Method and device for testing the positioning capability of an autonomous driving vehicle in a tunnel

Abstract

The present invention discloses a method and device for testing the positioning capability of an autonomous driving vehicle in a tunnel, comprising: selecting at least three points in the tunnel and arranging reference stations A; using a positioning device B arranged outside the tunnel to calibrate the position of each reference station A in the tunnel one by one; arranging the positioning device B on the autonomous driving vehicle to be tested, allowing the autonomous driving vehicle to be tested to automatically drive in the tunnel, and using the calibrated reference station A and positioning device B to position the autonomous driving vehicle to be tested; using the positioning value obtained by positioning the autonomous driving vehicle to be tested by the reference station A and the positioning device B as a reference, calculating the positioning error of the positioning value obtained by the autonomous driving vehicle to be tested through its own positioning. The present invention realizes the test of the self-positioning system of the autonomous driving vehicle in the tunnel scene.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology. More specifically, the present invention relates to a method and device for testing the positioning capability of an autonomous driving vehicle in a tunnel. Background Art

[0002] The positioning functions of current autonomous vehicles and test equipment are based on the development and analysis of algorithms based on GPS positioning data. However, the scenes in tunnels have a strong shielding effect on GPS positioning, so such equipment cannot carry out scene tests in tunnels. Another positioning system commonly used in autonomous vehicles is the inertial navigation system, which uses gyroscopes and accelerometers to obtain data and obtains positioning information through integral calculation. However, this method will produce a large cumulative error. The longer the inertial navigation distance, the greater the error. Therefore, the existing positioning technology cannot meet the needs of testing in tunnels. Summary of the invention

[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0004] In order to achieve these purposes and other advantages according to the present invention, a method for testing the positioning capability of an autonomous driving vehicle in a tunnel is provided, comprising:

[0005] S1. Select at least 3 points in the tunnel and arrange reference stations A. All reference stations A are at the same height and there is no obstruction between two reference stations A. All reference stations A are not in the same straight line.

[0006] S2, using the positioning device B set outside the tunnel to calibrate the position of each reference station A in the tunnel one by one;

[0007] S3, placing the positioning device B on the autonomous driving vehicle to be tested, and making the positioning device B and the reference station A at the same height, allowing the autonomous driving vehicle to be tested to automatically drive in the tunnel, and using the calibrated reference station A and positioning device B to locate the autonomous driving vehicle to be tested;

[0008] S4. Using the positioning value obtained by the base station A and the positioning device B for positioning the autonomous driving vehicle to be tested as a reference, calculate the positioning error of the positioning value obtained by the autonomous driving vehicle to be tested through its own positioning.

[0009] Preferably, a positioning device B arranged outside the tunnel is used to locate a reference station A in the tunnel. i Methods for position calibration include:

[0010] S21, select a station outside the tunnel and adjacent to the base station A i At least 3 points at the same height, at least 3 points are not on the same straight line:

[0011] S22, place the positioning device B at any one of at least three points B i , get the point B i location information;

[0012] S23, using base station A i Send preset information to positioning device B by wireless means, and based on the preset information, i The sending time and the receiving time at positioning device B are calculated from the base station A. i With point B i The distance between i ;

[0013] S24, repeat S22-S23 for the other points among at least three points;

[0014] S25, for any one of at least three points B i , based on the distance formula between two points on a plane, build the reference station A i The location information of point B i The location information of base station A i With point B i The distance between i The relationship between the three;

[0015] S26, traverse all the points and select a combination of two points. For each combination of two points, jointly establish a relationship based on the two points to solve the reference station A obtained by positioning the two points. i The pending position information of all base stations A i The pending location information;

[0016] S27, select all base stations A i The three sets of pending position information closest to each other are obtained by solving their average value to obtain the base station A. i location information.

[0017] Preferably, the distance between reference station A and the other reference station A closest to it is no more than 3 km.

[0018] Preferably, the distance between the setting points of the positioning device B is not less than 100m.

[0019] Preferably, in S23, reference station A i The preset information sent includes: base station ID, sending time, and check code.

[0020] Preferably, in S23, after receiving the preset information, the positioning device B calculates the reference station A according to the reception time of the preset information and the sending time contained in the preset information. i With point B i The distance between i , and then send the positioning information to the base station A i The positioning information includes: positioning device ID, location information of positioning device B, base station A i With point B i The distance between i , check code;

[0021] Base Station A i Execute S25~S27 to obtain its own location information.

[0022] Preferably, in S1, the method for selecting the point for arranging the reference station A includes:

[0023] Obtain a map of the tunnel area and determine the number of initial reference stations A;

[0024] The fitness function F=max(k i / w i ), where i is the number of base stations A, k i is the total positioning accuracy when the number of base stations A is i, w i is the total cost when the number of base stations A is i;

[0025] The initial layout points of reference station A are randomly generated in the tunnel area, and the genetic algorithm is used to optimize the layout quantity and layout points of reference station A in the tunnel area.

[0026] The present invention also provides a device for executing the above-mentioned method for testing the positioning capability of an autonomous driving vehicle in a tunnel, comprising: a positioning device B and at least three reference stations A.

[0027] The present invention includes at least the following beneficial effects: the present invention can accurately locate the autonomous driving vehicle with the aid of a base station arranged in a tunnel and a positioning device arranged on the autonomous driving vehicle, which serves as a reference standard for the autonomous driving vehicle's own positioning system, thereby realizing the testing of the autonomous driving vehicle's own positioning system in a tunnel scenario.

[0028] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1This is a flow chart of the method for testing the positioning capability of an autonomous driving vehicle in a tunnel according to the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0031] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] like Figure 1 As shown, the present invention provides a method for testing the positioning capability of an autonomous driving vehicle in a tunnel, comprising:

[0033] S1. Select at least 3 points in the tunnel and arrange reference stations A. All reference stations A are at the same height and there is no obstruction between two reference stations A. All reference stations A are not in the same straight line.

[0034] Specifically, the number and locations of base stations A in the tunnel can be set by the staff themselves or by the method of the following embodiment. It is best to evenly cover the entire length of the tunnel to ensure good positioning accuracy at any position in the tunnel. Of course, while meeting the positioning accuracy requirements, the number of base stations can be minimized to reduce costs.

[0035] All base stations A are at the same height, so that the base stations A are basically in the same horizontal plane. Combined with the subsequent setting of positioning equipment B at the same height, the positioning process occurs in a two-dimensional plane, reducing the intervention of height data, which not only reduces the calculation complexity but also improves the positioning accuracy.

[0036] For example, for a one-way tunnel, the reference station A can be suspended on the top of the tunnel by a hanger, and the reference station A can be staggered along the length direction on both sides of the central axis of the tunnel. The number of reference stations A is not less than 3, and can be specifically set according to the length of the tunnel.

[0037] S2, using the positioning device B set outside the tunnel to calibrate the position of each reference station A in the tunnel one by one;

[0038] Specifically, a positioning device B located outside the tunnel is used to locate a reference station A in the tunnel. i The method for performing position calibration includes:

[0039] S21, select a station outside the tunnel and adjacent to the base station A i At least 3 points at the same height, at least 3 points are not on the same straight line:

[0040] Here we take the selection of three points as an example. These three points used to set up positioning device B can be selected close to the tunnel entrance or exit. i The position can be calibrated in the order from near to far from the tunnel entrance of positioning device B. The first calibrated base station A i It can be denoted as A1, and the subsequent base stations can be deduced in the same way.

[0041] S22, place the positioning device B at any one of at least three points B i , get the point B i location information;

[0042] Here, the positioning device B is located outside the tunnel, so GPS positioning can be used to obtain its location B i For example, the first point B where the positioning device B is placed i It is denoted as B1, and the other two points can be denoted as B2 and B3.

[0043] S23, using base station A i Send preset information to positioning device B by wireless means, and based on the preset information, i The sending time and the receiving time at positioning device B are calculated from the base station A. i With point B i The distance between i ;

[0044] The preset information here may include: reference station ID, sending time, and check code;

[0045] After receiving the preset information, positioning device B calculates the base station A according to the preset information reception time and the sending time contained in the preset information. i With point B i The distance between i , and then send the positioning information to the base station A i The positioning information may include: positioning device ID, location information of positioning device B, reference station A i With point B i The distance between i , check code;

[0046] Here the default base station is Ai The time on the positioning device B is synchronized with the time on the base station A. i During the position calibration process, other reference stations A are closed to prevent the signals generated by other reference stations A from interfering with reference station A. i Position calibration process.

[0047] Here, based on the preset information, i The time difference between the sending time and the receiving time at positioning device B, combined with the propagation speed of the signal in the air, can be used to calculate the base station A i With point B i The distance between i .

[0048] When the positioning device B is placed at point B1, the distance L1 between the reference station A1 and the point B1 can be obtained through this step.

[0049] S24, repeat S22-S23 for the other points among at least three points;

[0050] That is, in this step, the positioning device B is placed at the points B2 and B3 in sequence, and the distance L2 between the reference station A1 and the point B2 and the distance L3 between the reference station A1 and the point B3 are calculated respectively.

[0051] When the base station A1 obtains the data L1, L2, and L3, it can execute the following S25 to S27 to calculate its own position information.

[0052] S25, for any one of at least three points B i , based on the distance formula between two points on a plane, build the reference station A i The location information of point B i The location information of base station A i With point B i The distance between i The relationship between the three;

[0053] Specifically, the location information described in this embodiment can be expressed by longitude and latitude coordinates. For example, the location information of reference station A1 can be expressed as (lng_A1, lat_A1), and the location information of other reference stations A can be expressed by analogy; the location information of point B1 can be expressed as (lng_B1, lat_B1), and the location information of other points B2 and B3 can be expressed by analogy.

[0054] The relationship between the position information of the reference station A1, the position information of the point B1, and the distance L1 between the reference station A1 and the point B1 can be expressed as:

[0055] (lng_A1-lng_B1) 2+(lat_A1-lat_B1) 2 = L1 2 (1);

[0056] Similarly, the relationship between the position information of the reference station A1, the position information of the point B2, and the distance L2 between the reference station A1 and the point B2 can be expressed as:

[0057] (lng_A1-lng_B2) 2 +(lat_A1-lat_B2) 2 = L2 2 (2);

[0058] The relationship between the position information of the reference station A1, the position information of the point B3, and the distance L3 between the reference station A1 and the point B3 can be expressed as:

[0059] (lng_A1-lng_B3) 2 +(lat_A1-lat_B3) 2 = L3 2 (3).

[0060] S26, traverse all the points and select a combination of two points. For each combination of two points, jointly establish a relationship based on the two points to solve the reference station A obtained by positioning the two points. i The pending position information of all base stations A i The pending location information;

[0061] For example, when the combination of B1 and B2 is selected from the three points B1, B2, and B3, the undetermined position information of the reference station A1 can be obtained by solving equations (1) and (2) simultaneously:

[0062]

[0063] There are two solutions for the undetermined position information of reference station A1.

[0064] Where R is the distance between point B1 and point B2, and the calculation formula is as follows

[0065]

[0066] When the combination of B2 and B3 is selected from the three points B1, B2, and B3, and when the combination of B2 and B3 is selected from the three points B1, B2, and B3, the above method is also used to solve.

[0067] So base station A i The pending position information can be used to find 6 solutions.

[0068] S27, select all base stations A i The three sets of pending position information with the closest distance among the pending position information are solved for their average value to obtain the reference station A i location information.

[0069] For example, the following method can be used to obtain the three sets of pending position information that are closest to each other among all pending position information of reference station A1: i Select any two of the six solutions for the pending position information and subtract them, and take the three solutions with the smallest absolute value of the difference.

[0070] The average value of these three solutions is then calculated, and the result is the location information of the base station A1.

[0071] Other reference stations A can be calibrated using the same method as above.

[0072] S3, placing the positioning device B on the autonomous driving vehicle to be tested, and making the positioning device B and the reference station A at the same height, allowing the autonomous driving vehicle to be tested to automatically drive in the tunnel, and using the calibrated reference station A and positioning device B to locate the autonomous driving vehicle to be tested;

[0073] Here, since the reference stations A in the tunnel have completed the position calibration, the reference stations A with known position information in the tunnel can be used to calibrate the position of the autonomous driving vehicle to be tested in the tunnel with the positioning device B. For example, the reference stations A1, A2, and A3 in the tunnel are used to calibrate the position of the autonomous driving vehicle to be tested with the positioning device B;

[0074] The method of using the calibrated reference station A and positioning device B to locate the autonomous driving vehicle under test (position calibration) is basically similar to the aforementioned method of using positioning device B to locate reference station A, except that the position information of positioning device B in the tunnel is unknown, while the position information of reference station A in the tunnel is known.

[0075] When there are far more than three reference stations A in the tunnel, in order to ensure accurate positioning, the positioning device B can select the three reference stations A closest to itself as the basis for positioning.

[0076] S4. Using the positioning value obtained by the base station A and the positioning device B for positioning the autonomous driving vehicle to be tested as a reference, calculate the positioning error of the positioning value obtained by the autonomous driving vehicle to be tested through its own positioning.

[0077] In the above embodiment, the positioning device B outside the tunnel is first used to help the base station A in the tunnel to perform positioning, and then the base station A that has completed positioning in the tunnel and the positioning device B set on the autonomous driving vehicle are used to accurately position the autonomous driving vehicle as a reference standard for the autonomous driving vehicle's own positioning system, thereby realizing the testing of the autonomous driving vehicle's own positioning system in the tunnel scenario.

[0078] In another embodiment, the distance between a reference station A and the other reference station A closest to it is no more than 3 km.

[0079] After testing, a higher positioning accuracy can be obtained if the distance between base station A and the closest base station A is no more than 3 km.

[0080] In another embodiment, the distance between the setting points of the positioning device B is not less than 100m.

[0081] If the distance between the setting points of positioning device B is less than 100m, the difference in the location information of the points is small, which can easily reduce the positioning accuracy of base station A.

[0082] In another embodiment, in S1, the method for selecting the point for arranging the reference station A includes:

[0083] Obtain a map of the tunnel area and determine the number of initial reference stations A;

[0084] Specifically, the tunnel area map can be obtained from the tunnel construction party or from the electronic map API interface. Initially, the number of base stations A is estimated by the staff based on the tunnel length, the effective working range of the base stations and the positioning equipment;

[0085] The fitness function F=max(k i / w i ), where i is the number of base stations A, k i is the total positioning accuracy when the number of base stations A is i, w i is the total cost when the number of base stations A is i;

[0086] Specifically, the positioning accuracy k i The following calculation formula k can be designed i = , the tunnel area is divided into several non-overlapping circular domains to the greatest extent possible, r is the radius of the circular domain, m is the number of reference stations A in the circular domain, S is the total area of ​​the tunnel area, =i.

[0087] During the positioning process of positioning device B in the tunnel, the several base stations A closest to positioning device B have the best positioning effect, while other base stations A are slightly far away from positioning device B, which will lead to weak signals or positioning errors due to signal reflection. Therefore, the tunnel area is divided into several circular domains to ensure that positioning device B has good positioning accuracy within the circular domain. Then, the ratio of the sum of base stations A in each circular domain to the total area of ​​the tunnel area can basically define the positioning accuracy.

[0088] The initial layout points of reference station A are randomly generated in the tunnel area, and the genetic algorithm is used to optimize the layout quantity and layout points of reference station A in the tunnel area.

[0089] Specifically, the initial number and positions of the reference station A are used as the initial population of the genetic algorithm, and the genetic algorithm is used for selection, crossover and mutation. The selection mechanism can adopt the roulette selection method, the crossover mechanism can adopt the single-point crossover method, and the mutation mechanism can adopt the position mutation.

[0090] After each generation of mutation, the population is updated according to the fitness of the individuals, individuals with poor performance are eliminated, and individuals with good reproduction performance are retained until the algorithm converges or reaches the set number of generations.

[0091] Through the above genetic algorithm, the device cost is examined on the basis of considering the positioning accuracy in the tunnel. Comprehensive consideration can obtain a better base station layout plan, which can not only ensure the positioning accuracy but also control the cost from being too high.

[0092] Based on the same inventive concept, the present invention also provides a device for executing the above-mentioned method for testing the positioning capability of an autonomous driving vehicle in a tunnel, comprising: a positioning device B and at least 3 reference stations A.

[0093] Since the positioning device B and at least three reference stations A are used to execute the above method for testing the positioning capability of an autonomous driving vehicle in a tunnel, the apparatus also has the same advantages as the above method.

[0094] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A method for testing the positioning capability of an autonomous driving vehicle in a tunnel, characterized in that: include: S1. Select at least 3 points in the tunnel and arrange reference stations A. All reference stations A are at the same height and there is no obstruction between two reference stations A. All reference stations A are not in the same straight line. S2, using the positioning device B set outside the tunnel to calibrate the position of each reference station A in the tunnel one by one; S3, placing the positioning device B on the autonomous driving vehicle to be tested, and making the positioning device B and the reference station A at the same height, allowing the autonomous driving vehicle to be tested to automatically drive in the tunnel, and using the calibrated reference station A and positioning device B to locate the autonomous driving vehicle to be tested; S4. Using the positioning value obtained by the base station A and the positioning device B for positioning the autonomous driving vehicle to be tested as a reference, calculate the positioning error of the positioning value obtained by the autonomous driving vehicle to be tested through its own positioning; Use the positioning device B set outside the tunnel to locate a reference station A in the tunnel. i Methods for position calibration include: S21, select a station outside the tunnel and adjacent to the base station A i At least 3 points at the same height, at least 3 points are not on the same straight line: S22, place the positioning device B at any one of at least three points B i , get the point B i location information; S23, using base station A i Send preset information to positioning device B by wireless means, and based on the preset information, i The sending time and the receiving time at positioning device B are calculated from the base station A. i With point B i The distance between i ; S24, repeat S22-S23 for the other points among at least three points; S25, for any one of at least three points B i , based on the distance formula between two points on a plane, build the reference station A i The location information of point B i The location information of base station A i With point B i The distance between i The relationship between the three; S26, traverse all the points and select a combination of two points. For each combination of two points, jointly establish a relationship based on the two points to solve the reference station A obtained by positioning the two points. i The pending position information of all base stations A i The pending location information; S27, select all base stations A i The three sets of pending position information with the closest distance among the pending position information are solved for their average value to obtain the reference station A i location information.

2. The method for testing the positioning capability of an autonomous driving vehicle in a tunnel according to claim 1, characterized in that: The distance between reference station A and the closest reference station A is no more than 3 km.

3. The method for testing the positioning capability of an autonomous driving vehicle in a tunnel according to claim 1, characterized in that: The distance between the setting points of positioning equipment B shall not be less than 100m.

4. The method for testing the positioning capability of an autonomous driving vehicle in a tunnel according to claim 1, characterized in that: In S23, base station A i The preset information sent includes: base station ID, sending time, and check code.

5. The method for testing the positioning capability of an autonomous driving vehicle in a tunnel as claimed in claim 4, characterized in that: In S23, after the positioning device B receives the preset information, it calculates the reference station A according to the reception time of the preset information and the sending time contained in the preset information. i With point B i The distance between i , and then send the positioning information to the base station A i The positioning information includes: positioning device ID, location information of positioning device B, base station A i With point B i The distance between i , check code; Base Station A i Execute S25~S27 to obtain its own location information.

6. The method for testing the positioning capability of an autonomous driving vehicle in a tunnel according to claim 1, characterized in that: In S1, the method for selecting the point for arranging the reference station A includes: Obtain a map of the tunnel area and determine the number of initial reference stations A; The fitness function F=max(k i / w i ), where i is the number of base stations A, k i is the total positioning accuracy when the number of base stations A is i, w i is the total cost when the number of base stations A is i; The initial layout points of reference station A are randomly generated in the tunnel area, and the genetic algorithm is used to optimize the layout quantity and layout points of reference station A in the tunnel area.

7. A device for executing the method for testing the positioning capability of an autonomous driving vehicle in a tunnel as claimed in any one of claims 1 to 6, comprising: Positioning device B and at least 3 reference stations A.

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