging whether the vehicle has passed through an elevated ramp based on the trajectory that the vehicle has traveled in the current journey, and determining the second elevated level where the vehicle is located in combination with the vehicle's driving direction; if the second elevated level is consistent with the first elevated level, it is determined to be a correct vertical jump; if the second elevated level is inconsistent with the first elevated level, it is determined to be an erroneous vertical jump. This application improves the accuracy of vehicle positioning by, when a vertical jump occurs, judging whether the vehicle has passed through an elevated ramp based on the trajectory that the vehicle has traveled in the current journey and determining the elevated level in combination with the vehicle's driving direction, and comparing it with the elevated level obtained by matching positioning to determine whether the vertical jump is correct.

Description

Technical Field

[0001] The present application relates to the field of vehicle positioning technology, and in particular to a vehicle positioning jump detection method, device and equipment. Background Art

[0002] A jump refers to a sudden jump or jump in position data, such as jumping from one position to another in a short period of time. Since high-precision maps cannot output height information due to regulatory requirements, in elevated scenarios, if the number and width of upper and lower lanes are the same, erroneous vertical jumps are prone to occur, that is, the vehicle is actually on the elevated road, but the vehicle is mistakenly located under the elevated road, or the vehicle is actually under the elevated road, but the vehicle is mistakenly located on the elevated road. Summary of the invention

[0003] The present application provides a vehicle positioning jump inspection method, device and equipment, aiming to solve the technical problem that erroneous vertical jumps are prone to occur when the number and width of upper and lower lane lines are the same in an elevated scene.

[0004] In a first aspect, an embodiment of the present application provides a vehicle positioning jump detection method, the vehicle positioning jump detection method comprising:

[0005] When the vehicle positioning undergoes a vertical jump, the first elevated level where the vehicle is located is determined based on the height information output based on the matching positioning processing;

[0006] Detect whether the track that the vehicle has traveled in the current trip can be used to determine the elevated level where the vehicle is located;

[0007] If it can be used to determine the elevated level where the vehicle is located, then determine whether the vehicle has passed the elevated ramp based on the trajectory that the vehicle has traveled in the current journey, and determine the second elevated level where the vehicle is located based on the vehicle's travel direction;

[0008] If the second elevated level is consistent with the first elevated level, it is determined to be a correct vertical jump;

[0009] If the second elevated level is inconsistent with the first elevated level, it is determined to be an erroneous vertical jump.

[0010] Optionally, after detecting whether the track that the vehicle has traveled in the current journey can be used to determine the elevated level where the vehicle is located, the following steps are included:

[0011] If it cannot be used to determine the elevated level where the vehicle is located, the third elevated level where the vehicle is located is determined based on the number of searched stars, the fourth elevated level where the vehicle is located is determined based on road perception and recognition, and the fifth elevated level where the vehicle is located is determined based on the vehicle's planned driving path;

[0012] If the third elevated level, the fourth elevated level, and the fifth elevated level are all consistent with the first elevated level, it is determined to be a correct vertical jump;

[0013] If the third elevated level, the fourth elevated level, and the fifth elevated level are not completely consistent with the first elevated level, it is determined to be an erroneous vertical jump.

[0014] Optionally, the detecting whether the track that the vehicle has traveled in the current journey can be used to determine the elevated level where the vehicle is located includes:

[0015] If the number of data points in the trajectory that the vehicle has traveled in the current trip is less than the preset number, or the trajectory that the vehicle has traveled in the current trip is all in the elevated internal area, it is determined that the trajectory that the vehicle has traveled in the current trip cannot be used to determine the elevated level where the vehicle is located;

[0016] If the number of data points in the trajectory that the vehicle has traveled in its current journey is greater than or equal to a preset number, and the trajectory that the vehicle has traveled in its current journey is not entirely within the elevated area, then it is determined that the trajectory that the vehicle has traveled in its current journey can be used to determine the elevated level at which the vehicle is located.

[0017] Optionally, after the vertical jump is determined to be an error, the method further comprises:

[0018] Output elevated level error reminder for terminal input to confirm elevated level;

[0019] When the confirmed elevated level input by the terminal is received, the elevated level at which the vehicle is located in the vehicle positioning is adjusted to the confirmed elevated level.

[0020] Optionally, determining the third elevated level where the vehicle is located according to the number of searched stars includes:

[0021] If the star search number is greater than the preset star search number, and the change in the star search number within the preset time period is less than the preset change number, then the third elevated level where the vehicle is located is determined to be the topmost level of the elevated level; otherwise, the third elevated level where the vehicle is located is determined to be not at the topmost level of the elevated level.

[0022] Optionally, the vehicle positioning jump detection method further includes:

[0023] When the vehicle positioning changes horizontally, it is detected whether the lane where the vehicle is located based on the output of the combined navigation processing and the matching positioning processing is consistent;

[0024] If they are consistent, it is determined to be a correct level jump; if they are inconsistent, it is determined to be an incorrect level jump;

[0025] If it is a correct horizontal jump, the vehicle positioning based on the output of the fusion positioning processing is smoothed toward the vehicle positioning based on the output of the matching positioning processing after the horizontal jump occurs;

[0026] If it is an erroneous horizontal jump, the vehicle positioning obtained by the track recursive algorithm based on the inertial sensor is used as the output based on the fusion positioning processing, and the confidence of the vehicle positioning output based on the fusion positioning processing is continuously reduced;

[0027] After the confidence level continues to decrease, it is detected whether the matching positioning is restored. If it is restored, the vehicle positioning based on the output of the matching positioning processing is used as the input of the fusion positioning again.

[0028] Optionally, the detecting whether the matching positioning is restored includes:

[0029] When the duration of the continuous decrease in confidence is less than the preset duration, if the lanes of the vehicle output based on the fusion positioning processing and the matching positioning processing are consistent, and the difference between the vehicle positioning output based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, it is determined that the matching positioning is restored, otherwise it is determined that the matching positioning is not restored;

[0030] When the duration of continuous decrease in confidence is greater than or equal to the preset duration, if the vehicle lane output based on the fusion positioning processing and the matching positioning processing is consistent, and the vehicle lane output based on the combined navigation processing and the matching positioning processing is consistent, and the difference between the vehicle positioning based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, and the difference between the vehicle positioning based on the combined navigation processing and the matching positioning processing is less than the second preset difference, then it is determined that the matching positioning is recovered, otherwise it is determined that the matching positioning is not recovered.

[0031] Optionally, when the vehicle positioning undergoes a horizontal jump, before detecting whether the lane where the vehicle is located based on the outputs of the combined navigation processing and the matching positioning processing is consistent, the method includes:

[0032] When the lane where the vehicle is located based on the matching positioning processing output changes, a first lateral distance and a first longitudinal distance between the vehicle positioning before and after the matching positioning are calculated according to the heading angle and the longitude and latitude based on the matching positioning processing output before and after the matching positioning;

[0033] The second lateral distance is obtained by multiplying the lateral speed of the vehicle before the matching positioning by the time length before and after the matching positioning;

[0034] The second longitudinal distance is obtained by multiplying the longitudinal speed of the vehicle before the matching positioning by the time between before and after the matching positioning;

[0035] Multiplying the second longitudinal distance by a preset magnification factor to obtain a third longitudinal distance;

[0036] If the first lateral distance is greater than the second lateral distance, and the first longitudinal distance is greater than the third longitudinal distance, it is determined that a horizontal jump occurs in the vehicle positioning.

[0037] In a second aspect, an embodiment of the present application provides a vehicle positioning jump detection device, the vehicle positioning jump detection device comprising:

[0038] A first determination module is used to determine the first elevated level where the vehicle is located according to the height information output based on the matching positioning process when the vehicle positioning undergoes a vertical jump;

[0039] A detection module, used to detect whether the track that the vehicle has traveled in the current trip can be used to determine the elevated level where the vehicle is located;

[0040] A second determination module is used to determine the elevated level where the vehicle is located, if it can be used to determine the elevated level where the vehicle is located, determine whether the vehicle has passed through the elevated ramp according to the trajectory that the vehicle has traveled in the current journey, and determine the second elevated level where the vehicle is located in combination with the driving direction of the vehicle;

[0041] A third determination module, configured to determine that the vertical transition is correct if the second elevated level is consistent with the first elevated level;

[0042] The fourth determination module is used to determine that it is an erroneous vertical jump if the second elevated level is inconsistent with the first elevated level.

[0043] In the third aspect, an embodiment of the present application provides a vehicle positioning jump verification device, which includes a processor, a memory, and a vehicle positioning jump verification program stored in the memory and executable by the processor, wherein when the vehicle positioning jump verification program is executed by the processor, the steps of the vehicle positioning jump verification method described above are implemented.

[0044] The beneficial effects brought by the technical solution provided by the embodiments of the present application include:

[0045] In an embodiment of the present application, when a vertical jump occurs in the vehicle positioning, the first elevated level where the vehicle is located is determined based on the height information output based on the matching positioning processing; it is detected whether the trajectory that the vehicle has traveled in the current journey can be used to determine the elevated level where the vehicle is located; if it can be used to determine the elevated level where the vehicle is located, it is determined whether the vehicle has passed through the elevated ramp based on the trajectory that the vehicle has traveled in the current journey, and the second elevated level where the vehicle is located is determined in combination with the vehicle's driving direction; if the second elevated level is consistent with the first elevated level, it is determined to be a correct vertical jump; if the second elevated level is inconsistent with the first elevated level, it is determined to be an incorrect vertical jump. In the embodiment of the present application, when a vertical jump occurs, if the elevated level of the vehicle can be determined by the trajectory of the vehicle's current journey, then it is judged whether the vehicle has passed through the elevated ramp based on the trajectory of the vehicle's current journey and the elevated level is determined in combination with the vehicle's driving direction, and compared with the elevated level obtained by matching positioning to determine whether the vertical jump is correct. In this way, if a vertical jump occurs in the elevated scenario due to the same number and width of upper and lower lane lines, the elevated level output by matching positioning can be determined, thereby improving the accuracy of vehicle positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of an embodiment of a vehicle positioning jump inspection method of the present application;

[0047] Figure 2 For this application Figure 1 Detailed flow chart of step S20;

[0048] Figure 3 A schematic diagram of a flow chart of another embodiment of the vehicle positioning jump inspection method of the present application;

[0049] Figure 4 This is a functional module diagram of an embodiment of a vehicle positioning jump detection device of the present application;

[0050] Figure 5 This is a schematic diagram of the hardware structure of the vehicle positioning jump detection equipment involved in the embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0053] A jump refers to a sudden jump or jump in position data, such as a sudden jump from one position to another in a short period of time. The jump of vehicle positioning includes horizontal jump and vertical jump. Horizontal jump refers to the position jump of vehicle positioning in the horizontal direction, such as the jump of lanes, and vertical jump refers to the position jump of vehicle positioning in the vertical direction, such as the jump of elevated levels.

[0054] Matching positioning refers to high-precision map matching positioning technology, which is the process of matching the latitude and longitude sampling sequence of the autonomous driving vehicle's driving trajectory with the high-precision map road network. The matching positioning technology compares the vehicle positioning information with the road position information provided by the high-precision map, and uses appropriate algorithms to determine the vehicle's current driving section and its exact position in the section, correct positioning errors, and provide a reliable basis for autonomous driving path planning.

[0055] Integrated navigation is based on IMU (inertial measurement unit) and GPS / BD (satellite navigation system) to achieve accurate output of carrier position, speed and attitude information.

[0056] Fusion positioning integrates multiple positioning technologies to improve the accuracy and reliability of positioning. Among them, the vehicle positioning output by matching positioning and combined navigation is the input of fusion positioning. Fusion positioning is the downstream positioning technology of matching positioning and combined navigation. Fusion positioning fuses the vehicle positioning output by matching positioning and combined navigation and then outputs the vehicle positioning.

[0057] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0058] In a first aspect, an embodiment of the present application provides a vehicle positioning jump detection method.

[0059] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of a vehicle positioning jump inspection method of the present application, as shown in FIG. Figure 1 As shown, the vehicle positioning jump inspection method includes:

[0060] Step S10, when the vehicle positioning undergoes a vertical jump, the first elevated level where the vehicle is located is determined based on the height information output based on the matching positioning process.

[0061] In this embodiment, when the positioning of the vehicle successfully matches and locates the high-precision map and a vertical jump occurs, which usually occurs in an elevated scenario, the first elevated level where the vehicle is located is determined based on the height information output by the matching and positioning processing, so as to be used for subsequent judgment of the first elevated level to ensure the correctness of the vertical jump.

[0062] Step S20, detecting whether the track that the vehicle has traveled in the current journey can be used to determine the elevated level where the vehicle is located.

[0063] In this embodiment, it is detected whether the trajectory data of the vehicle in the current journey is available and whether it can be used to determine the elevated level where the vehicle is located.

[0064] Step S30, if it can be used to determine the elevated level where the vehicle is located, then determine whether the vehicle has passed the elevated ramp based on the trajectory that the vehicle has traveled in the current journey, and determine the elevated level where the vehicle is located in combination with the vehicle's driving direction.

[0065] In this embodiment, the ramp, also known as the approach road, is a section of the road connecting the upper and lower roads of the overpass and the elevated road, and also refers to the section of the road connecting the expressway with the adjacent auxiliary road. If the trajectory data of the vehicle in the current journey is available, it can be determined whether the vehicle has passed the elevated ramp based on the trajectory of the vehicle in the current journey, and further combined with the driving direction of the vehicle, the elevated level of the vehicle can be determined.

[0066] Step S40: If the second elevated level is consistent with the first elevated level, it is determined to be a correct vertical jump.

[0067] In this embodiment, the reliability of the elevated level determined based on the trajectory of the vehicle's current journey and the vehicle's driving direction is higher, and is compared with the elevated level determined by matching positioning. If they are consistent, it means that the vertical jump is correct.

[0068] Step S50: If the second elevated level is inconsistent with the first elevated level, it is determined to be an erroneous vertical jump.

[0069] In this embodiment, if the second elevated level is inconsistent with the first elevated level, it means that the vertical jump is correct or incorrect, and measures can be taken such as adjusting the elevated level where the vehicle is located.

[0070] In this embodiment, when the positioning of the vehicle undergoes a vertical jump after successful high-precision map matching and positioning, it usually occurs in an elevated scenario. The first elevated level where the vehicle is located can be determined based on the height information output by the matching and positioning processing. The first elevated level is subsequently determined to ensure the correctness of the vertical jump. If the elevated level where the vehicle is located can be determined by the trajectory that the vehicle has traveled in its current journey, the elevated level is determined based on the trajectory that the vehicle has traveled in its current journey to determine whether the vehicle has passed through the elevated ramp and the driving direction of the vehicle. The elevated level is compared with the elevated level obtained by the matching and positioning to determine whether the vertical jump is correct. In this way, if a vertical jump occurs when the number and width of the upper and lower lane lines are consistent in the elevated scenario, the elevated level output by the matching and positioning can be determined to improve the accuracy of vehicle positioning.

[0071] Furthermore, in one embodiment, after step S20, the following steps are included:

[0072] If it cannot be used to determine the elevated level where the vehicle is located, the third elevated level where the vehicle is located is determined based on the number of searched stars, the fourth elevated level where the vehicle is located is determined based on road perception and recognition, and the fifth elevated level where the vehicle is located is determined based on the vehicle's planned driving path;

[0073] If the third elevated level, the fourth elevated level, and the fifth elevated level are all consistent with the first elevated level, it is determined to be a correct vertical jump;

[0074] If the third elevated level, the fourth elevated level, and the fifth elevated level are not completely consistent with the first elevated level, it is determined to be an erroneous vertical jump.

[0075] In this embodiment, if the trajectory data of the vehicle's current journey is not available, and it is impossible to determine whether the vehicle has passed through the elevated ramp based on the trajectory of the vehicle's current journey, then other methods can be used to determine the elevated level, and compare it with the elevated level output based on matching positioning to determine whether the vertical jump is correct, such as using the number of search stars to determine the elevated level where the vehicle is located, and determining the elevated level where the vehicle is located based on road perception and recognition. Specifically, the road signs identified by the perception system and the road sign data of each elevated level in the high-precision map can be compared to determine the elevated level where the vehicle is located. The elevated level where the vehicle is located can also be determined based on the vehicle's planned driving path. To improve the accuracy of the determination, when the third elevated level, the fourth elevated level and the fifth elevated level are all consistent with the first elevated level output based on the matching positioning processing, it is determined to be a correct vertical jump. If it is not completely consistent with the first elevated level, it is determined to be an incorrect vertical jump.

[0076] Further, in one embodiment, referring to Figure 2 , Figure 2 For this application Figure 1The detailed flow chart of step S20 is as follows: Figure 2 As shown, step S20 includes:

[0077] Step S201, if the number of data points in the trajectory that the vehicle has traveled in the current trip is less than a preset number, or the trajectory that the vehicle has traveled in the current trip is all in the elevated internal area, it is determined that the trajectory that the vehicle has traveled in the current trip cannot be used to determine the elevated level where the vehicle is located;

[0078] Step S202: If the number of data points in the trajectory that the vehicle has traveled in the current journey is greater than or equal to a preset number, and the trajectory that the vehicle has traveled in the current journey is not all within the elevated internal area, then it is determined that the trajectory that the vehicle has traveled in the current journey can be used to determine the elevated level at which the vehicle is located.

[0079] In this embodiment, it is detected whether the trajectory data that the vehicle has traveled in the current trip is available and whether it can be used to determine the elevated level where the vehicle is located. Specifically, it can be determined by looking at the number of data points in the trajectory that the vehicle has traveled in the current trip, and whether the trajectory that the vehicle has traveled in the current trip is all within the elevated internal area. If the trajectory data that the vehicle has traveled in the current trip is too little, or the vehicle is started in the elevated internal area and the traveled trajectories are all within the elevated internal area, it is impossible to determine whether the vehicle has passed through the elevated ramp based on the traveled trajectory, and thus it is impossible to determine the elevated level where the vehicle is located.

[0080] Further, in one embodiment, after the vertical transition is determined to be an error, the following steps are included:

[0081] Output elevated level error reminder for terminal input to confirm elevated level;

[0082] When the confirmed elevated level input by the terminal is received, the elevated level at which the vehicle is located in the vehicle positioning is adjusted to the confirmed elevated level.

[0083] In this embodiment, after a vertical jump is determined to be erroneous, an elevated level error reminder can be output through sound and light, etc., allowing the driver and passengers on the vehicle to input their own elevated level through voice or screen operation, etc., and then the elevated level of the vehicle can be adjusted according to the confirmed elevated level input by the driver and passengers, thereby improving the accuracy of vehicle positioning.

[0084] Further, in one embodiment, determining the third elevated level where the vehicle is located according to the number of satellite search comprises:

[0085] If the star search number is greater than the preset star search number, and the change in the star search number within the preset time period is less than the preset change number, then the third elevated level where the vehicle is located is determined to be the topmost level of the elevated level; otherwise, the third elevated level where the vehicle is located is determined to be not at the topmost level of the elevated level.

[0086] In this embodiment, the number of satellite searches refers to the number of satellite signals of the GNSS (Global Navigation Satellite System) received by the mobile device. If the number of satellite searches is large and the number of satellite searches is relatively stable, it can be said that the vehicle is located at the top of the elevated road. Otherwise, it is considered that there is an obstruction in the current environment that causes the satellite signal to be weak, indicating that the vehicle is not located at the top of the elevated road.

[0087] Further, in one embodiment, referring to Figure 3 , Figure 3 This is a flow chart of another embodiment of the vehicle positioning jump inspection method of the present application, such as Figure 3 As shown, the vehicle positioning jump inspection method also includes:

[0088] Step S01, when the vehicle positioning undergoes a horizontal jump, it is detected whether the lane where the vehicle is located based on the outputs of the combined navigation processing and the matching positioning processing is consistent.

[0089] Step S02: If they are consistent, it is determined to be a correct level jump; if they are inconsistent, it is determined to be an incorrect level jump.

[0090] Step S03: If it is a correct horizontal jump, the vehicle positioning output based on the fusion positioning processing is smoothed to the vehicle positioning output based on the matching positioning processing after the horizontal jump occurs.

[0091] Step S04: If it is an erroneous horizontal jump, the vehicle positioning obtained by using the track recursive algorithm based on the inertial sensor is used as the output based on the fusion positioning processing, and the confidence of the vehicle positioning output based on the fusion positioning processing is continuously reduced.

[0092] Step S05, after the confidence level continues to decrease, it is detected whether the matching positioning is restored. If it is restored, the vehicle positioning output based on the matching positioning processing is used as the input of the fusion positioning again.

[0093] In this embodiment, the jump of vehicle positioning is divided into vertical jump and horizontal jump. In addition to the vertical jump that is prone to occur in elevated scenes, in complex scenes such as tunnels and severe weather, sensors such as RTK and cameras that receive external information are easily affected, which can easily lead to horizontal jumps in matching positioning. First, by detecting whether the lanes in which the vehicles are located based on the output of the combined navigation processing and the matching positioning processing are consistent, it is determined whether the horizontal jump is correct. If it is a correct horizontal jump, it means that the matching positioning is available. Since the accuracy of matching positioning using high-precision maps is high, the fusion positioning is smoothed based on the vehicle positioning output based on the matching positioning processing after the horizontal jump occurs. For example, the Kalman filtering method can be used to set the maximum correction amount. If the difference between the two is 5 meters, it is required to complete the smoothing within 3 seconds. When the positioning frequency is 20Hz, the maximum correction distance each time is 5 / (20*3) meters. If it is determined to be an erroneous horizontal jump and the matching positioning is considered unavailable, the vehicle positioning obtained by the track recursion algorithm based on the inertial sensor will be used as the output of the fusion positioning processing. Since the vehicle positioning obtained by the track recursion algorithm based on the inertial sensor will lead to an increasing cumulative error over time, the confidence of the vehicle positioning based on the output of the fusion positioning processing needs to be continuously reduced. After the matching positioning is detected and restored, the vehicle positioning based on the output of the matching positioning processing will be used again as the input of the fusion positioning.

[0094] Further, in one embodiment, the detecting whether the matching positioning is restored includes:

[0095] When the duration of the continuous decrease in confidence is less than the preset duration, if the lanes of the vehicle output based on the fusion positioning processing and the matching positioning processing are consistent, and the difference between the vehicle positioning output based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, it is determined that the matching positioning is restored, otherwise it is determined that the matching positioning is not restored;

[0096] When the duration of continuous decrease in confidence is greater than or equal to the preset duration, if the vehicle lane output based on the fusion positioning processing and the matching positioning processing is consistent, and the vehicle lane output based on the combined navigation processing and the matching positioning processing is consistent, and the difference between the vehicle positioning based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, and the difference between the vehicle positioning based on the combined navigation processing and the matching positioning processing is less than the second preset difference, then it is determined that the matching positioning is recovered, otherwise it is determined that the matching positioning is not recovered.

[0097] In this embodiment, the duration of continuous decrease in confidence is relatively short, and the accumulated error of the vehicle positioning obtained by the track recursion algorithm based on the inertial sensor is relatively small. Whether the matching positioning is restored can be determined only by comparing whether the vehicle lanes output by the fusion positioning processing and the matching positioning processing are consistent, and the difference between the vehicle positioning output by the fusion positioning processing and the matching positioning processing. The duration of continuous decrease in confidence is relatively long, and the accumulated error of the vehicle positioning obtained by the track recursion algorithm based on the inertial sensor will be relatively large. It is necessary to further compare the consistency of the vehicle lanes output by the combined navigation processing and the matching positioning processing, and the difference between the vehicle positioning output by the combined navigation processing and the matching positioning processing, so as to improve the accuracy of detecting whether the matching positioning is restored.

[0098] Furthermore, in one embodiment, before step S01, the following steps are included:

[0099] When the lane where the vehicle is located based on the matching positioning processing output changes, a first lateral distance and a first longitudinal distance between the vehicle positioning before and after the matching positioning are calculated according to the heading angle and the longitude and latitude based on the matching positioning processing output before and after the matching positioning;

[0100] The second lateral distance is obtained by multiplying the lateral speed of the vehicle before the matching positioning by the time length before and after the matching positioning;

[0101] The second longitudinal distance is obtained by multiplying the longitudinal speed of the vehicle before the matching positioning by the time between before and after the matching positioning;

[0102] Multiplying the second longitudinal distance by a preset magnification factor to obtain a third longitudinal distance;

[0103] If the first lateral distance is greater than the second lateral distance, and the first longitudinal distance is greater than the third longitudinal distance, it is determined that a horizontal jump occurs in the vehicle positioning.

[0104] In this embodiment, when it is detected that the lane in which the vehicle is located based on the matching positioning processing output has changed, the lateral distance difference and longitudinal distance difference between the vehicle positioning before and after the matching positioning are further detected. The lateral distance difference and longitudinal distance difference can be calculated by the heading angle and longitude and latitude based on the matching positioning processing output before and after the matching positioning. The horizontal jump is mainly determined by the lateral distance difference. Therefore, an amplification factor is multiplied on the basis of the longitudinal distance difference to relax the detection of the longitudinal distance difference. If the lateral distance difference and longitudinal distance difference between the vehicle positioning before and after the matching positioning are large, it means that the vehicle positioning has undergone a horizontal jump.

[0105] In a second aspect, an embodiment of the present application also provides a vehicle positioning jump detection device.

[0106] In one embodiment, referring to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of a vehicle positioning jump detection device of the present application, as shown in FIG. Figure 4 As shown, the vehicle positioning jump detection device includes:

[0107] A first determination module 10 is used to determine the first elevated level where the vehicle is located according to the height information output based on the matching positioning process when the vehicle positioning undergoes a vertical jump;

[0108] A detection module 20, used to detect whether the track that the vehicle has traveled in the current trip can be used to determine the elevated level where the vehicle is located;

[0109] The second determination module 30 is used to determine the elevated level where the vehicle is located, if it can be used to determine the elevated level where the vehicle is located, determine whether the vehicle has passed through the elevated ramp according to the trajectory that the vehicle has traveled in the current trip, and determine the second elevated level where the vehicle is located in combination with the driving direction of the vehicle;

[0110] A third determination module 40, configured to determine that the vertical transition is correct if the second elevated level is consistent with the first elevated level;

[0111] The fourth determination module 50 is configured to determine that a vertical transition is an error if the second elevated level is inconsistent with the first elevated level.

[0112] Furthermore, in one embodiment, the vehicle positioning jump detection device further includes a fifth determination module, which is used to:

[0113] If it cannot be used to determine the elevated level where the vehicle is located, the third elevated level where the vehicle is located is determined based on the number of searched stars, the fourth elevated level where the vehicle is located is determined based on road perception and recognition, and the fifth elevated level where the vehicle is located is determined based on the vehicle's planned driving path;

[0114] If the third elevated level, the fourth elevated level, and the fifth elevated level are all consistent with the first elevated level, it is determined to be a correct vertical jump;

[0115] If the third elevated level, the fourth elevated level, and the fifth elevated level are not completely consistent with the first elevated level, it is determined to be an erroneous vertical jump.

[0116] Furthermore, in one embodiment, the detection module 20 is used to:

[0117] If the number of data points in the trajectory that the vehicle has traveled in the current trip is less than the preset number, or the trajectory that the vehicle has traveled in the current trip is all in the elevated internal area, it is determined that the trajectory that the vehicle has traveled in the current trip cannot be used to determine the elevated level where the vehicle is located;

[0118] If the number of data points in the trajectory that the vehicle has traveled in its current journey is greater than or equal to a preset number, and the trajectory that the vehicle has traveled in its current journey is not entirely within the elevated area, then it is determined that the trajectory that the vehicle has traveled in its current journey can be used to determine the elevated level at which the vehicle is located.

[0119] Furthermore, in one embodiment, the vehicle positioning jump inspection device further includes a reminder confirmation module, which is used to:

[0120] Output elevated level error reminder for terminal input to confirm elevated level;

[0121] When the confirmed elevated level input by the terminal is received, the elevated level at which the vehicle is located in the vehicle positioning is adjusted to the confirmed elevated level.

[0122] Further, in one embodiment, determining the third elevated level where the vehicle is located according to the number of satellite search comprises:

[0123] If the star search number is greater than the preset star search number, and the change in the star search number within the preset time period is less than the preset change number, then the third elevated level where the vehicle is located is determined to be the topmost level of the elevated level; otherwise, the third elevated level where the vehicle is located is determined to be not at the topmost level of the elevated level.

[0124] Furthermore, in one embodiment, the vehicle positioning jump detection device further includes a level jump detection module, which is used to:

[0125] When the vehicle positioning changes horizontally, it is detected whether the lane where the vehicle is located based on the output of the combined navigation processing and the matching positioning processing is consistent;

[0126] If they are consistent, it is determined to be a correct level jump; if they are inconsistent, it is determined to be an incorrect level jump;

[0127] If it is a correct horizontal jump, the vehicle positioning based on the output of the fusion positioning processing is smoothed toward the vehicle positioning based on the output of the matching positioning processing after the horizontal jump occurs;

[0128] If it is an erroneous horizontal jump, the vehicle positioning obtained by the track recursive algorithm based on the inertial sensor is used as the output based on the fusion positioning processing, and the confidence of the vehicle positioning output based on the fusion positioning processing is continuously reduced;

[0129] After the confidence level continues to decrease, it is detected whether the matching positioning is restored. If it is restored, the vehicle positioning based on the output of the matching positioning processing is used as the input of the fusion positioning again.

[0130] Further, in one embodiment, the detecting whether the matching positioning is restored includes:

[0131] When the duration of the continuous decrease in confidence is less than the preset duration, if the lanes of the vehicle output based on the fusion positioning processing and the matching positioning processing are consistent, and the difference between the vehicle positioning output based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, it is determined that the matching positioning is restored, otherwise it is determined that the matching positioning is not restored;

[0132] When the duration of continuous decrease in confidence is greater than or equal to the preset duration, if the vehicle lane output based on the fusion positioning processing and the matching positioning processing is consistent, and the vehicle lane output based on the combined navigation processing and the matching positioning processing is consistent, and the difference between the vehicle positioning based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, and the difference between the vehicle positioning based on the combined navigation processing and the matching positioning processing is less than the second preset difference, then it is determined that the matching positioning is recovered, otherwise it is determined that the matching positioning is not recovered.

[0133] Furthermore, in one embodiment, the vehicle positioning jump inspection device further includes a level jump confirmation module, which is used to:

[0134] When the lane where the vehicle is located based on the matching positioning processing output changes, a first lateral distance and a first longitudinal distance between the vehicle positioning before and after the matching positioning are calculated according to the heading angle and the longitude and latitude based on the matching positioning processing output before and after the matching positioning;

[0135] The second lateral distance is obtained by multiplying the lateral speed of the vehicle before the matching positioning by the time length before and after the matching positioning;

[0136] The second longitudinal distance is obtained by multiplying the longitudinal speed of the vehicle before the matching positioning by the time between before and after the matching positioning;

[0137] Multiplying the second longitudinal distance by a preset magnification factor to obtain a third longitudinal distance;

[0138] If the first lateral distance is greater than the second lateral distance, and the first longitudinal distance is greater than the third longitudinal distance, it is determined that a horizontal jump occurs in the vehicle positioning.

[0139] Among them, the functional implementation of each module in the above-mentioned vehicle positioning jump detection device corresponds to the various steps in the above-mentioned vehicle positioning jump detection method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0140] In a third aspect, an embodiment of the present application provides a vehicle positioning jump detection device.

[0141] Reference Figure 5 , Figure 5The hardware structure diagram of the vehicle positioning jump detection device involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the vehicle positioning jump detection device may include a processor, a memory, a communication interface, and a communication bus.

[0142] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0143] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the vehicle positioning jump inspection device, and the interface used to realize the interconnection between the vehicle positioning jump inspection device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0144] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0145] The processor may be a general-purpose processor, and the general-purpose processor may call the vehicle positioning program stored in the memory and execute the vehicle positioning jump detection method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the vehicle positioning program is called may refer to the various embodiments of the vehicle positioning jump detection method of the present application, which will not be repeated here.

[0146] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0147] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0148] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0149] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0150] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0151] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0152] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0153] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle positioning jump inspection method, characterized in that: The vehicle positioning jump inspection method comprises: When the vehicle positioning undergoes a vertical jump, the first elevated level where the vehicle is located is determined based on the height information output based on the matching positioning processing; Detect whether the track that the vehicle has traveled in the current trip can be used to determine the elevated level where the vehicle is located; If it can be used to determine the elevated level where the vehicle is located, then determine whether the vehicle has passed the elevated ramp based on the trajectory that the vehicle has traveled in the current journey, and determine the second elevated level where the vehicle is located based on the vehicle's travel direction; If the second elevated level is consistent with the first elevated level, it is determined to be a correct vertical jump; If the second elevated level is inconsistent with the first elevated level, it is determined to be an erroneous vertical jump.

2. The vehicle positioning jump detection method according to claim 1, characterized in that: After detecting whether the track that the vehicle has traveled in the current trip can be used to determine the elevated level where the vehicle is located, the method includes: If it cannot be used to determine the elevated level where the vehicle is located, the third elevated level where the vehicle is located is determined based on the number of searched stars, the fourth elevated level where the vehicle is located is determined based on road perception and recognition, and the fifth elevated level where the vehicle is located is determined based on the vehicle's planned driving path; If the third elevated level, the fourth elevated level, and the fifth elevated level are all consistent with the first elevated level, it is determined to be a correct vertical jump; If the third elevated level, the fourth elevated level, and the fifth elevated level are not completely consistent with the first elevated level, it is determined to be an erroneous vertical jump.

3. The vehicle positioning jump detection method according to claim 1, characterized in that: The detecting whether the track that the vehicle has traveled in the current journey can be used to determine the elevated level where the vehicle is located includes: If the number of data points in the trajectory that the vehicle has traveled in the current trip is less than the preset number, or the trajectory that the vehicle has traveled in the current trip is all in the elevated internal area, it is determined that the trajectory that the vehicle has traveled in the current trip cannot be used to determine the elevated level where the vehicle is located; If the number of data points in the trajectory that the vehicle has traveled in its current journey is greater than or equal to a preset number, and the trajectory that the vehicle has traveled in its current journey is not entirely within the elevated area, then it is determined that the trajectory that the vehicle has traveled in its current journey can be used to determine the elevated level at which the vehicle is located.

4. The vehicle positioning jump detection method according to claim 1 or 2, characterized in that: After the vertical transition determined to be an error, the method further comprises: Output elevated level error reminder for terminal input to confirm elevated level; When the confirmed elevated level input by the terminal is received, the elevated level at which the vehicle is located in the vehicle positioning is adjusted to the confirmed elevated level.

5. The vehicle positioning jump detection method according to claim 2, characterized in that: Determining the third elevated level where the vehicle is located according to the number of satellite searches includes: If the star search number is greater than the preset star search number, and the change in the star search number within the preset time period is less than the preset change number, then the third elevated level where the vehicle is located is determined to be the topmost level of the elevated level; otherwise, the third elevated level where the vehicle is located is determined to be not at the topmost level of the elevated level.

6. The vehicle positioning jump detection method according to claim 1, characterized in that: The vehicle positioning jump test method also includes: When the vehicle positioning changes horizontally, it is detected whether the lane where the vehicle is located based on the output of the combined navigation processing and the matching positioning processing is consistent; If they are consistent, it is determined to be a correct level jump; if they are inconsistent, it is determined to be an incorrect level jump; If it is a correct horizontal jump, the vehicle positioning based on the output of the fusion positioning processing is smoothed toward the vehicle positioning based on the output of the matching positioning processing after the horizontal jump occurs; If it is an erroneous horizontal jump, the vehicle positioning obtained by the track recursive algorithm based on the inertial sensor is used as the output based on the fusion positioning processing, and the confidence of the vehicle positioning output based on the fusion positioning processing is continuously reduced; After the confidence level continues to decrease, it is detected whether the matching positioning is restored. If it is restored, the vehicle positioning based on the output of the matching positioning processing is used as the input of the fusion positioning again.

7. The vehicle positioning jump detection method according to claim 6, characterized in that: The detecting whether the matching positioning is restored includes: When the duration of the continuous decrease in confidence is less than the preset duration, if the lanes of the vehicle output based on the fusion positioning processing and the matching positioning processing are consistent, and the difference between the vehicle positioning output based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, it is determined that the matching positioning is restored, otherwise it is determined that the matching positioning is not restored; When the duration of continuous decrease in confidence is greater than or equal to the preset duration, if the vehicle lane output based on the fusion positioning processing and the matching positioning processing is consistent, and the vehicle lane output based on the combined navigation processing and the matching positioning processing is consistent, and the difference between the vehicle positioning based on the fusion positioning processing and the matching positioning processing is less than the first preset difference, and the difference between the vehicle positioning based on the combined navigation processing and the matching positioning processing is less than the second preset difference, then it is determined that the matching positioning is recovered, otherwise it is determined that the matching positioning is not recovered.

8. The vehicle positioning jump detection method according to claim 6, characterized in that: Before detecting whether the lanes outputted from the vehicle based on the combined navigation processing and the matching positioning processing are consistent when the vehicle positioning undergoes a horizontal jump, the method includes: When the lane where the vehicle is located based on the matching positioning processing output changes, a first lateral distance and a first longitudinal distance between the vehicle positioning before and after the matching positioning are calculated according to the heading angle and the longitude and latitude based on the matching positioning processing output before and after the matching positioning; The second lateral distance is obtained by multiplying the lateral speed of the vehicle before the matching positioning by the time length before and after the matching positioning; The second longitudinal distance is obtained by multiplying the longitudinal speed of the vehicle before the matching positioning by the time between before and after the matching positioning; Multiplying the second longitudinal distance by a preset magnification factor to obtain a third longitudinal distance; If the first lateral distance is greater than the second lateral distance, and the first longitudinal distance is greater than the third longitudinal distance, it is determined that a horizontal jump occurs in the vehicle positioning.

9. A vehicle positioning jump detection device, characterized in that: The vehicle positioning jump detection device comprises: A first determination module is used to determine the first elevated level where the vehicle is located according to the height information output based on the matching positioning process when the vehicle positioning undergoes a vertical jump; A detection module, used to detect whether the track that the vehicle has traveled in the current trip can be used to determine the elevated level where the vehicle is located; A second determination module is used to determine the elevated level where the vehicle is located, if it can be used to determine the elevated level where the vehicle is located, determine whether the vehicle has passed through the elevated ramp according to the trajectory that the vehicle has traveled in the current journey, and determine the second elevated level where the vehicle is located in combination with the driving direction of the vehicle; A third determination module, configured to determine that the vertical transition is correct if the second elevated level is consistent with the first elevated level; The fourth determination module is used to determine that it is an erroneous vertical jump if the second elevated level is inconsistent with the first elevated level.

10. A vehicle positioning jump inspection device, characterized in that: The vehicle positioning jump verification device includes a processor, a memory, and a vehicle positioning jump verification program stored in the memory and executable by the processor, wherein when the vehicle positioning jump verification program is executed by the processor, the steps of the vehicle positioning jump verification method as described in any one of claims 1 to 8 are implemented.

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