A method and system for testing the high-precision positioning performance of vehicles

Abstract

This disclosure provides a method and system for testing the high-precision positioning performance of vehicles, relating to the field of intelligent transportation technology. The method includes: acquiring the relative distance and relative angle between a vehicle and a fixed corner point, wherein the latitude and longitude of the fixed corner point are known; determining first position information of the vehicle based on the relative distance and relative angle between the vehicle and the fixed corner point, combined with the vehicle dimensions; determining second position information of the vehicle based on the first position information and the latitude and longitude of the fixed corner point; and determining the static accuracy of the high-precision positioning of the vehicle based on the second position information and the high-precision positioning information of the vehicle. This disclosure enables the testing of the high-precision positioning performance of vehicles.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent transportation technology, specifically to a method and system for testing the high-precision positioning performance of vehicles. Background Technology

[0002] High-precision positioning is a crucial function of autonomous driving, utilizing various sensors and high-precision maps to achieve accurate vehicle positioning. When an autonomous vehicle is in a blind spot or needs to avoid obstacles, high-precision positioning can accurately determine the vehicle's position and attitude, thereby better preventing collisions and traffic accidents and ensuring driving safety.

[0003] However, when a vehicle is in complex scenarios with obstructed or weak signals, such as under an overpass or on a tree-lined road, the high-precision positioning function may experience positioning errors. This can lead to a decrease in the vehicle's ability to perceive its surroundings, affecting functions such as vehicle navigation, autonomous driving, and vehicle-to-everything (V2X) connectivity. Therefore, it is necessary to test the high-precision positioning performance of the vehicle. Summary of the Invention

[0004] This disclosure provides a method and system for testing the high-precision positioning performance of vehicles, capable of testing the high-precision positioning performance of vehicles. Specifically, it includes the following technical solutions:

[0005] A first aspect of this disclosure provides a method for testing the high-precision positioning performance of a vehicle, comprising:

[0006] The relative distance and relative angle between the vehicle and a fixed corner point are obtained, wherein the latitude and longitude of the fixed corner point are known;

[0007] Based on the relative distance and relative angle between the vehicle and the fixed corner point, and in conjunction with the vehicle dimensions, determine the vehicle's first position information;

[0008] Based on the first location information and the latitude and longitude of the fixed corner point, determine the vehicle's second location information;

[0009] The static accuracy of the vehicle's high-precision positioning is determined based on the second location information and the vehicle's high-precision positioning information.

[0010] Optionally, the vehicle has a first positioning point and a second positioning point, and the fixed corner point includes a first corner point and a second corner point. The relative distance and relative angle between the vehicle and the fixed corner point include a first relative distance between the first positioning point and the first corner point, a second relative distance between the second positioning point and the second corner point, a first angle between the line connecting the first positioning point and the first corner point and the line connecting the first corner point and the second corner point, and a second angle between the line connecting the second positioning point and the second corner point and the line connecting the second corner point and the first corner point.

[0011] Optionally, the first positioning point is the center point of the rear wheel axle of the vehicle, the second positioning point is the center point of the front wheel axle of the vehicle, and the first position information is the position of the center point of the rear axle of the vehicle.

[0012] Optionally, the coordinates of the center point of the rear axle of the vehicle are (x, y), where, f is the vehicle track width, a is the first relative distance, b is the second relative distance, α is the first included angle, and θ is the vehicle yaw angle.

[0013] Optionally, the vehicle deflection angle is the angle between the vehicle's axis along its length and the line connecting the first corner point and the second corner point.

[0014] Optionally, the formula for calculating the vehicle deflection angle is:

[0015]

[0016] Where β is the second included angle.

[0017] Optionally, it also includes acquiring high-precision vehicle positioning information at multiple adjacent frame times to determine the dynamic accuracy of the high-precision vehicle positioning.

[0018] Optionally, determining the dynamic accuracy of vehicle high-precision positioning includes obtaining the variance of each vehicle high-precision positioning information based on the vehicle high-precision positioning information at multiple adjacent frame times, and determining the dynamic accuracy of vehicle high-precision positioning based on the variance.

[0019] A second aspect of this disclosure provides a vehicle high-precision positioning performance testing system, comprising:

[0020] The data acquisition module is configured to acquire the relative distance and relative angle between the vehicle and a fixed corner point; the latitude and longitude of the fixed corner point are known.

[0021] The first position information acquisition module is configured to determine the first position information of the vehicle based on the relative distance and relative angle between the vehicle and the fixed corner point, combined with the vehicle size.

[0022] The second location information acquisition module is configured to determine the second location information of the vehicle based on the first location information and the latitude and longitude of a fixed corner point;

[0023] The judgment module is configured to determine the static accuracy of the vehicle's high-precision positioning based on the second location information and the vehicle's high-precision positioning information.

[0024] Optionally, it also includes a dynamic accuracy test module, which is configured to acquire vehicle high-precision positioning information at multiple adjacent frame times and determine the dynamic accuracy of vehicle high-precision positioning.

[0025] The beneficial effects of the technical solutions provided in this disclosure are:

[0026] In this embodiment, a fixed corner point with a known location is set at a fixed position on the roadside. By measuring the relative distance and relative angle between the vehicle and the fixed corner point, and combining this with the vehicle's dimensions, the vehicle's current position can be calculated. Since the fixed corner point's position is fixed, its accurate location can be obtained through a high-precision measurement scheme. Therefore, the accuracy of the vehicle's current position obtained based on the fixed corner point is very high and can be used as the true value of the vehicle's current position. By comparing this true value (i.e., the calculated second position information) with the high-precision positioning information obtained based on the vehicle's own sensors, the high-precision positioning performance of the vehicle in complex scenarios such as signal obstruction and weak signals can be tested, and the accuracy of the vehicle's high-precision positioning can be judged. This improves the safety and reliability of vehicle navigation, autonomous driving, and vehicle networking functions implemented based on high-precision positioning.

[0027] Advantages of this disclosure in additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a flowchart of a vehicle high-precision positioning performance testing method provided in an embodiment of this disclosure.

[0030] Figure 2 This is a schematic diagram illustrating the testing principle of a vehicle high-precision positioning performance testing method provided in this embodiment of the disclosure;

[0031] Figure 3 This is a schematic diagram of a vehicle high-precision positioning performance testing system provided in an embodiment of this disclosure. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0033] Figure 1 This is a flowchart of a vehicle high-precision positioning performance testing method provided in an embodiment of this disclosure. See also... Figure 1 The method includes:

[0034] Step 101: Obtain the relative distance and relative angle between the vehicle and the fixed corner point, wherein the latitude and longitude of the fixed corner point are known;

[0035] Step 102: Based on the relative distance and relative angle between the vehicle and the fixed corner point, and in conjunction with the vehicle dimensions, determine the vehicle's first position information;

[0036] Step 103: Determine the vehicle's second location information based on the first location information and the latitude and longitude of the fixed corner point;

[0037] Step 104: Determine the static accuracy of the vehicle's high-precision positioning based on the second location information and the vehicle's high-precision positioning information.

[0038] To address the potential signal distortion or failure of high-precision positioning in complex scenarios, this embodiment establishes fixed corner points along the roadside in such environments. The accurate vehicle position is calculated based on these fixed corner points and compared with the position obtained through high-precision positioning to test its accuracy. At least two fixed corner points are used, and adjacent points can be used for position calculation during each test. Since the positions of the fixed corner points are fixed, their accurate locations can be determined through high-precision observation and positioning. The relative distance and angle between the fixed corner points and the vehicle can be obtained using sensors or manual measurement. However, considering that position and angle information obtained through sensors is susceptible to measurement errors, manual measurement is preferred to ensure accuracy. Compared to high-precision positioning information obtained from sensors, the position information obtained based on fixed corner points is more accurate and can be considered the true value of the vehicle's current position. This true value is used to judge the accuracy of the high-precision positioning, thereby testing its performance. If necessary, this true value can be used to correct the high-precision positioning results to improve its accuracy and reliability.

[0039] Steps 101-104 constitute the static testing process. When the vehicle is stationary within the fixed corner point range, the above-described method can be used to test the performance of the high-precision positioning. Figure 2 This is a schematic diagram illustrating the test principle of a vehicle high-precision positioning performance testing method provided in this embodiment of the disclosure, with reference to... Figure 2 The principles of the methods provided in the embodiments of this disclosure will be explained.

[0040] When testing using the method provided in this disclosure, the vehicle must be stationary between two fixed corner points to ensure the positions of the two fixed corner points are known, and the relative distances and angles between the two fixed points on the vehicle and the two fixed corner points must be obtained. Typically, the rear axle center point of the vehicle is used as the vehicle position. For ease of positioning and measurement, the front wheel axle center point and the rear wheel axle center point on the side of the vehicle closest to the fixed corner points are selected as positioning points on the vehicle. See also... Figure 2Let A be a fixed corner point near the rear of the vehicle, B be a fixed corner point near the front of the vehicle, M be the center of the rear wheel axle near the first corner point A, and N be the center of the front wheel axle near the second corner point B. We need to obtain the distance AM between the first positioning point M and the first corner point A as the first relative distance a, and the distance BN between the second positioning point N and the second corner point B as the second relative distance b. We need to obtain the first included angle α (i.e., ∠MAB) between the line AM connecting the first positioning point M and the first corner point A and the line AB connecting the first corner point A and the second corner point B, and the second included angle β (i.e., ∠ABN) between the line BN connecting the second positioning point N and the second corner point B and the line BA connecting the second corner point B and the first corner point A.

[0041] The distance between the center point O of the rear axle and the center point of the rear wheel axle is half the wheelbase f. Therefore, based on the distance and angle information obtained above, the position coordinates of the center point O of the rear axle can be calculated. Let the position coordinates of the center point of the rear axle be (x, y), then:

[0042]

[0043] Where θ is the vehicle deflection angle, which is the angle between the vehicle's axis along its length and the line AB connecting the first corner point A and the second corner point B. Usually, the front and rear wheel tracks of a vehicle are the same, so θ can also be regarded as the angle between the line MN connecting the rear wheel axle center point M and the front wheel axle center point N and AB.

[0044] The vehicle deflection angle θ can be calculated based on the first included angle α, the second included angle β, the first relative distance a, and the second relative distance b. According to geometric relationships:

[0045]

[0046] Then the formula for calculating the vehicle's deflection angle θ can be obtained:

[0047]

[0048] The obtained position coordinates (x, y) represent the position of the vehicle's rear axle center point O in the current spatial coordinate system (first position information). Since the positions of the fixed corner points are known, i.e., the latitude and longitude of A and B are known, the latitude and longitude information of the vehicle's rear axle center point O can be further obtained through coordinate transformation based on the latitude and longitude information of A and B and the position coordinates (x, y) of the vehicle's rear axle center point O, serving as the vehicle's second position information. This second position information is then used as the vehicle's current true position and compared with the high-precision positioning information obtained through high-precision positioning to test the static accuracy of the vehicle's high-precision positioning.

[0049] In some embodiments, testing of the dynamic accuracy of vehicle high-precision positioning can be further added. For high-precision positioning of autonomous vehicles, the receiver update rate can typically reach 20Hz, 50Hz, or even higher. Taking an update rate of 20Hz as an example, the receiver can provide 20 frames of update data per second. When the vehicle is stationary, to improve the accuracy of high-precision positioning, the vehicle's high-precision positioning information at multiple adjacent frame times can be acquired, and the mean and variance between the vehicle's high-precision positioning information at each adjacent frame time can be calculated to ensure the accuracy of high-precision positioning, avoid the influence of individual data, and the accuracy rate of high-precision positioning can be evaluated based on the variance.

[0050] In some embodiments, a fixed-corner-point-based positioning scheme can be further combined to achieve dynamic testing of the high-precision positioning performance of slow-moving vehicles within the corner point range. In this case, a high-precision sensor, such as a lidar, needs to be installed at the fixed corner point to achieve dynamic and accurate measurement of the relative distance and angle between the vehicle and the fixed corner point. The second position information of the vehicle calculated based on the fixed corner point at different frame times, and the high-precision positioning information of the vehicle obtained based on the high-precision positioning function, are acquired and compared with the information at the same frame time to test the high-precision positioning performance of the vehicle. To avoid the influence of extreme frames, a random frame and / or multi-frame docking scheme can be used for testing. Random frames refer to testing at random times rather than continuous time frames to eliminate the influence of consecutive erroneous times. Multi-frame docking refers to using continuous multi-frame data for calculation to avoid single-frame data anomalies affecting the calculation results.

[0051] Figure 3 This is a structural block diagram of a vehicle high-precision positioning performance testing system 200 provided in an embodiment of this disclosure, as shown below. Figure 3 As shown, the system includes: a data acquisition module 201, a first location information acquisition module 202, a second location information acquisition module 203, and a judgment module 204.

[0052] The data acquisition module 201 is configured to acquire the relative distance and relative angle between the vehicle and a fixed corner point; the latitude and longitude of the fixed corner point are known.

[0053] The first position information acquisition module 202 is configured to determine the first position information of the vehicle based on the relative distance and relative angle between the vehicle and the fixed corner point, combined with the vehicle size;

[0054] The second location information acquisition module 203 is configured to determine the second location information of the vehicle based on the first location information and the latitude and longitude of a fixed corner point;

[0055] The judgment module 204 is configured to judge the static accuracy of the vehicle high-precision positioning based on the second location information and the vehicle high-precision positioning information.

[0056] In some implementations, a dynamic accuracy testing module may be further included, which is configured to acquire vehicle high-precision positioning information at multiple adjacent frame times and determine the dynamic accuracy of vehicle high-precision positioning.

[0057] The vehicle high-precision positioning performance testing system provided in the above embodiments is illustrated using the division of the aforementioned hardware modules. In practical applications, these hardware modules can be replaced with other hardware modules with similar or identical functions as needed, or the function of a certain hardware module can be assigned to different hardware modules. Furthermore, the vehicle high-precision positioning performance testing system and the vehicle high-precision positioning performance testing method embodiments provided in the above embodiments belong to the same concept; their specific implementation processes are detailed in the method embodiments and will not be repeated here.

[0058] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for testing the high-precision positioning performance of a vehicle, characterized in that, include: The relative distance and relative angle between the vehicle and a fixed corner point are obtained, wherein the latitude and longitude of the fixed corner point are known; Based on the relative distance and relative angle between the vehicle and the fixed corner point, and in conjunction with the vehicle dimensions, determine the vehicle's first position information; Based on the first location information and the latitude and longitude of the fixed corner point, determine the vehicle's second location information; Based on the second location information and the vehicle's high-precision positioning information, determine the static accuracy of the vehicle's high-precision positioning; The vehicle has a first positioning point and a second positioning point. The fixed corner point includes a first corner point and a second corner point. The relative distance and relative angle between the vehicle and the fixed corner point include: a first relative distance between the first positioning point and the first corner point; a second relative distance between the second positioning point and the second corner point; a first angle between the line connecting the first positioning point and the first corner point and the line connecting the first corner point and the second corner point; and a second angle between the line connecting the second positioning point and the second corner point and the line connecting the second corner point and the first corner point. The first positioning point is the center point of the rear wheel axle of the vehicle, the second positioning point is the center point of the front wheel axle of the vehicle, and the first position information is the position of the center point of the rear axle of the vehicle; The coordinates of the center point of the rear axle of the vehicle are (x, y), where, , f is the vehicle track width, a is the first relative distance, and b is the second relative distance. The first included angle, Vehicle yaw angle; The formula for calculating the vehicle deflection angle is: in, This is the second included angle.

2. The vehicle high-precision positioning performance testing method as described in claim 1, characterized in that, The vehicle deflection angle is the angle between the vehicle's axis along its length and the line connecting the first and second corner points.

3. The vehicle high-precision positioning performance testing method as described in claim 1, characterized in that, It also includes acquiring high-precision vehicle positioning information at multiple adjacent frame times to determine the dynamic accuracy of vehicle high-precision positioning.

4. The vehicle high-precision positioning performance testing method as described in claim 3, characterized in that, The dynamic accuracy of the vehicle's high-precision positioning is determined. This includes obtaining the variance of each vehicle's high-precision positioning information based on the high-precision positioning information of multiple adjacent frames, and judging the dynamic accuracy of the vehicle's high-precision positioning based on the variance.

5. A high-precision positioning performance testing system for vehicles, characterized in that, include: The data acquisition module is configured to acquire the relative distance and relative angle between the vehicle and a fixed corner point; the latitude and longitude of the fixed corner point are known. The first position information acquisition module is configured to determine the first position information of the vehicle based on the relative distance and relative angle between the vehicle and the fixed corner point, combined with the vehicle size. The second location information acquisition module is configured to determine the second location information of the vehicle based on the first location information and the latitude and longitude of a fixed corner point; The judgment module is configured to determine the static accuracy of the vehicle's high-precision positioning based on the second location information and the vehicle's high-precision positioning information. The vehicle has a first positioning point and a second positioning point. The fixed corner point includes a first corner point and a second corner point. The relative distance and relative angle between the vehicle and the fixed corner point include: a first relative distance between the first positioning point and the first corner point; a second relative distance between the second positioning point and the second corner point; a first angle between the line connecting the first positioning point and the first corner point and the line connecting the first corner point and the second corner point; and a second angle between the line connecting the second positioning point and the second corner point and the line connecting the second corner point and the first corner point. The first positioning point is the center point of the rear wheel axle of the vehicle, the second positioning point is the center point of the front wheel axle of the vehicle, and the first position information is the position of the center point of the rear axle of the vehicle; The coordinates of the center point of the rear axle of the vehicle are (x, y), where, , f is the vehicle track width, a is the first relative distance, and b is the second relative distance. The first included angle, Vehicle yaw angle; The formula for calculating the vehicle deflection angle is: in, This is the second included angle.

6. The vehicle high-precision positioning performance testing system as described in claim 5, characterized in that, It also includes a dynamic accuracy test module, which is configured to acquire vehicle high-precision positioning information at multiple adjacent frame times to determine the dynamic accuracy of vehicle high-precision positioning.

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