Positioning result confidence control method, device, equipment and readable storage medium

Abstract

A positioning result confidence control method, device, equipment and readable storage medium, relating to the field of vehicle positioning technology, including integrity monitoring of acquired multi-source sensor data; transmitting target multi-source sensor data that meets the integrity requirements to a positioning module, so that the positioning module performs positioning calculation based on the target multi-source sensor data, so as to output positioning result confidence, matching positioning error, combined navigation state information used to characterize whether the combined navigation state is normal, and fused positioning state information used to characterize whether the fused positioning state is normal; updating the positioning result confidence based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information, effectively realizing the evaluation and control of the positioning result confidence, and ensuring the reliability and accuracy of the whole vehicle positioning result.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle positioning, and in particular to a positioning result confidence control method, device, equipment and readable storage medium. Background Art

[0002] Confidence is a measure of the reliability of the prediction results, which is usually expressed as a number between 0 and 1, where high confidence means that people are more confident in the prediction results, while low confidence means that people are skeptical of the prediction results. In the Internet age, most applications are related to location services. Especially for vehicles, positioning is an indispensable requirement, and the reliability and accuracy of the vehicle positioning results are often characterized by the confidence of the output positioning results. However, there is currently no evaluation of the accuracy of the confidence of the positioning results, which means that the accuracy of the confidence itself cannot be guaranteed, and thus the reliability and accuracy of the vehicle positioning results cannot be ensured.

[0003] It can be seen that how to evaluate and control the confidence of the positioning results to ensure the reliability and accuracy of the vehicle positioning results is an urgent problem that needs to be solved. Summary of the invention

[0004] The present application provides a positioning result confidence control method, device, equipment and readable storage medium to effectively evaluate and control the positioning result confidence, thereby ensuring the reliability and accuracy of the vehicle positioning result.

[0005] In a first aspect, an embodiment of the present application provides a positioning result confidence control method, the positioning result confidence control method comprising:

[0006] Conduct integrity monitoring on acquired multi-source sensor data;

[0007] The target multi-source sensor data that meets the integrity requirements is transmitted to the positioning module, so that the positioning module performs positioning calculation based on the target multi-source sensor data, so as to output the positioning result confidence, matching positioning error, integrated navigation state information and fused positioning state information, wherein the integrated navigation state information is used to characterize whether the integrated navigation state is normal, and the fused positioning state information is used to characterize whether the fused positioning state is normal;

[0008] The positioning result confidence is updated based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information.

[0009] In combination with the first aspect, in one implementation, the multi-source sensor data includes inertial sensor IMU data, perception data, vehicle controller VCU data, and real-time dynamic RTK data, and the integrity monitoring of the acquired multi-source sensor data includes:

[0010] When it is detected that the IMU data is within a preset first threshold range and the frequency corresponding to the IMU data is within a preset frequency range, it is determined that the IMU data meets the integrity requirement;

[0011] When it is detected that the sensed data is within a preset second threshold range, determining that the sensed data meets the integrity requirement;

[0012] When it is detected that the VCU data is within a preset third threshold range and there is no slipping condition in the wheel speed in the VCU data, it is determined that the VCU data meets the integrity requirement;

[0013] When it is detected that the RTK data is within a preset fourth threshold range and the RTK service status is in a normal state, it is determined that the RTK data meets the integrity requirement.

[0014] In combination with the first aspect, in one implementation, the performing integrity monitoring on the acquired multi-source sensor data further includes:

[0015] When it is detected that at least one of the timestamp interval of the IMU data of two adjacent frames is greater than the preset first timestamp range, the timestamp interval of the perception data of two adjacent frames is greater than the preset second timestamp range, the timestamp interval of the VCU data of two adjacent frames is greater than the preset third timestamp range, and the timestamp interval of the RTK data of two adjacent frames is greater than the preset fourth timestamp range, it is determined that a fault exists;

[0016] When it is detected that the ID of the perception data is discontinuous and / or the ID of the VCU data is discontinuous, it is determined that a fault exists.

[0017] In combination with the first aspect, in one implementation, the updating of the positioning result confidence based on the magnitude relationship between the matching positioning error and the error threshold, the combined navigation state information, and the fused positioning state information includes:

[0018] If the fusion positioning state is normal, the positioning result confidence is updated according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information;

[0019] If the fusion positioning state is abnormal, the confidence of the positioning result is updated according to the combined navigation state information and the relationship between the confidence of the previous frame and the confidence threshold.

[0020] In combination with the first aspect, in one implementation, updating the positioning result confidence according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information includes:

[0021] If the integrated navigation state is normal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a first preset time period;

[0022] If the integrated navigation state is normal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a second preset time period;

[0023] If the integrated navigation state is abnormal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a second preset time period;

[0024] If the integrated navigation state is abnormal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a first preset time period;

[0025] The first preset duration is shorter than the second preset duration, and the first preset reliability is greater than the second preset reliability.

[0026] In combination with the first aspect, in one implementation, updating the positioning result confidence according to the combined navigation state information and the relationship between the previous frame confidence and the confidence threshold includes:

[0027] If the integrated navigation state is normal, updating the positioning result confidence to a second preset confidence within a third preset time period;

[0028] If the combined navigation state is abnormal and the confidence of the previous frame is greater than the confidence threshold, updating the positioning result confidence to a second preset confidence within a fourth preset time length;

[0029] If the combined navigation state is abnormal and the confidence of the previous frame is not greater than the confidence threshold, updating the positioning result confidence to a third preset confidence within a fourth preset time length;

[0030] Among them, the third preset time length is greater than the fourth preset time length, and the second preset reliability is greater than the third preset reliability.

[0031] In combination with the first aspect, in one implementation, before the step of performing integrity monitoring on the acquired multi-source sensor data, the method further includes:

[0032] Determine whether an interval between a current timestamp and a previous timestamp corresponding to when acquiring the multi-source sensor data is within a preset fifth timestamp range;

[0033] If yes, then executing the step of performing integrity monitoring on the acquired multi-source sensor data;

[0034] If not, a soft restart operation is performed on the currently acquired multi-source sensor data.

[0035] In a second aspect, an embodiment of the present application provides a positioning result confidence control device, the positioning result confidence control device comprising:

[0036] A monitoring module, which is used to monitor the integrity of the acquired multi-source sensor data;

[0037] A transmission module, which is used to transmit the target multi-source sensor data that meets the integrity requirements to the positioning module, so that the positioning module can perform positioning calculation based on the target multi-source sensor data to output the positioning result confidence, matching positioning error, integrated navigation state information and fused positioning state information, wherein the integrated navigation state information is used to characterize whether the integrated navigation state is normal, and the fused positioning state information is used to characterize whether the fused positioning state is normal;

[0038] A control module is used to update the positioning result confidence based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information.

[0039] In conjunction with the second aspect, in one implementation, the multi-source sensor data includes inertial sensor IMU data, perception data, vehicle controller VCU data, and real-time dynamic RTK data, and the monitoring module is specifically used for:

[0040] When it is detected that the IMU data is within a preset first threshold range and the frequency corresponding to the IMU data is within a preset frequency range, it is determined that the IMU data meets the integrity requirement;

[0041] When it is detected that the sensed data is within a preset second threshold range, determining that the sensed data meets the integrity requirement;

[0042] When it is detected that the VCU data is within a preset third threshold range and there is no slipping condition in the wheel speed in the VCU data, it is determined that the VCU data meets the integrity requirement;

[0043] When it is detected that the RTK data is within a preset fourth threshold range and the RTK service status is in a normal state, it is determined that the RTK data meets the integrity requirement.

[0044] In conjunction with the second aspect, in one implementation, the monitoring module is further configured to:

[0045] When it is detected that at least one of the timestamp interval of the IMU data of two adjacent frames is greater than the preset first timestamp range, the timestamp interval of the perception data of two adjacent frames is greater than the preset second timestamp range, the timestamp interval of the VCU data of two adjacent frames is greater than the preset third timestamp range, and the timestamp interval of the RTK data of two adjacent frames is greater than the preset fourth timestamp range, it is determined that a fault exists;

[0046] When it is detected that the ID of the perception data is discontinuous and / or the ID of the VCU data is discontinuous, it is determined that a fault exists.

[0047] In conjunction with the second aspect, in one implementation, the control module is specifically configured to:

[0048] If the fusion positioning state is normal, the positioning result confidence is updated according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information;

[0049] If the fusion positioning state is abnormal, the confidence of the positioning result is updated according to the combined navigation state information and the relationship between the confidence of the previous frame and the confidence threshold.

[0050] In conjunction with the second aspect, in one implementation, the control module is further configured to:

[0051] If the integrated navigation state is normal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a first preset time period;

[0052] If the integrated navigation state is normal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a second preset time period;

[0053] If the integrated navigation state is abnormal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a second preset time period;

[0054] If the integrated navigation state is abnormal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a first preset time period;

[0055] The first preset duration is shorter than the second preset duration, and the first preset reliability is greater than the second preset reliability.

[0056] In conjunction with the second aspect, in one implementation, the control module is further configured to:

[0057] If the integrated navigation state is normal, updating the positioning result confidence to a second preset confidence within a third preset time period;

[0058] If the combined navigation state is abnormal and the confidence of the previous frame is greater than the confidence threshold, updating the positioning result confidence to a second preset confidence within a fourth preset time length;

[0059] If the combined navigation state is abnormal and the confidence of the previous frame is not greater than the confidence threshold, updating the positioning result confidence to a third preset confidence within a fourth preset time length;

[0060] Among them, the third preset time length is greater than the fourth preset time length, and the second preset reliability is greater than the third preset reliability.

[0061] In conjunction with the second aspect, in one implementation, the monitoring module is further configured to:

[0062] Determine whether an interval between a current timestamp and a previous timestamp corresponding to when acquiring the multi-source sensor data is within a preset fifth timestamp range;

[0063] If yes, then executing the step of performing integrity monitoring on the acquired multi-source sensor data;

[0064] If not, a soft restart operation is performed on the currently acquired multi-source sensor data.

[0065] In the third aspect, an embodiment of the present application provides a positioning result confidence control device, which includes a processor, a memory, and a positioning result confidence control program stored in the memory and executable by the processor, wherein when the positioning result confidence control program is executed by the processor, the steps of the positioning result confidence control method as described above are implemented.

[0066] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a positioning result confidence control program is stored, wherein when the positioning result confidence control program is executed by a processor, the steps of the positioning result confidence control method as described above are implemented.

[0067] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0068] The stability and reliability of multi-source sensor data are guaranteed by monitoring the integrity of multi-source sensor data, and the confidence of the positioning result is updated based on the matching positioning error, combined navigation status information and fused positioning status information calculated based on the target multi-source sensor data that meets the integrity requirements, so as to evaluate and control the confidence of the positioning result, thereby ensuring the accuracy of the confidence of the positioning result, thereby ensuring the reliability and accuracy of the positioning result of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1This is a flow chart of an embodiment of a positioning result confidence control method of the present application;

[0070] Figure 2 For this application Figure 1 Detailed flow chart of step S30;

[0071] Figure 3 This is a functional module diagram of an embodiment of a positioning result confidence control device of the present application;

[0072] Figure 4 This is a schematic diagram of the hardware structure of a positioning result confidence control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In a first aspect, an embodiment of the present application provides a positioning result confidence control method.

[0080] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the positioning result confidence control method of this application. Figure 1 As shown, the positioning result confidence control method includes:

[0081] Step S10: Perform integrity monitoring on the acquired multi-source sensor data.

[0082] Exemplarily, it is understandable that, when the integrity of positioning is currently monitored, only one positioning method is often monitored, and multiple positioning methods are not monitored at the same time, so that the reliability of the positioning result cannot be guaranteed. Assuming that only the integrated navigation is monitored for integrity, then in some special scenarios, once the integrated navigation produces a large error, if only the integrated navigation is relied upon for positioning calculation, the reliability of the positioning result will be reduced, and the positioning result will be inaccurate. In this embodiment, multiple positioning methods will be monitored at the same time, such as integrity monitoring of sensor data from multiple sources including IMU data, perception data, VCU data, and RTK data, to ensure the stability and reliability of multi-source sensor data, and only normal data that meets the integrity requirements will be transmitted to the downstream positioning module for positioning status analysis, so as to further improve the reliability and accuracy of the positioning result.

[0083] Step S20: The target multi-source sensor data that meets the integrity requirements is transmitted to the positioning module, so that the positioning module performs positioning calculations based on the target multi-source sensor data to output positioning result confidence, matching positioning error, combined navigation status information and fused positioning status information, wherein the combined navigation status information is used to characterize whether the combined navigation status is normal, and the fused positioning status information is used to characterize whether the fused positioning status is normal.

[0084] Exemplarily, in this embodiment, the target multi-source sensor data that meets the integrity requirements (i.e., the multi-source sensor data after integrity monitoring) is stored in the data management cache, so that the downstream positioning module can perform positioning calculations and processing including matching positioning, combined navigation, and fusion positioning according to the target multi-source sensor data in the data management cache, and then output the positioning result confidence, matching positioning error, combined navigation status information, and fusion positioning status information at the current time, thereby providing a data basis for the evaluation of the positioning result confidence. It should be noted that the specific integrity requirement setting can be determined according to different data source characteristics and actual needs, and is not limited here. How the positioning module performs positioning calculations and processing based on sensor data is common knowledge in the art and will not be repeated here.

[0085] Among them, the state flag in the combined navigation state information can be used to determine whether the combined navigation state is normal, that is, whether the combined navigation is a fixed solution, and then the reliability of the output result of the combined navigation can be learned. For example, if the state flag is 1, it means that the combined navigation state is normal, and the output result of the combined navigation is reliable; if the state flag is 0, it means that the combined navigation state is abnormal, and the output result of the combined navigation is unreliable. Similarly, the state flag in the fused positioning state information can be used to determine whether the fused positioning state is normal.

[0086] Step S30: updating the positioning result confidence based on the magnitude relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information.

[0087] Exemplarily, in this embodiment, the confidence of the positioning result is evaluated and updated by matching the size relationship between the positioning error and the error threshold, whether the combined navigation state is normal, and whether the fusion positioning state is normal, so that when the combined navigation, matching positioning, etc. are not available, the confidence of the positioning result output can be adjusted, thereby making the confidence of the positioning result more accurate, thereby improving the reliability and accuracy of the positioning result, and making the positioning result basically consistent with the actual situation. It should be noted that the specific value setting of the error threshold can be determined according to actual needs and is not limited here.

[0088] Furthermore, in one embodiment, before the step of performing integrity monitoring on the acquired multi-source sensor data, the method further includes:

[0089] Determine whether an interval between a current timestamp and a previous timestamp corresponding to when acquiring the multi-source sensor data is within a preset fifth timestamp range;

[0090] If yes, then executing the step of performing integrity monitoring on the acquired multi-source sensor data;

[0091] If not, a soft restart operation is performed on the currently acquired multi-source sensor data.

[0092] Exemplarily, in this embodiment, when multi-source sensor data is acquired at the current moment, it will be determined whether the current data needs to be judged for integrity or a data soft restart operation is required based on the time interval between the current moment and the previous frame for acquiring the multi-source sensor data. Specifically, if the interval between the current moment and the previous frame timestamp exceeds the preset fifth timestamp range, it is necessary to perform a soft restart operation on the multi-source sensor data acquired at the current moment, even if all the data is cleared or cleared; and if the timestamp interval is within the preset fifth timestamp range, the IMU data, RTK data, VCU data, and perception data are respectively subjected to integrity analysis and detection. It should be noted that the specific value setting of the fifth timestamp range can be determined according to actual needs and is not limited here.

[0093] Furthermore, in one embodiment, the multi-source sensor data includes inertial sensor IMU data, perception data, vehicle controller VCU data, and real-time dynamic RTK data, and the integrity monitoring of the acquired multi-source sensor data includes:

[0094] When it is detected that the IMU data is within a preset first threshold range and the frequency corresponding to the IMU data is within a preset frequency range, it is determined that the IMU data meets the integrity requirement;

[0095] When it is detected that the sensed data is within a preset second threshold range, determining that the sensed data meets the integrity requirement;

[0096] When it is detected that the VCU data is within a preset third threshold range and there is no slipping condition in the wheel speed in the VCU data, it is determined that the VCU data meets the integrity requirement;

[0097] When it is detected that the RTK data is within a preset fourth threshold range and the RTK service status is in a normal state, it is determined that the RTK data meets the integrity requirement.

[0098] Among them, when it is detected that the timestamp interval of IMU data of two adjacent frames is greater than the preset first timestamp range, the timestamp interval of perception data of two adjacent frames is greater than the preset second timestamp range, the timestamp interval of VCU data of two adjacent frames is greater than the preset third timestamp range, and the timestamp interval of RTK of two adjacent frames is greater than at least one of the preset fourth timestamp range, it is determined that a fault exists; when it is detected that the ID of perception data is discontinuous and / or the ID of VCU data is discontinuous, it is determined that a fault exists.

[0099] Exemplarily, in this embodiment, the integrity of IMU data, RTK data, VCU data and perception data will be monitored. If the monitoring result is that the data is abnormal, the data is modified and a fault code is output; if the monitoring result is that the data is normal, the data is passed to the downstream module.

[0100] Among them, for IMU data, integrity judgments will be made on whether there is IMU data, whether the data exceeds the corresponding threshold range, whether the time interval exceeds the period, whether the frequency is normal, etc. If there is data abnormality, the IMU data will be interpolated accordingly.

[0101] Specifically, first determine whether there is IMU data in the current frame. If not, use the previous frame IMU data as the current frame IMU data. However, if there is still no IMU data after exceeding the specified period, output a fault code; if there is IMU data, perform a threshold range judgment on the output results of the accelerometer and gyroscope in the IMU data. If the output result is not within the preset threshold range and continues for the specified period, output the corresponding fault code; otherwise, continue to determine whether the IMU frequency is normal. If the frequency exceeds the preset threshold range (i.e., the IMU frequency is abnormal), output the corresponding fault code. If the IMU frequency is normal, it means that the sensor state is normal, and the integrity requirements are met, and the IMU data is transmitted to the downstream module. At the same time, this embodiment will also determine whether the timestamp interval of the IMU data of two adjacent frames is within the preset fifth timestamp range. If not, output the corresponding fault code, but it does not affect the integrity requirements of the IMU data transmitted to the downstream module; if it is, there is no need to output the fault code and directly execute the next step.

[0102] For the perception data, integrity judgments will be made to determine whether the data exceeds the corresponding threshold range, whether the time interval exceeds the period, whether the ID is continuous, and whether the sensor status is normal. Specifically, first determine whether there is perception data in the current frame. If it does not exist and there is still no perception data after exceeding the specified period, a fault code is output; if there is perception data, determine whether the perception data is within the preset threshold range. If it exceeds the threshold range and continues for a specified period, a fault code will also be output; if it does not exceed the threshold range, it means that the sensor status is normal, and the current perception data is determined to meet the integrity requirements, and the current perception data is transmitted to the downstream module. It should be noted that when judging whether the perception data is within the preset threshold range, it includes judging whether the left and right lane lines, the left lane line, and the right lane line are within the threshold range, so as to determine whether the sensor status is normal, that is, if the lane lines are all within the threshold range, the sensor status is normal, otherwise the sensor status is abnormal.

[0103] At the same time, this embodiment will also judge whether the timestamp interval of the perception data of two adjacent frames is within the preset timestamp range. If not, a fault code is output, but it does not affect the perception data that meets the integrity requirements to be transmitted to the downstream module. If it does, there is no need to output a fault code and directly execute the next step; in addition, it will further judge whether the perception data ID is continuous. If it is discontinuous and continues for a specified period, a fault code is output, but it does not affect the perception data that meets the integrity requirements to be transmitted to the downstream module. If it does, there is no need to output a fault code and directly execute the next step.

[0104] For VCU data, integrity judgments will be made such as whether the data exceeds the corresponding threshold range, whether the time interval exceeds the cycle, whether the ID is continuous, and whether the wheel speed is slipping. If the sensor status is normal, the current frame VCU data will be transmitted to the downstream module. It should be noted that if the system has requirements for the parity of VCU time, the parity needs to be judged. For example, if the system requires the VCU time to be an even number, the VCU data under the even time needs to be transmitted to the downstream module; if the sensor status is abnormal, the previous frame data will be used as the current frame VCU data and updated to the current time and transmitted to the downstream module.

[0105] Specifically, first determine whether there is VCU data in the current frame. If there is no VCU data and there is still no VCU data after a specified period, output a fault code; if there is VCU data, determine whether the VCU data is within the preset threshold range. If it is not within the threshold range and continues for a specified period, output a fault code; and if it is within the threshold range, continue to determine whether the VCU data is slipping. If it slips and exceeds the specified period, output a fault code; and if it is not slipping, it means that the sensor state is normal, then determine that the VCU data meets the integrity requirements and output the VCU data to the downstream module, otherwise assign the previous frame of VCU data as the current VCU data and transmit it to the downstream module. Among them, the judgment of whether the VCU data is slipping can be achieved in the following way: calculate the standard deviation of the four-wheel speed in the VCU data and the current vehicle speed, and determine whether the calculation result is greater than the preset speed threshold. If so, determine that the VCU data is slipping, otherwise determine that the VCU data is not slipping.

[0106] At the same time, this embodiment will also determine whether the timestamp interval of the VCU data of two adjacent frames is within the preset timestamp range. If not, a fault code is output, but it does not affect the VCU data being transmitted to the downstream module to meet the integrity requirements. If it is, there is no need to output a fault code and directly execute the next step; in addition, it will further determine whether the VCU data ID is continuous. If it is discontinuous and continues for a specified period, a fault code is output, but it does not affect the VCU data being transmitted to the downstream module to meet the integrity requirements. If it is, there is no need to output a fault code and directly execute the next step.

[0107] For RTK data, integrity judgments will be made such as whether the data exceeds the corresponding threshold range, whether the time interval exceeds the cycle, and whether the RTK service status is normal. If the sensor status is normal, the RTK data under the current timestamp will be transmitted to the downstream module; it should be noted that if the system has requirements for whether the RTK time is an integer second, it is necessary to judge whether the RTK time is an integer second. For example, if the system requires the RTK time to be an integer second, the RTK data under the integer second needs to be transmitted to the downstream module. If the current frame RTK is not data under an integer second, the weighted average of the previous frame RTK data and the current frame RTK data is taken and transmitted to the downstream module as the current frame RTK data.

[0108] Specifically, first determine whether there is RTK data in the current frame. If not and there is still no RTK data after exceeding the specified period, output a fault code; if there is RTK data, determine whether the RTK data is within the preset threshold range. If it is not within the threshold range and continues for the specified period, output a fault code; if it is within the threshold range, continue to determine whether the RTK service status is normal. If the RTK service status is abnormal and continues for the specified period, it means that the sensor status is abnormal, and output a fault code; and if the RTK service status is normal, it means that the sensor status is normal, and then output the RTK data in full seconds to the downstream module.

[0109] At the same time, this implementation will also determine whether the timestamp interval of two adjacent frames of RTK data is within the preset timestamp range. If not, a fault code is output. However, it does not affect the RTK data that meets the integrity requirements and is transmitted to the downstream module. If so, there is no need to output a fault code and directly execute the next step.

[0110] It should be noted that the specific value settings of the above threshold range and timestamp range can be determined according to the characteristics of different data sources and actual needs, and are not limited here.

[0111] Further, in one embodiment, see Figure 2 As shown, the updating of the positioning result confidence based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information includes:

[0112] Step S301: if the fusion positioning state is normal, the positioning result confidence is updated according to the size relationship between the matching positioning error and the error threshold and the integrated navigation state information;

[0113] Step S302: if the fusion positioning state is abnormal, the confidence of the positioning result is updated according to the combined navigation state information and the relationship between the confidence of the previous frame and the confidence threshold.

[0114] Exemplarily, in this embodiment, the confidence of the positioning result is updated according to the size relationship between the matching positioning error and the error threshold, whether the combined navigation state is normal, and whether the fused positioning state is normal, so as to obtain a more accurate positioning result confidence that is more in line with the actual situation. Specifically, if the fused positioning state is normal, the confidence of the positioning result is updated according to the size relationship between the matching positioning error and the error threshold and whether the combined navigation state is normal; and if the fused positioning state is abnormal, the confidence of the positioning result is updated according to whether the combined navigation state is normal and the size relationship between the confidence of the previous frame and the confidence threshold.

[0115] Furthermore, in one embodiment, the updating of the positioning result confidence according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information includes:

[0116] If the integrated navigation state is normal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a first preset time period;

[0117] If the integrated navigation state is normal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a second preset time period;

[0118] If the integrated navigation state is abnormal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a second preset time period;

[0119] If the integrated navigation state is abnormal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a first preset time period;

[0120] The first preset duration is shorter than the second preset duration, and the first preset reliability is greater than the second preset reliability.

[0121] Exemplarily, it should be noted that the specific value settings of the first preset duration, the second preset duration, the first preset confidence and the second preset confidence can be determined according to actual needs and are not limited here. For example, the first preset duration is set to 3 seconds, the second preset duration is set to 5 seconds, the first preset confidence is set to 100%, and the second preset confidence is set to 70%. Therefore, in this embodiment, if the fusion positioning state in the current frame is normal, then it is determined whether the combined navigation state is normal; if the combined navigation state is normal (that is, a fixed solution), then it is continued to determine whether the matching positioning error is less than the specified error threshold. If so, the confidence of the positioning result is increased to 100% within 3 seconds, and if not, the confidence of the positioning result is reduced to 70% within 5 seconds.

[0122] If the integrated navigation state is abnormal (i.e., non-fixed solution), then if the matching positioning error is less than the specified difference threshold, the positioning result confidence is increased to 100% within 5 seconds, and if the matching positioning error is not less than the difference threshold, the positioning result confidence is reduced to 70% within 3 seconds.

[0123] Further, in one embodiment, the updating of the positioning result confidence according to the combined navigation state information and the relationship between the previous frame confidence and the confidence threshold comprises:

[0124] If the integrated navigation state is normal, updating the positioning result confidence to a second preset confidence within a third preset time period;

[0125] If the combined navigation state is abnormal and the confidence of the previous frame is greater than the confidence threshold, updating the positioning result confidence to a second preset confidence within a fourth preset time length;

[0126] If the combined navigation state is abnormal and the confidence of the previous frame is not greater than the confidence threshold, updating the positioning result confidence to a third preset confidence within a fourth preset time length;

[0127] Among them, the third preset time length is greater than the fourth preset time length, and the second preset reliability is greater than the third preset reliability.

[0128] For example, in this embodiment, the specific values ​​of the confidence threshold, the third preset time, the fourth preset time, the second preset confidence, and the third preset confidence can be determined according to actual needs and are not limited here. For example, the confidence threshold is set to 70%, the third preset time is set to 1 second, the fourth preset time is set to 0.6 seconds, the second preset confidence is set to 70%, and the third preset confidence is set to 0%. Therefore, in this embodiment, if the fusion positioning state of the current frame is abnormal, it is determined whether the combined navigation state is normal. If the current combined navigation state is normal, the confidence of the positioning result is reduced to 70% within 1 second. At this time, it is possible to continue to observe whether the fusion positioning state of the current frame returns to normal within a certain period of time. If it does not return to normal, the confidence of the positioning result can be reduced to 0% within a certain period of time (for example, 10s). If it returns to normal, it is continued to determine whether the current combined navigation state is normal; and if the combined navigation state is abnormal, it is continued to determine whether the confidence of the previous frame is greater than 70%. If it is greater than 70%, the confidence of the positioning result will be reduced to 70% within 0.6 seconds. If it is not greater than 70%, the confidence of the positioning result will be reduced to 0% within 5 seconds.

[0129] In summary, in this embodiment, the integrity of multi-source sensor data is monitored, and when a data failure occurs, fault output or soft restart processing can be performed in a timely manner to ensure the stability and reliability of multi-source sensor data, and can be stably transmitted to downstream modules; then the positioning status is analyzed using the IMU, VCU, perception and RTK and other multi-source sensor data that have been integrity monitored, and the positioning result confidence is evaluated and updated using combined navigation, matching positioning errors and fusion positioning results to ensure the accuracy of the positioning result confidence, thereby ensuring the accuracy and reliability of the positioning result. It can be seen that this embodiment can simultaneously monitor the integrity of the data and the confidence of the positioning result, which not only increases the stable output of the data, but also ensures the accuracy of the positioning result, which can greatly reduce property losses caused by positioning errors.

[0130] In a second aspect, an embodiment of the present application also provides a positioning result confidence control device.

[0131] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the positioning result confidence control device of the present application. Figure 3 As shown, the positioning result confidence control device includes:

[0132] A monitoring module, which is used to monitor the integrity of the acquired multi-source sensor data;

[0133] A transmission module, which is used to transmit the target multi-source sensor data that meets the integrity requirements to the positioning module, so that the positioning module can perform positioning calculation based on the target multi-source sensor data to output the positioning result confidence, matching positioning error, integrated navigation state information and fused positioning state information, wherein the integrated navigation state information is used to characterize whether the integrated navigation state is normal, and the fused positioning state information is used to characterize whether the fused positioning state is normal;

[0134] A control module is used to update the positioning result confidence based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information.

[0135] Furthermore, in one embodiment, the multi-source sensor data includes inertial sensor IMU data, perception data, vehicle controller VCU data, and real-time dynamic RTK data, and the monitoring module is specifically used for:

[0136] When it is detected that the IMU data is within a preset first threshold range and the frequency corresponding to the IMU data is within a preset frequency range, it is determined that the IMU data meets the integrity requirement;

[0137] When it is detected that the sensed data is within a preset second threshold range, determining that the sensed data meets the integrity requirement;

[0138] When it is detected that the VCU data is within a preset third threshold range and there is no slipping condition in the wheel speed in the VCU data, it is determined that the VCU data meets the integrity requirement;

[0139] When it is detected that the RTK data is within a preset fourth threshold range and the RTK service status is in a normal state, it is determined that the RTK data meets the integrity requirement.

[0140] Furthermore, in one embodiment, the monitoring module is specifically used for:

[0141] When it is detected that at least one of the timestamp interval of the IMU data of two adjacent frames is greater than the preset first timestamp range, the timestamp interval of the perception data of two adjacent frames is greater than the preset second timestamp range, the timestamp interval of the VCU data of two adjacent frames is greater than the preset third timestamp range, and the timestamp interval of the RTK data of two adjacent frames is greater than the preset fourth timestamp range, it is determined that a fault exists;

[0142] When it is detected that the ID of the perception data is discontinuous and / or the ID of the VCU data is discontinuous, it is determined that a fault exists.

[0143] Furthermore, in one embodiment, the control module is specifically used for:

[0144] If the fusion positioning state is normal, the positioning result confidence is updated according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information;

[0145] If the fusion positioning state is abnormal, the confidence of the positioning result is updated according to the combined navigation state information and the relationship between the confidence of the previous frame and the confidence threshold.

[0146] Furthermore, in one embodiment, the control module is further configured to:

[0147] If the integrated navigation state is normal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a first preset time period;

[0148] If the integrated navigation state is normal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a second preset time period;

[0149] If the integrated navigation state is abnormal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a second preset time period;

[0150] If the integrated navigation state is abnormal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a first preset time period;

[0151] The first preset duration is shorter than the second preset duration, and the first preset reliability is greater than the second preset reliability.

[0152] Furthermore, in one embodiment, the control module is further configured to:

[0153] If the integrated navigation state is normal, updating the positioning result confidence to a second preset confidence within a third preset time period;

[0154] If the combined navigation state is abnormal and the confidence of the previous frame is greater than the confidence threshold, updating the positioning result confidence to a second preset confidence within a fourth preset time length;

[0155] If the combined navigation state is abnormal and the confidence of the previous frame is not greater than the confidence threshold, updating the positioning result confidence to a third preset confidence within a fourth preset time length;

[0156] Among them, the third preset time length is greater than the fourth preset time length, and the second preset reliability is greater than the third preset reliability.

[0157] Furthermore, in one embodiment, the monitoring module is also used to:

[0158] Determine whether an interval between a current timestamp and a previous timestamp corresponding to when acquiring the multi-source sensor data is within a preset fifth timestamp range;

[0159] If yes, then executing the step of performing integrity monitoring on the acquired multi-source sensor data;

[0160] If not, a soft restart operation is performed on the currently acquired multi-source sensor data.

[0161] Among them, the functional implementation of each module in the above-mentioned positioning result confidence control device corresponds to the various steps in the above-mentioned positioning result confidence control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0162] In a third aspect, an embodiment of the present application provides a positioning result confidence control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0163] Reference Figure 4 , Figure 4 The hardware structure diagram of the positioning result confidence control device involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the positioning result confidence control device may include a processor, a memory, a communication interface, and a communication bus.

[0164] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0165] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the devices inside the positioning result confidence control device, and an interface used to interconnect the positioning result confidence control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0166] 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.

[0167] The processor may be a general-purpose processor, and the general-purpose processor may call the positioning result confidence control program stored in the memory and execute the positioning result confidence control 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 positioning result confidence control program is called may refer to the various embodiments of the positioning result confidence control method of the present application, which will not be repeated here.

[0168] Those skilled in the art will understand that Figure 4 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.

[0169] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0170] A positioning result confidence control program is stored on a readable storage medium of the present application, wherein when the positioning result confidence control program is executed by a processor, the steps of the positioning result confidence control method as described above are implemented.

[0171] Among them, the method implemented when the positioning result confidence control program is executed can refer to the various embodiments of the positioning result confidence control method of the present application, and will not be repeated here.

[0172] 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.

[0173] 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.

[0174] 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 positioning result confidence control method, characterized in that: The positioning result confidence control method comprises: Conduct integrity monitoring on acquired multi-source sensor data; The target multi-source sensor data that meets the integrity requirements is transmitted to the positioning module, so that the positioning module performs positioning calculation based on the target multi-source sensor data, so as to output the positioning result confidence, matching positioning error, integrated navigation state information and fused positioning state information, wherein the integrated navigation state information is used to characterize whether the integrated navigation state is normal, and the fused positioning state information is used to characterize whether the fused positioning state is normal; Updating the positioning result confidence based on the magnitude relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information; Wherein, the updating of the positioning result confidence based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information includes: If the fusion positioning state is normal, the positioning result confidence is updated according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information; If the fusion positioning state is abnormal, the confidence of the positioning result is updated according to the combined navigation state information and the relationship between the confidence of the previous frame and the confidence threshold.

2. The positioning result confidence control method according to claim 1, characterized in that: The multi-source sensor data includes inertial sensor IMU data, perception data, vehicle controller VCU data and real-time dynamic RTK data. The integrity monitoring of the acquired multi-source sensor data includes: When it is detected that the IMU data is within a preset first threshold range and the frequency corresponding to the IMU data is within a preset frequency range, it is determined that the IMU data meets the integrity requirement; When it is detected that the sensed data is within a preset second threshold range, determining that the sensed data meets the integrity requirement; When it is detected that the VCU data is within a preset third threshold range and there is no slipping condition in the wheel speed in the VCU data, it is determined that the VCU data meets the integrity requirement; When it is detected that the RTK data is within a preset fourth threshold range and the RTK service status is in a normal state, it is determined that the RTK data meets the integrity requirement.

3. The positioning result confidence control method according to claim 2, characterized in that: The integrity monitoring of the acquired multi-source sensor data also includes: When it is detected that at least one of the timestamp interval of the IMU data of two adjacent frames is greater than the preset first timestamp range, the timestamp interval of the perception data of two adjacent frames is greater than the preset second timestamp range, the timestamp interval of the VCU data of two adjacent frames is greater than the preset third timestamp range, and the timestamp interval of the RTK data of two adjacent frames is greater than the preset fourth timestamp range, it is determined that a fault exists; When it is detected that the ID of the sensing data is discontinuous and / or the ID of the VCU data is discontinuous, it is determined that a fault exists.

4. The positioning result confidence control method according to claim 1, characterized in that: The updating of the positioning result confidence according to the size relationship between the matching positioning error and the error threshold and the integrated navigation state information comprises: If the integrated navigation state is normal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a first preset time period; If the integrated navigation state is normal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a second preset time period; If the integrated navigation state is abnormal and the matching positioning error is less than the error threshold, updating the positioning result confidence to a first preset confidence within a second preset time period; If the integrated navigation state is abnormal and the matching positioning error is not less than the error threshold, updating the positioning result confidence to a second preset confidence within a first preset time period; The first preset duration is shorter than the second preset duration, and the first preset reliability is greater than the second preset reliability.

5. The positioning result confidence control method according to claim 1, characterized in that: The updating of the positioning result confidence according to the combined navigation state information and the magnitude relationship between the previous frame confidence and the confidence threshold comprises: If the integrated navigation state is normal, updating the positioning result confidence to a second preset confidence within a third preset time period; If the combined navigation state is abnormal and the confidence of the previous frame is greater than the confidence threshold, updating the positioning result confidence to a second preset confidence within a fourth preset time length; If the combined navigation state is abnormal and the confidence of the previous frame is not greater than the confidence threshold, updating the positioning result confidence to a third preset confidence within a fourth preset time length; Among them, the third preset time length is greater than the fourth preset time length, and the second preset reliability is greater than the third preset reliability.

6. The positioning result confidence control method according to claim 1, characterized in that: Before the step of performing integrity monitoring on the acquired multi-source sensor data, the method further includes: Determine whether an interval between a current timestamp and a previous timestamp corresponding to when acquiring the multi-source sensor data is within a preset fifth timestamp range; If yes, then executing the step of performing integrity monitoring on the acquired multi-source sensor data; If not, a soft restart operation is performed on the currently acquired multi-source sensor data.

7. A positioning result confidence control device, characterized in that: The positioning result confidence control device comprises: A monitoring module, which is used to monitor the integrity of the acquired multi-source sensor data; A transmission module, which is used to transmit the target multi-source sensor data that meets the integrity requirements to the positioning module, so that the positioning module can perform positioning calculation based on the target multi-source sensor data to output the positioning result confidence, matching positioning error, integrated navigation state information and fused positioning state information, wherein the integrated navigation state information is used to characterize whether the integrated navigation state is normal, and the fused positioning state information is used to characterize whether the fused positioning state is normal; A control module, which is used to update the positioning result confidence based on the size relationship between the matching positioning error and the error threshold, the combined navigation state information and the fused positioning state information; Wherein, the control module is specifically used for: If the fusion positioning state is normal, the positioning result confidence is updated according to the size relationship between the matching positioning error and the error threshold and the combined navigation state information; If the fusion positioning state is abnormal, the confidence of the positioning result is updated according to the combined navigation state information and the relationship between the confidence of the previous frame and the confidence threshold.

8. A positioning result confidence control device, characterized in that: The positioning result confidence control device includes a processor, a memory, and a positioning result confidence control program stored in the memory and executable by the processor, wherein when the positioning result confidence control program is executed by the processor, the steps of the positioning result confidence control method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a positioning result confidence control program, wherein when the positioning result confidence control program is executed by a processor, the steps of the positioning result confidence control method according to any one of claims 1 to 6 are implemented.

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