Reflection column positioning method and device, equipment, storage medium and program product

Abstract

The invention discloses a reflective column positioning method and device, equipment, a storage medium and a program product, and relates to the technical field of automatic driving, and the method comprises the steps: setting a first threshold value through a reflective column according to the position of a stop; when the position of the vehicle is identified to be smaller than or equal to a first threshold value, triggering detection logic; and generating a detection signal based on the detection logic, and sending the detection signal to the laser radar. Receiving a detection signal sent by the reflective column through the laser radar, wherein the detection signal is generated by the reflective column based on the detection logic; and based on the detection signal, calculating the position coordinates of the reflective column by using a high reflection intensity point and a clustering method. According to the scheme, the global positioning technology of the laser radar is utilized, the position of the reflective column is detected, and the relative coordinates of the reflective column under the vehicle body are provided for the downstream regulation and control module, so that the parking positioning precision and reliability are improved, the low-cost reflective column is used, the dependence on an expensive sensor is effectively reduced, and the positioning cost is saved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to methods, devices, equipment, storage media and program products for locating reflective columns. Background Art

[0002] Laser SLAM (Simultaneous Localization and Mapping) technology is a technology widely used in autonomous driving and robot navigation. SLAM technology obtains environmental information through laser radar sensors, builds environmental maps in real time, and simultaneously determines the current position of the vehicle or robot. However, in actual applications, SLAM technology may be affected by factors such as environmental changes and sensor accuracy, resulting in reduced positioning accuracy.

[0003] In order to improve the parking accuracy of autonomous vehicles at specific locations (such as bus stops and parking spaces), various auxiliary positioning technologies are usually used, such as GPS and visual sensors. However, these technologies may experience signal obstruction or interference in complex environments (such as city centers with tall buildings and underground parking lots), resulting in insufficient positioning accuracy. In addition, these solutions have the following problems:

[0004] (1) High sensor cost: Adding additional sensors will significantly increase system cost and make installation and maintenance complex.

[0005] (2) Complex data processing: Multi-sensor data fusion requires complex algorithms and computing resources, which increases the complexity of the system.

[0006] (3) Strong environmental dependence: The performance of some sensors is unstable under certain conditions (such as changes in light and weather), which affects the positioning effect. Summary of the invention

[0007] The main purpose of this application is to provide a reflective column positioning method, device, equipment, storage medium and program product, aiming to solve the technical problem of how to improve the positioning accuracy and reliability of vehicles near parking sites while reducing positioning costs.

[0008] To achieve the above-mentioned purpose, the present application proposes a reflective column positioning method, which is applied to reflective columns, and the reflective columns are arranged based on docking stations, and the method includes:

[0009] According to the location of the stop site, a first threshold is set;

[0010] When the position of the vehicle is identified to be less than or equal to the first threshold, the detection logic is triggered;

[0011] Based on the detection logic, a detection signal is generated and sent to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal using high reflection intensity points and a clustering method.

[0012] In one embodiment, the installation height of the reflective column is the same as the installation height of the laser radar, and the installation height of the laser radar is the vertical distance from the ground to the geometric center of the laser radar. The installation range of the reflective column is within a circular area with the vehicle stop as the center and a preset distance as the radius.

[0013] In addition, to achieve the above purpose, the present application also proposes a reflective column positioning method, which is applied to a laser radar and includes:

[0014] receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic;

[0015] Based on the detection signal, the position coordinates of the reflective column are calculated using high reflection intensity points and a clustering method.

[0016] In one embodiment, before the step of calculating the position coordinates of the reflective column based on the detection signal using high reflection intensity points and a clustering method, the method further includes:

[0017] Obtain reflection intensity of laser data;

[0018] Setting a second threshold;

[0019] According to the second threshold, low reflection intensity points in the reflection intensity are filtered to obtain high reflection intensity points.

[0020] In one embodiment, the step of calculating the position coordinates of the reflective column by using high reflection intensity points and a clustering method comprises:

[0021] Perform clustering calculation on the high reflection intensity points to obtain the distance from the high reflection intensity points to each cluster center point;

[0022] According to the distance from the high reflection intensity point to each cluster center point, the coordinate mean is calculated to obtain the position coordinates of the reflective column.

[0023] In one embodiment, the step of calculating the coordinate mean according to the distance from the high reflection intensity point to each cluster center point to obtain the position coordinates of the reflective column includes:

[0024] Acquire data points among the high reflection intensity points and the three-dimensional spatial coordinates of the data points;

[0025] Calculate a first distance from the first data point to each cluster center point according to the three-dimensional spatial coordinates of the first data point;

[0026] Calculating a second distance from the second data point to each cluster center point according to the three-dimensional spatial coordinates of the second data point;

[0027] Determining whether the first distance and the second distance are less than a preset third threshold;

[0028] If the first distance and / or the second distance is less than the preset third threshold, it means that the first data point or the second data point belongs to the corresponding cluster center point, and the coordinate mean of the corresponding cluster center point is calculated to update the coordinate position of the cluster center point corresponding to the first data point or the second data point to obtain the updated coordinate position of the cluster center point;

[0029] If the first distance and the second distance are greater than the preset third threshold, the coordinate positions corresponding to the first data point and the second data point are used as the coordinate positions of the updated cluster center points;

[0030] Based on the preset filtering conditions and the coordinate positions of the updated cluster center points, the updated cluster center points are filtered to obtain cluster center points that meet the conditions, and the cluster center points that meet the conditions are the position coordinates of the reflective columns.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a reflective column positioning device, the reflective column positioning device comprising a reflective column and a laser radar; the reflective column comprises:

[0032] A setting module, used for setting a first threshold value according to the location of the stop site;

[0033] A trigger module, configured to trigger the detection logic when the position of the vehicle is identified to be less than or equal to the first threshold;

[0034] A generating and sending module, used to enable the laser radar to calculate the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method;

[0035] The laser radar comprises:

[0036] A receiving module, used for receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic;

[0037] The calculation module is used to calculate the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a reflective column locating device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the reflective column locating method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the reflective column positioning method described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the reflective column positioning method described above are implemented.

[0041] The embodiment of the present application provides a method, device, equipment, storage medium and program product for locating a reflective column. A first threshold is set according to the position of the parking site through a reflective column; when the position of the vehicle is identified to be less than or equal to the first threshold, the detection logic is triggered; based on the detection logic, a detection signal is generated, and the detection signal is sent to a laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal, using high reflection intensity points and clustering methods. The detection signal sent by the reflective column is received by the laser radar, and the detection signal is generated by the reflective column based on the detection logic; based on the detection signal, the position coordinates of the reflective column are calculated using high reflection intensity points and clustering methods. This solution uses the global positioning technology of the laser radar to detect the position of the reflective column, and provides the relative coordinates of the reflective column under the vehicle body for the downstream regulation and control module to improve the accuracy and reliability of parking positioning, while using low-cost reflective columns, effectively reducing dependence on expensive sensors and saving positioning costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A schematic diagram of a process flow provided for Embodiment 1 of the reflective column positioning method of the present application;

[0045] Figure 2 This is a schematic diagram of the dimensions of the reflective column involved in Example 1 of the present application;

[0046] Figure 3 This is a schematic diagram of the installation of the reflective column involved in the first embodiment of the present application;

[0047] Figure 4 A schematic diagram of a process flow provided for Embodiment 2 of the reflective column positioning method of the present application;

[0048] Figure 5 A schematic diagram of a process flow provided for Embodiment 3 of the reflective column positioning method of the present application;

[0049] Figure 6 This is a schematic diagram of the module structure of the reflective column positioning device according to an embodiment of the present application;

[0050] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the reflective column positioning method in the embodiment of the present application.

[0051] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0053] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0054] The main solution of the embodiment of the present application is: a first threshold is set according to the position of the stop site through a reflective column; when the position of the vehicle is identified to be less than or equal to the first threshold, the detection logic is triggered; based on the detection logic, a detection signal is generated, and the detection signal is sent to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal, using high reflection intensity points and clustering methods. The detection signal sent by the reflective column is received by the laser radar, and the detection signal is generated by the reflective column based on the detection logic; based on the detection signal, the position coordinates of the reflective column are calculated using high reflection intensity points and clustering methods.

[0055] In order to improve the parking accuracy of autonomous vehicles at specific locations (such as bus stops and parking spaces), various auxiliary positioning technologies are usually used, such as GPS and visual sensors. However, these technologies may experience signal obstruction or interference in complex environments (such as city centers with tall buildings and underground parking lots), resulting in insufficient positioning accuracy. In addition, these solutions have the following problems:

[0056] (1) High sensor cost: Adding additional sensors will significantly increase system cost and make installation and maintenance complex.

[0057] (2) Complex data processing: Multi-sensor data fusion requires complex algorithms and computing resources, which increases the complexity of the system.

[0058] (3) Strong environmental dependence: The performance of some sensors is unstable under certain conditions (such as changes in light and weather), which affects the positioning effect.

[0059] The present application provides a solution, which sets a first threshold value according to the location of the stop site through a reflective column; when the position of the vehicle is identified to be less than or equal to the first threshold value, the detection logic is triggered; based on the detection logic, a detection signal is generated, and the detection signal is sent to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal, using high reflection intensity points and clustering methods. The detection signal sent by the reflective column is received by the laser radar, and the detection signal is generated by the reflective column based on the detection logic; based on the detection signal, the position coordinates of the reflective column are calculated using high reflection intensity points and clustering methods. This solution reduces the dependence on expensive sensors and improves the economy and feasibility of the system by using low-cost reflective stickers and plastic tubes. At the same time, by using the clear positioning marks provided by the reflective column, the laser radar simplifies the data processing and computing resource requirements, and improves the real-time and reliability of the system. In addition, the reflective column has stable performance under various environmental conditions, is not affected by light and weather changes, and improves the stability and accuracy of the positioning effect.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle-mounted device, etc. that can realize the above functions. The following takes a mobile phone as an example to illustrate this embodiment and the following embodiments.

[0061] Based on this, an embodiment of the present application provides a reflective column positioning method, and the reflective column positioning method is applied to the reflective column. Figure 1 , Figure 1 This is a schematic diagram of the flow of the first embodiment of the reflective column positioning method of the present application.

[0062] In this embodiment, the reflective column positioning method includes steps S10 to S30:

[0063] Step S10, setting a first threshold according to the location of the stop site;

[0064] It should be noted that the first threshold refers to the threshold distance at which the vehicle reaches the reflective column, that is, the threshold distance that triggers the detection logic of the reflective column.

[0065] In addition, it should be noted that the reflective column designed in this embodiment is made of a plastic round tube with a length of 80 cm and a diameter of 5 cm, and a layer of high-reflective sticker is pasted on the surface of the round tube. Figure 2 As shown, Figure 2 This is a schematic diagram of the reflective column dimensions.

[0066] Please refer to Figure 3 , Figure 3 The following is a schematic diagram of the installation of reflective columns. Reflective columns are installed at the stations where vehicles need to stop accurately. The height of the reflective column center point is generally equal to the installation height of the laser radar. The laser radar is generally installed on the top of the vehicle. The installation height of the laser radar refers to the vertical distance from the ground to the geometric center of the laser radar. The installation range of the reflective column is generally within a radius of 5m with the station where the vehicle needs to stop accurately as the center of the circle.

[0067] Optionally, the position coordinates of the station where the vehicle needs to stop accurately are obtained, and the position coordinates of the stop are converted into coordinates in a corresponding map coordinate system, wherein the first threshold is set to 5 meters in this embodiment.

[0068] Step S20, when the position of the vehicle is identified to be less than or equal to the first threshold, triggering the detection logic;

[0069] Optionally, the position information of the current vehicle is obtained, the position information of the current vehicle is compared with the position of the reflective column, and the distance between the current vehicle and the reflective column is calculated.

[0070] When the calculated distance between the current vehicle and the reflective column is less than or equal to the preset first threshold, it means that the vehicle meets the detection condition for triggering the reflective column. In this embodiment, when the distance between the current vehicle and the reflective column is less than or equal to 5 meters, the detection logic of the reflective column will be triggered.

[0071] Step S30, based on the detection logic, generates a detection signal, and sends the detection signal to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and clustering method.

[0072] Optionally, once the detection logic is triggered, the system generates a detection signal and sends the detection signal to the laser radar of the current vehicle, wherein the detection signal is used by the laser radar to calculate the position of the reflective column where the vehicle arrives at the stop.

[0073] Through the above-mentioned embodiment method, reflective columns are installed near sites that require precise parking (such as charging piles and parking spaces), reducing the reliance on expensive sensors and improving the economy and feasibility of the system. The clear position marks provided by the reflective columns can simplify the data processing and computing resource requirements for the subsequent laser radar in the calculation process, and improve the real-time and reliability of the system. In addition, the reflective columns have stable performance under various environmental conditions and are not affected by changes in light and weather, which improves the stability and accuracy of the positioning effect.

[0074] Based on this, the embodiment of the present application provides a reflective column positioning method, which is applied to laser radar. Figure 4 , Figure 4 This is a schematic flow chart of the second embodiment of the reflective column positioning method of the present application.

[0075] In this embodiment, the reflective column positioning method includes steps S40 to S50:

[0076] Step S40, receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic;

[0077] It should be noted that lidar is a technology that uses lasers to measure the distance to a target.

[0078] Among them, this embodiment uses a lidar sensor to perform SLAM (Simultaneous Localization and Mapping) offline mapping, and completes real-time online positioning to provide global positioning of the autonomous driving vehicle.

[0079] Step S50, based on the detection signal, using high reflection intensity points and a clustering method, calculate the position coordinates of the reflective column.

[0080] It should be noted that high reflection intensity points refer to points where the intensity of the laser pulse signal reflected back in the LiDAR scanning environment is high. These points usually correspond to hard surfaces or highly reflective surfaces in the environment, such as metal surfaces, mirrors, etc. Since these surfaces have a strong ability to reflect lasers, their signal intensity in the point cloud data will also be high.

[0081] Clustering is a method of grouping similar data points together. In lidar-based SLAM applications, clustering methods are often used to identify point groups with similar characteristics from point cloud data, such as points from the same object surface. This can group scattered but related points together, thereby helping to identify objects or structures in the environment.

[0082] It is understandable that in order to obtain the precise position coordinates of the reflective column, step S50 is executed to improve the positioning accuracy of the reflective column while avoiding the need for complex algorithms for multi-sensor data fusion, thereby achieving precise parking.

[0083] In a feasible implementation, step S50 may include steps S51 to S52:

[0084] Step S51, performing cluster calculation on the high reflection intensity points to obtain the distance from the high reflection intensity points to each cluster center point;

[0085] Optionally, a suitable clustering algorithm is selected to perform clustering calculation on the high reflection intensity points, and the clustering algorithm includes but is not limited to K-means clustering, DBSCAN (density-based clustering), and hierarchical clustering.

[0086] Then, K initial cluster centers are selected and each high reflection intensity point is assigned to the nearest cluster center, that is, the corresponding clustering algorithm is applied to group the high reflection intensity points.

[0087] For each cluster, calculate its geometric center as the cluster center. If K-means is used, the cluster center is the centroid obtained during the iteration process. For each high reflection intensity point, calculate its distance metric to each cluster center.

[0088] Step S52, calculating the coordinate mean according to the distance from the high reflection intensity point to each cluster center point, to obtain the position coordinates of the reflective column.

[0089] Optionally, since the goal of this application is to obtain accurate location data of reflective columns, it is necessary to identify the cluster that is most likely to represent reflective columns based on the points of high reflection intensity, and determine the location of the reflective column by calculating the mean of the coordinates of all points in the cluster.

[0090] In a feasible implementation, step S52 may include steps S521 to S527:

[0091] Step S521, obtaining data points among the high reflection intensity points and the three-dimensional spatial coordinates of the data points;

[0092] Optionally, since the SLAM offline mapping and online positioning technology used by the laser radar can obtain the current vehicle positioning online in real time, the position coordinates of the data point in each high reflection intensity point in three-dimensional space can be obtained by using the SLAM offline mapping and online positioning technology.

[0093] In this embodiment, it is assumed that the set P{p1, p2, p3...p n} is n points with high reflection intensity, p i(x, y, z, intensity)∈P, where x, y, z are the coordinates of the data point with high reflection intensity in three-dimensional space, and intensity is the reflection intensity of the data point, which ranges from 0 to 255.

[0094] Step S522, calculating a first distance from the first data point to each cluster center point according to the three-dimensional spatial coordinates of the first data point;

[0095] Optionally, take a data point p1 in the set P, and calculate the first distance from the point p1 to each cluster center point C. If there is no cluster center point at present, the current data point is used as a cluster center point. The formula for calculating the first distance from the point p1 to each cluster center point C is as follows:

[0096] in, are the x-coordinate and y-coordinate of the data point p1, xc and yc are the x-coordinate and y-coordinate of the cluster center point C, and d1 is the first distance from point p1 to each cluster center point C.

[0097] Step S523, calculating a second distance from the second data point to each cluster center point according to the three-dimensional space coordinates of the second data point;

[0098] Optionally, take a data point p2 from the set P, and calculate the distance from the data point p2 to each cluster center point. The second distance formula for calculating the distance from the point p2 to each cluster center point C is as follows:

[0099]

[0100] in, are the x-coordinate and y-coordinate of the data point p2, xc and yc are the x-coordinate and y-coordinate of the cluster center point C, and d2 is the second distance from point p2 to each cluster center point C.

[0101] Step S524, determining whether the first distance and the second distance are less than a preset third threshold;

[0102] Optionally, in this embodiment, the preset third threshold is 0.2 m. That is, it is determined whether the first distance d1 and the second distance d2 obtained in step S522 and step S523 are less than the preset threshold (0.2 m). This step is to determine whether the data point is close enough to a cluster center to consider assigning it to the cluster.

[0103] Step S525: if the first distance and / or the second distance is less than the preset third threshold, it means that the first data point or the second data point belongs to the corresponding cluster center point, and the coordinate mean of the corresponding cluster center point is calculated to update the coordinate position of the cluster center point corresponding to the first data point or the second data point, and obtain the updated coordinate position of the cluster center point;

[0104] Optionally, if the judgment result is that one of the first distance d1 and the second distance d2 is less than the preset third threshold, or the first distance d1 and the second distance d2 are both less than the preset third threshold, then it is considered that the data point corresponding to the first distance d1 and the second distance d2 belongs to the cluster corresponding to the cluster center point. The coordinates of the data point and the original cluster center point are used to update the coordinates of the cluster center point, and finally, the number of data points contained in the updated cluster center point is recorded. The updated calculation formula is as follows:

[0105]

[0106] in, and are the x-coordinate and y-coordinate of the updated cluster center point, respectively. p and p Respectively represent the x-coordinate and y-coordinate of the data point p corresponding to the first distance d1 or the second distance d2, x c ,y c are the x-coordinate and y-coordinate of the cluster center point C respectively.

[0107] Step S526: if the first distance and the second distance are greater than the preset third threshold, the coordinate positions corresponding to the first data point and the second data point are used as the coordinate positions of the updated cluster center points;

[0108] Optionally, if both the first distance d1 and the second distance d2 are greater than a preset third threshold, then the data point p1 and the data point p2 corresponding to the first distance d1 and the second distance d1 are used as a new cluster center point, so that the coordinate positions corresponding to the data point p1 and the data point p2 are the coordinate positions corresponding to the new cluster center point.

[0109] Repeat steps S25 and S526 until all the data points in set P are taken.

[0110] Step S527, based on the preset filtering conditions and the coordinate positions of the updated cluster center points, the updated cluster center points are filtered to obtain cluster center points that meet the conditions, and the cluster center points that meet the conditions are the position coordinates of the reflective columns.

[0111] Optionally, after the above steps, a series of cluster center points C{C1,C2,C3...C m Since in a real driving environment, there are very few high reflection intensity points that can actually be obtained (compared to those formed by reflective columns), this embodiment filters out cluster center points that do not meet the conditions based on some prior conditions, such as the installation height of the reflective column, the position relative to the site, the number of high reflection points, etc., so as to obtain the most reliable cluster center point, which is the position of the reflective column.

[0112] Finally, once the position coordinates of the reflective column are confirmed by the LiDAR, these position coordinates can be sent to the downstream planning and control modules. These modules use this coordinate information to plan the path and control the vehicle to park accurately at the docking station, thereby achieving accurate parking of the vehicle.

[0113] In summary, through the above steps, not only can the position of the reflective column be efficiently identified, but also the accuracy of the station docking can be ensured.

[0114] Through the above-mentioned embodiment method, specifically, the detection signal sent by the reflective column is received by the laser radar, and the detection signal is generated by the reflective column based on the detection logic; based on the detection signal, the position coordinates of the reflective column are calculated using the high reflection intensity point and clustering method. The position of the reflective column is detected by using the global positioning technology of the laser radar, and the relative coordinates of the reflective column under the vehicle body are provided to the downstream regulation and control module to improve the accuracy and reliability of parking positioning.

[0115] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned second embodiment can refer to the above introduction, and will not be repeated in the following. Figure 5 Before step S50, the reflective column positioning method further includes steps S501 to S03:

[0116] Step S501, obtaining the reflection intensity of laser data;

[0117] It should be noted that reflection intensity refers to the fact that after the laser beam emitted by the lidar hits the surface of an object, part of the light will be reflected back. Reflection intensity reflects the reflection characteristics of the surface of an object.

[0118] Optionally, the original point cloud data output by the lidar sensor is obtained, and the reflection intensity attribute is extracted from each data point to obtain the reflection intensity.

[0119] Step S502, setting a second threshold;

[0120] Optionally, a threshold is defined to distinguish between low reflection intensity points and high reflection intensity points. In this embodiment, the threshold is set to 230, that is, if the reflection intensity point is greater than 230, the data point corresponding to the reflection intensity point is marked as a high reflection intensity point, otherwise, if it is less than 230, the data point corresponding to the reflection intensity point is marked as a low reflection intensity point.

[0121] Step S503: filtering the low reflection intensity points in the reflection intensity according to the second threshold value to obtain high reflection intensity points.

[0122] Optionally, all data points are traversed, and the reflection intensity of each data point is compared with a preset second threshold value. Data points marked with low reflection intensity points are filtered to retain only high reflection intensity points.

[0123] Through the above steps, points with higher reflection intensity can be effectively screened out, improving the detection accuracy and robustness of the system for key features such as reflective columns, while reducing the computational burden, making subsequent clustering analysis more efficient and accurate.

[0124] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the reflective column positioning method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0125] This application also provides a reflective column positioning device, please refer to Figure 6 , the reflective column positioning device includes a reflective column and a laser radar; the reflective column includes:

[0126] A setting module 10, configured to set a first threshold value according to the location of the stop site;

[0127] A trigger module 20, configured to trigger a detection logic when the position of the vehicle is identified to be less than or equal to the first threshold;

[0128] A generating and sending module 30, for generating a detection signal based on the detection logic, and sending the detection signal to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method;

[0129] The laser radar comprises:

[0130] A receiving module 40, used for receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic;

[0131] The calculation module 50 is used to calculate the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method.

[0132] The reflective column positioning device provided by the present application adopts the reflective column positioning method in the above embodiment, which can solve the technical problem of how to improve the accuracy and reliability of positioning of vehicles near parking sites while reducing the positioning cost. Compared with the prior art, the beneficial effects of the reflective column positioning device provided by the present application are the same as the beneficial effects of the reflective column positioning method provided by the above embodiment, and other technical features of the reflective column positioning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0133] The present application provides a reflective column locating device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the reflective column locating method in the above-mentioned embodiment 1.

[0134] Reference below Figure 7 , which shows a schematic diagram of the structure of a reflective column positioning device suitable for implementing the embodiment of the present application. The reflective column positioning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The reflective column positioning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] like Figure 7As shown, the reflective column positioning device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the reflective column positioning device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the reflective post positioning device to communicate with other devices wirelessly or by wire to exchange data. Although the reflective post positioning device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0136] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0137] The reflective column positioning device provided by the present application adopts the reflective column positioning method in the above embodiment, which can solve the technical problem of how to improve the accuracy and reliability of positioning of vehicles near parking sites while reducing the positioning cost. Compared with the prior art, the beneficial effects of the reflective column positioning device provided by the present application are the same as the beneficial effects of the reflective column positioning method provided by the above embodiment, and other technical features in the reflective column positioning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0138] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0139] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0140] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the reflective column positioning method in the above-mentioned embodiment.

[0141] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0142] The computer-readable storage medium may be included in the reflective column positioning device; or may exist independently without being assembled into the reflective column positioning device.

[0143] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the reflective column positioning device, the reflective column positioning device:

[0144] According to the location of the stop site, a first threshold is set;

[0145] When the position of the vehicle is identified to be less than or equal to the first threshold, the detection logic is triggered;

[0146] Based on the detection logic, a detection signal is generated, and the detection signal is sent to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method;

[0147] receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic;

[0148] Based on the detection signal, the position coordinates of the reflective column are calculated using high reflection intensity points and a clustering method.

[0149] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0150] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0151] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0152] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned reflective column positioning method, and can solve the technical problem of how to improve the accuracy and reliability of positioning of vehicles near parking sites while reducing positioning costs. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the reflective column positioning method provided by the above-mentioned embodiment, and will not be repeated here.

[0153] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned reflective column positioning method when executed by a processor.

[0154] The computer program product provided by the present application can solve the technical problem of how to improve the accuracy and reliability of positioning of vehicles near parking sites while reducing the positioning cost. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the reflective column positioning method provided by the above embodiment, which will not be described in detail here.

[0155] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for positioning a reflective column, characterized in that: The method is applied to a reflective column, the reflective column is arranged based on a docking station, and the method comprises: According to the location of the stop site, a first threshold is set; When the position of the vehicle is identified to be less than or equal to the first threshold, the detection logic is triggered; Based on the detection logic, a detection signal is generated and sent to the laser radar, so that the laser radar calculates the position coordinates of the reflective column based on the detection signal using high reflection intensity points and a clustering method.

2. The method according to claim 1, characterized in that The installation height of the reflective column is the same as the installation height of the laser radar. The installation height of the laser radar is the vertical distance from the ground to the geometric center of the laser radar. The installation range of the reflective column is a circular area with the vehicle stop as the center and a preset distance as the radius.

3. A method for positioning a reflective column, characterized in that: The method is applied to laser radar, and the method comprises: receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic; Based on the detection signal, the position coordinates of the reflective column are calculated using high reflection intensity points and a clustering method.

4. The method according to claim 3, characterized in that Before the step of calculating the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method, the method further includes: Obtain reflection intensity of laser data; Setting a second threshold; According to the second threshold, low reflection intensity points in the reflection intensity are filtered to obtain high reflection intensity points.

5. The method according to any one of claims 3 to 4, characterized in that The step of calculating the position coordinates of the reflective column by using high reflection intensity points and a clustering method comprises: Perform clustering calculation on the high reflection intensity points to obtain the distance from the high reflection intensity points to each cluster center point; According to the distance from the high reflection intensity point to each cluster center point, the coordinate mean is calculated to obtain the position coordinates of the reflective column.

6. The method according to claim 5, characterized in that The step of calculating the coordinate mean according to the distance from the high reflection intensity point to each cluster center point to obtain the position coordinates of the reflective column comprises: Acquire data points among the high reflection intensity points and the three-dimensional spatial coordinates of the data points; Calculate a first distance from the first data point to each cluster center point according to the three-dimensional spatial coordinates of the first data point; Calculating a second distance from the second data point to each cluster center point according to the three-dimensional spatial coordinates of the second data point; Determining whether the first distance and the second distance are less than a preset third threshold; If the first distance and / or the second distance is less than the preset third threshold, it means that the first data point or the second data point belongs to the corresponding cluster center point, and the coordinate mean of the corresponding cluster center point is calculated to update the coordinate position of the cluster center point corresponding to the first data point or the second data point to obtain the updated coordinate position of the cluster center point; If the first distance and the second distance are greater than the preset third threshold, the coordinate positions corresponding to the first data point and the second data point are used as the coordinate positions of the updated cluster center points; Based on the preset filtering conditions and the coordinate positions of the updated cluster center points, the updated cluster center points are filtered to obtain cluster center points that meet the conditions, and the cluster center points that meet the conditions are the position coordinates of the reflective columns.

7. A reflective column positioning device, characterized in that: The device comprises a reflective column and a laser radar; the reflective column comprises: A setting module, used for setting a first threshold value according to the location of the stop site; A trigger module, configured to trigger the detection logic when the position of the vehicle is identified to be less than or equal to the first threshold; A generating and sending module, used for generating a detection signal based on the detection logic, and sending the detection signal to the laser radar; The laser radar comprises: A receiving module, used for receiving a detection signal sent by the reflective column, wherein the detection signal is generated by the reflective column based on detection logic; The calculation module is used to calculate the position coordinates of the reflective column based on the detection signal by using high reflection intensity points and a clustering method.

8. A reflective column positioning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the reflective column positioning method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the reflective column positioning method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the reflective column positioning method according to any one of claims 1 to 6 are implemented.

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