Vehicle position determination method and device, equipment, medium and vehicle

Abstract

The invention relates to a vehicle position determination method and device, equipment, a medium and a vehicle. The method comprises the following steps: acquiring a wheel speed vehicle speed measured by a wheel speed sensor of a target vehicle, and acquiring a positioning vehicle speed measured by a positioning system of the target vehicle; and if the wheel speed and the positioning speed do not meet the preset matching condition, target position information of the target vehicle is determined through positioning information generated by a positioning system. According to the embodiment of the invention, under the condition that the wheel speed and the vehicle speed measured based on the wheel dimension are inconsistent with the positioning speed measured based on the positioning dimension, the position of the vehicle is determined based on the positioning information, and under the scene that the wheels of the vehicle are fixed but the vehicle is actually moving, the wheel speed and the vehicle speed cannot correctly represent the actual speed of the vehicle, so that the vehicle position is accurately determined. Through the method, the influence of the wheel speed and the vehicle speed on vehicle positioning is eliminated, the accuracy of vehicle positioning is improved, and a basis is provided for normal starting of a subsequent automatic driving function.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle position determination method, device, equipment, medium and vehicle. Background Art

[0002] As the autonomous driving function improves, more and more vehicles are equipped with autonomous driving functions. During the autonomous driving process, the specific location of the vehicle needs to be determined. When the location of the vehicle is inaccurate or inconsistent with the actual location of the vehicle, it will affect the realization of the autonomous driving function, and even make it impossible to enable the autonomous driving function. For example, when the vehicle is in some mobile closed platforms, it is difficult to obtain the accurate vehicle location information at that time. Therefore, how to accurately obtain the vehicle's location information has become a problem that needs to be solved urgently. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a vehicle position determination method, device, equipment, medium and vehicle.

[0004] In a first aspect, the present disclosure provides a method for determining a vehicle position, the method comprising:

[0005] Obtaining the wheel speed of the target vehicle measured by the wheel speed sensor, and obtaining the positioning speed of the target vehicle measured by the positioning system;

[0006] If the wheel speed and the positioning speed do not meet the preset matching condition, the target position information of the target vehicle is determined through the positioning information generated by the positioning system.

[0007] In a second aspect, the present disclosure provides a vehicle position determination device, the device comprising:

[0008] An acquisition module, used to acquire the wheel speed of the target vehicle measured by the wheel speed sensor, and acquire the positioning speed of the target vehicle measured by the positioning system;

[0009] The first determination module is used to determine the target position information of the target vehicle through the positioning information generated by the positioning system if the wheel speed and the positioning speed do not meet the preset matching condition.

[0010] In a third aspect, an embodiment of the present disclosure further provides an electronic device, including:

[0011] processor;

[0012] A memory for storing executable instructions;

[0013] The processor is used to read executable instructions from the memory and execute the executable instructions to implement the vehicle position determination method of the first aspect mentioned above.

[0014] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, wherein the storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the vehicle position determination method of the first aspect.

[0015] In a fifth aspect, an embodiment of the present disclosure further provides a vehicle, comprising at least one of the following: the above-mentioned vehicle position determination device; the above-mentioned electronic device; and the above-mentioned computer-readable storage medium.

[0016] The technical solution provided by the embodiment of the present disclosure has the following advantages over the prior art: a method, device, equipment and storage medium for determining the position of a vehicle in the embodiment of the present disclosure, the method comprising: obtaining the wheel speed measured by the wheel speed sensor of the target vehicle, and obtaining the positioning speed measured by the positioning system of the target vehicle; if the wheel speed and the positioning speed do not meet the preset matching condition, the target position information of the target vehicle is determined by the positioning information generated by the positioning system. By adopting the above technical solution, when the wheel speed measured based on the wheel dimension is inconsistent with the positioning speed measured based on the positioning dimension, the vehicle position is no longer determined based on the wheel speed and the positioning information of the positioning system, but based on the positioning information itself. In the scenario where the vehicle wheels are stationary but the vehicle is actually moving, the wheel speed cannot correctly represent the actual speed of the vehicle. The method eliminates the influence of the wheel speed on the vehicle positioning, improves the accuracy of the vehicle positioning, and provides a basis for the normal activation of the subsequent automatic driving function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0018] In order to more clearly illustrate the embodiments of the present invention 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.

[0019] Figure 1 A schematic diagram of a process for determining a vehicle position provided by an embodiment of the present disclosure;

[0020] Figure 2 A schematic diagram of a flow chart of another method for determining a vehicle position provided by an embodiment of the present disclosure;

[0021] Figure 3 A schematic diagram of a flow chart of another method for determining a vehicle position provided by an embodiment of the present disclosure;

[0022] Figure 4 A schematic diagram of a flow chart of another method for determining a vehicle position provided in an embodiment of the present disclosure;

[0023] Figure 5 A schematic diagram of the structure of a vehicle position determination device provided in an embodiment of the present disclosure;

[0024] Figure 6 A schematic diagram of the hardware circuit structure of a vehicle position determination device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0027] With the development of intelligent vehicles, the installation rate and penetration rate of high-level advanced driver assistance systems (ADAS) are increasing year by year. Currently, high-speed automatic assisted navigation driving (Navigate on Autopilot, NOA) is the most representative among high-level ADAS. The basic technology for high-speed NOA is high-precision map technology and high-precision positioning technology.

[0028] In the related art, in application scenarios such as when the vehicle is on an open mobile platform with a navigation signal (for example, an unobstructed ferry, a mobile trailer) or a closed mobile platform without a navigation signal (for example, a closed ferry), if the vehicle is not powered on, the rotation of the vehicle's wheels does not match the actual movement of the vehicle. The vehicle position determined by high-precision positioning based on the vehicle's wheel speed does not match the vehicle's actual position, and the accuracy of the vehicle positioning is low. After the vehicle leaves the open platform or the closed platform, navigation drift will occur, causing the vehicle to be unable to normally turn on the automatic driving function.

[0029] Specifically, if the vehicle is stationary relative to the open mobile platform, and the vehicle moves with the movement of the open mobile platform, if the vehicle is not powered off, the combined positioning system (PBox) receives a wheel speed of 0 at this time, and the PBox believes that the vehicle is stationary, but in fact the latitude and longitude corresponding to the vehicle are constantly changing. In this case, the location information output by the PBox does not match the actual location information of the vehicle. After the vehicle leaves the open mobile platform, navigation drift occurs, and the ADAS function based on the navigation function cannot be turned on.

[0030] If the vehicle is stationary relative to the closed mobile platform, and the vehicle moves with the movement of the closed mobile platform, if the vehicle is not powered off, the PBox receives a wheel speed of 0 at this time, and the PBox believes that the vehicle is stationary. In fact, the vehicle is moving with the mobile platform, and the longitude and latitude corresponding to the vehicle are constantly changing. In this case, the Inertial Measurement Unit (IMU) continues to perform integral operations as the vehicle moves, causing the filter of the Inertial Navigation System (INS) algorithm in the PBox to diverge and output the wrong position of the vehicle. After the vehicle leaves the closed mobile platform, navigation drift occurs, and the ADAS function based on the navigation function cannot be enabled.

[0031] In order to solve the above problems, the embodiments of the present disclosure provide a method, apparatus, device, medium and vehicle for determining the position of a vehicle.

[0032] Figure 1 The flowchart of a vehicle position determination method provided by the embodiment of the present disclosure can be executed by a vehicle position determination device, a PBox, etc., wherein the vehicle position determination device can be implemented by software and / or hardware, and can generally be integrated in an electronic device, and the vehicle position determination device and / or the electronic device can be configured in a vehicle. Figure 1 As shown, the method comprises:

[0033] Step 101, obtaining the wheel speed of the target vehicle measured by the wheel speed sensor, and obtaining the positioning speed of the target vehicle measured by the positioning system.

[0034] The present embodiment does not limit the energy supply type of the target vehicle, for example, the energy supply type of the target vehicle may be pure electric power or hybrid power, etc. The present embodiment does not limit the type of the target vehicle, for example, the type of the target vehicle may be a sport utility vehicle (SUV) or a sedan, etc.

[0035] The wheel speed sensor may be a sensor for measuring the wheel speed, and the present embodiment does not limit the type of the wheel speed sensor. The wheel speed may be the vehicle speed determined based on the information collected by the wheel speed sensor. It can be understood that the wheel speed may represent the vehicle speed determined based on the wheel rotation dimension. The positioning system may be a system for determining the position of the vehicle, and the positioning system may be a subsystem with a positioning function included in the PBox. In an optional implementation, the positioning system includes: at least one of a satellite navigation system and an inertial measurement system. Among them, the satellite navigation system is also called the Global Navigation Satellite System (GNSS). The present embodiment does not limit the type of the global satellite navigation system. For example, the global satellite navigation system may include any one or more of the Beidou Navigation Satellite System (BDS) and the Global Positioning System (GPS). The inertial measurement system is also called the Inertial Measurement Unit (IMU). The present embodiment does not limit the type of the inertial measurement system. The positioning speed may be a vehicle speed determined by a positioning system, and the positioning speed may include at least one of a first positioning speed determined by a satellite navigation system and a second positioning speed determined by an inertial measurement system. The vehicle speed represented by the wheel speed and the vehicle speed represented by the positioning speed may be vehicle speeds at the same time or at similar times, and the similar times may be multiple times whose time differences are within a preset difference value.

[0036] In this embodiment, the vehicle position determination device can periodically obtain the wheel speed measured by the wheel speed sensor of the target vehicle according to a preset period, and obtain at least one positioning speed measured by at least one positioning measurement system of the satellite navigation system and inertial measurement system of the target vehicle.

[0037] Step 102: If the wheel speed and the positioning speed do not meet the preset matching condition, the target position information of the target vehicle is determined through the positioning information generated by the positioning system.

[0038] The preset matching condition may be a preset condition indicating that the vehicle speeds measured in different ways are consistent, or the preset matching condition may be a preset condition indicating that the vehicle speeds correspond to the consistent vehicle driving states, which may include a stationary vehicle, a moving vehicle, etc. The preset matching condition may be set according to user needs, etc., and is not limited in this embodiment. For example, the preset matching condition may be that the wheel speed and the positioning speed are both greater than a preset first vehicle speed threshold, or the preset matching condition may be that the difference between the wheel speed and the positioning speed is less than a preset vehicle speed difference threshold.

[0039] The positioning information may be information obtained through a positioning system for determining the position of the vehicle. The positioning information may correspond to the type of the positioning system. For example, if the positioning system includes a satellite navigation system, the positioning information may include the initial position information of the vehicle. The initial position information may include longitude information and latitude information. If the positioning system includes an inertial measurement system, the positioning information may include angular velocity information, acceleration information, etc. of the vehicle. The target position information may be information that can characterize the position of the target vehicle. This embodiment does not limit the accuracy type of the target position information. For example, the accuracy type of the target position information may be high-precision position information, or the accuracy type of the target position information may be non-high-precision position information.

[0040] In this embodiment, the number of the positioned vehicle speeds may be at least one, and the wheel speed is verified with each positioned vehicle speed at the same time or at a similar time for preset matching conditions. If the wheel speed does not meet the preset matching conditions with each positioned vehicle speed, it means that the wheel speed cannot accurately represent the current actual speed of the vehicle. For example, if the vehicle is on a mobile platform, relatively stationary with the mobile platform, and moves with the movement of the mobile platform, the wheels of the vehicle do not rotate at this time, and the wheel speed measured by the wheel speed sensor is 0 or approximately 0, but the vehicle is actually moving. Therefore, in this embodiment, the vehicle position is not determined based on the wheel speed and the positioning information generated by the positioning system, but the wheel speed is eliminated, and the target position information of the target vehicle is determined by the positioning information itself. Optionally, after determining the target position information, the vehicle position determination device can determine the trajectory information of the target vehicle according to the target position information.

[0041] It should be noted that the positioning system for determining the positioning information may not be completely the same as the positioning system for determining the positioning speed. In an optional implementation, the positioning system for determining the positioning speed may include a satellite navigation system and an inertial measurement system, and the positioning system for determining the positioning information may include both a satellite navigation system and an inertial measurement system.

[0042] In some embodiments of the present disclosure, the vehicle position determination method further includes: if the wheel speed and the positioning speed meet a preset matching condition, determining the target position information of the target vehicle through the wheel speed and the positioning information.

[0043] In this embodiment, the wheel speed and vehicle speed at the same time or at a similar time are verified with each positioning speed for preset matching conditions. If the wheel speed and vehicle speed and each positioning speed meet the preset matching conditions, it means that the target vehicle uses wheel rolling as the driving force for driving, and the wheel speed and vehicle speed can accurately represent the current actual speed of the vehicle. The wheel speed and vehicle speed and positioning information are then input into the INS algorithm, and the target position information of the target vehicle is obtained by calculation through the INS algorithm.

[0044] In the above scheme, when the wheel speed and vehicle speed can accurately represent the vehicle speed, the target position information is determined by comprehensive calculation based on the wheel speed and positioning information, and the target position information is determined with multi-dimensional information, so that the target position information has higher accuracy.

[0045] The vehicle position determination method provided by the embodiment of the present disclosure includes: obtaining the wheel speed measured by the wheel speed sensor of the target vehicle, and obtaining the positioning speed measured by the positioning system of the target vehicle; if the wheel speed and the positioning speed do not meet the preset matching conditions, the target position information of the target vehicle is determined through the positioning information generated by the positioning system. In the embodiment of the present disclosure, when the wheel speed measured based on the wheel dimension is inconsistent with the positioning speed measured based on the positioning dimension, the vehicle position is no longer determined based on the wheel speed and the positioning information of the positioning system, but the vehicle position is determined based on the positioning information itself. In the scenario where the vehicle wheels are stationary but the vehicle is actually moving, the wheel speed cannot correctly represent the actual speed of the vehicle. This method eliminates the influence of the wheel speed on the vehicle positioning, improves the accuracy of vehicle positioning, and provides a basis for the normal activation of the subsequent automatic driving function.

[0046] In some embodiments of the present disclosure, obtaining the positioning vehicle speed measured by the positioning system of the target vehicle includes: if the number of satellite search of the satellite navigation system is greater than a preset satellite search threshold, obtaining the first positioning vehicle speed measured by the satellite navigation system.

[0047] Correspondingly, the wheel speed and the positioning speed do not meet the preset matching condition, including: if the wheel speed is not greater than the first speed threshold, and the first positioning speed is greater than the first speed threshold, then it is determined that the wheel speed and the first positioning speed do not meet the preset matching condition; Correspondingly, the position information of the target vehicle is determined through the positioning information generated by the positioning system, including: obtaining angular velocity information and acceleration information generated by the inertial measurement system, and obtaining initial position information generated by the satellite navigation system; correcting the initial position information through the angular velocity information and the acceleration information to obtain the target position information.

[0048] Figure 2 A flow chart of another method for determining a vehicle position provided by an embodiment of the present disclosure is shown as follows: Figure 2 As shown, the method includes:

[0049] Step 201, obtaining the wheel speed of the target vehicle measured by the wheel speed sensor. If the number of satellite search of the satellite navigation system is greater than a preset satellite search threshold, obtaining the first positioning speed measured by the satellite navigation system.

[0050] The number of search stars may be the number of satellites that can be received by the satellite navigation system receiver. The preset search star threshold may be the minimum value of the number of search stars when the satellite navigation system can work normally. It can be understood that if the number of search stars is not greater than the search star threshold, the number of search stars is too small, and the accuracy of the information determined by the satellite navigation system is low. If the number of search stars is greater than the search star threshold, the number of search stars is sufficient, and the accuracy of the information determined by the satellite navigation system is high. The preset search star threshold can be set according to user needs, etc., and this embodiment does not limit it. For example, the preset search star threshold can be 0.

[0051] In this embodiment, the wheel speed of the target vehicle is obtained, and the number of search satellites of the satellite navigation system is obtained to determine whether the number of search satellites is greater than the preset number of search satellites. If the number of search satellites is greater than the preset number of search satellites, the first positioning speed measured by the satellite navigation system is obtained.

[0052] Step 202: If the wheel speed and the vehicle speed are not greater than the first vehicle speed threshold and the first positioning vehicle speed is greater than the first vehicle speed threshold, it is determined that the wheel speed and the first positioning vehicle speed do not meet the preset matching condition, and the angular velocity information and acceleration information generated by the inertial measurement system are obtained, and the initial position information generated by the satellite navigation system is obtained.

[0053] The first vehicle speed threshold may be a vehicle speed threshold that indicates that the vehicle is stationary. The first vehicle speed threshold may be set according to user requirements, etc., and is not limited in this embodiment. For example, the first vehicle speed threshold may be 0, or the first vehicle speed threshold may be a smaller value near 0. The angular velocity information may include one or more of the angular velocities of the three axes of the vehicle, and the acceleration information may include one or more of the angular accelerations of the three axes of the vehicle and the linear accelerations of the three axes. The initial position information may be the position of the vehicle determined by the satellite navigation system itself, and the initial position information may include the longitude information and latitude information of the vehicle.

[0054] In this embodiment, if the wheel speed is not greater than the first speed threshold, it means that the driving state of the vehicle is determined to be a stationary state by the wheel speed sensor. If the first positioning speed is greater than the first speed threshold, it means that the driving state of the vehicle is determined to be a moving state by the positioning system. It is determined that the wheel speed and the positioning speed do not meet the preset matching condition. Further, the angular velocity information and acceleration information determined by the inertial measurement system of the target vehicle are obtained, and the initial position of the target vehicle determined by the satellite navigation system of the target vehicle is obtained.

[0055] Step 203: Correct the initial position information using the angular velocity information and the acceleration information to obtain the target position information.

[0056] In this embodiment, the vehicle position determination device can correct the initial position information in terms of attitude, swing and other dimensions through angular velocity information and acceleration information to obtain target position information; this process can be implemented using existing methods.

[0057] In the above scheme, when the wheel speed and vehicle speed cannot accurately represent the actual speed of the vehicle and the number of satellite navigation system search satellites is sufficient, the wheel speed and vehicle speed are eliminated, and the vehicle position is determined by two positioning systems, the satellite navigation system and the inertial measurement system. The influence of the wheel speed and vehicle speed is eliminated and the vehicle position is determined from multiple dimensions, thereby improving the accuracy of the vehicle position.

[0058] In some embodiments of the present disclosure, obtaining the positioning vehicle speed measured by the positioning system of the target vehicle includes: if the number of satellite search by the satellite navigation system is not greater than a preset satellite search threshold, obtaining a second positioning vehicle speed measured by the inertial measurement system.

[0059] Correspondingly, the wheel speed and the positioning speed do not meet the preset matching condition, including: if the wheel speed is not greater than the first speed threshold, and the second positioning speed is greater than the first speed threshold, then determining that the wheel speed and the second positioning speed do not meet the preset matching condition; determining the position information of the target vehicle through the positioning information generated by the positioning system, including: judging whether the second positioning speed meets the preset speed convergence condition; if the second positioning speed meets the preset speed convergence condition, obtaining the angular velocity information and acceleration information generated by the inertial measurement system; performing position calculation according to the angular velocity information and the acceleration information to obtain the target position.

[0060] Figure 3 A flow chart of another method for determining a vehicle position provided by an embodiment of the present disclosure is shown as follows: Figure 3 As shown, the method includes:

[0061] Step 301, obtaining the wheel speed and vehicle speed measured by the wheel speed sensor of the target vehicle.

[0062] Step 302: If the number of satellites searched by the satellite navigation system is not greater than a preset satellite search threshold, a second positioning vehicle speed measured by the inertial measurement system is obtained.

[0063] In this embodiment, if the number of searched satellites is not greater than the preset number of searched satellites, it means that the signal quality of the current satellite navigation system is poor, information cannot be obtained through the satellite navigation system, or the accuracy of the information obtained through the satellite navigation system is low, and the first positioning vehicle speed measured by the satellite navigation system is determined to be invalid. In addition, the second positioning vehicle speed determined by the inertial measurement system is obtained.

[0064] Step 303: If the wheel speed is not greater than the first speed threshold and the second positioning speed is greater than the first speed threshold, it is determined that the wheel speed and the second positioning speed do not meet the preset matching condition, and then it is determined whether the second positioning speed meets the preset speed convergence condition.

[0065] The preset vehicle speed convergence condition may be a pre-set condition for determining whether the vehicle speed determined by the inertial measurement system diverges, and the cause of the vehicle speed divergence may be the divergence of the filter of the INS algorithm. The preset convergence condition may be set according to user needs, etc., and is not limited in this embodiment.

[0066] In this embodiment, if the wheel speed is not greater than the first speed threshold, it means that the driving state of the vehicle is determined to be a stationary state by the wheel speed sensor. If the second positioning speed is greater than the first speed threshold, it means that the driving state of the vehicle is determined to be a moving state by the positioning system. It is determined that the wheel speed and the positioning speed do not meet the preset matching condition. Further, a plurality of consecutive second positioning speeds of a preset speed number before the current moment are obtained, and it is determined whether the plurality of second positioning speeds are all greater than the second speed threshold. If so, it is determined that the preset speed convergence condition is not met, otherwise it is determined that the preset speed convergence condition is met. Among them, the second speed threshold can be set according to user needs, etc., and this embodiment does not limit it. For example, the second speed threshold can be 70 meters per second. Among them, the preset speed number can be set according to user needs, etc., and it can be understood that the larger the preset speed number is, the longer the corresponding time length is. This embodiment does not limit the preset speed number. For example, the preset speed number can be the number of second positioning speeds determined by the inertial measurement system within 3 seconds.

[0067] Step 304: If the second positioning vehicle speed meets the preset vehicle speed convergence condition, the angular velocity information and acceleration information generated by the inertial measurement system are obtained; the position is calculated according to the angular velocity information and the acceleration information to obtain the target position information.

[0068] In this embodiment, if the second positioning speed satisfies the preset speed convergence condition, it means that even if there is an error between the second positioning speed and the actual speed, the error is within a reasonable and acceptable error range, and it can be determined that the error between the information determined by the inertial measurement system and the actual situation is also within a reasonable and acceptable range. Further, the angular velocity information and acceleration information determined by the inertial measurement system are obtained, and integral calculations and other operations are performed based on the angular velocity information and the acceleration information to determine the travel path of the target vehicle and determine the target position information of the target position where the target vehicle is located.

[0069] In the above scheme, when the wheel speed of the target vehicle cannot accurately represent the actual speed of the target vehicle and the signal of the satellite navigation system is poor, it is more likely that the vehicle is located on a closed mobile platform with poor satellite navigation system consumption. If the second positioning speed determined by the inertial measurement system meets the speed convergence condition, it means that the error between the information determined by the inertial measurement system and the actual situation is within a reasonable error range, then the position of the target vehicle is determined based on the inertial measurement information, and the position creates a foundation for the subsequent fast reading and accurate determination of the vehicle position.

[0070] In some embodiments of the present disclosure, after obtaining the target position information, the vehicle position determination method also includes: determining whether the number of searched stars is greater than a preset star search threshold; if the number of searched stars is greater than the preset star search threshold, correcting the target position information through the satellite navigation system to obtain corrected position information.

[0071] In this embodiment, the target position information is determined by the inertial measurement system, and the accuracy of the target position information can be further improved after the satellite navigation system can be used. Specifically, after the target position information is determined according to the angular velocity information and acceleration information generated by the inertial measurement system, it is continuously monitored and determined whether the number of satellite search of the satellite navigation system is greater than the preset star search threshold. If it is greater than the preset star search threshold, it means that the accuracy of the information generated by the satellite navigation system is high, then the initial position information generated by the satellite navigation system is obtained, and the target position information generated by the inertial measurement system is corrected according to the initial position information to obtain the corrected position information of the target vehicle.

[0072] In this embodiment, after the vehicle reaches an open area where the satellite navigation system signal is better, the target position information is promptly corrected through the satellite navigation system to obtain corrected position information. This method of obtaining position information through correction is less time-consuming than the method of obtaining position information through resetting, and can be calculated when the wheel speed is not greater than the first speed threshold, and the calculation conditions are easier to meet.

[0073] In some embodiments of the present disclosure, the vehicle position determination method also includes: if the second positioning vehicle speed does not meet the preset vehicle speed convergence condition, monitoring the wheel speed and the number of search satellites until the wheel speed is greater than the first vehicle speed threshold and the number of search satellites is greater than the preset star search threshold, resetting the filter parameters of the inertial navigation system algorithm of the target vehicle to the initial value, and determining the target position information based on the reset filter parameters.

[0074] In this embodiment, if the second positioning speed determined by the inertial measurement system does not meet the preset speed convergence condition, it means that the error of the inertial measurement system is large, and the position information of the target vehicle cannot be calculated by the inertial measurement system at present, and then the wheel speed and the number of search satellites of the target vehicle are continuously monitored until the wheel speed is greater than the first speed threshold and the number of search satellites is greater than the preset search satellite threshold, indicating that the target vehicle has left the mobile platform and traveled to an open area such as an open road where the satellite navigation system signal is better. The filter parameter of the inertial navigation system algorithm of the target vehicle is set to the initial value, and the inertial navigation system algorithm is executed based on the filter with the filter parameter as the initial value to obtain the target position information of the target vehicle.

[0075] In this embodiment, the second positioning speed does not meet the preset speed convergence condition, and the accuracy of the inertial measurement system is low. Since it has been determined that the wheel speed does not match the actual speed of the vehicle, and the number of satellite navigation system searches is too small, it is difficult to obtain the accurate position of the target vehicle under the current conditions, and then judge whether the target vehicle is separated from the mobile platform by the wheel speed, and judge whether the satellite navigation system of the target vehicle can operate normally by the number of searched stars. When the target vehicle is separated from the mobile platform and the satellite navigation system can operate normally, the target vehicle is relocated based on the reset filter parameters, thereby realizing the automatic filter parameter reset and vehicle relocation in time, and providing accurate positioning for the vehicle in time, creating a foundation for subsequent vehicle navigation, vehicle automatic driving, etc.

[0076] Next, a specific example is given to illustrate the vehicle position determination method in the embodiment of the present disclosure. The vehicle position determination method can be applied to the PBox in the target vehicle. Figure 4 A flow chart of another method for determining a vehicle position provided by an embodiment of the present disclosure is shown as follows: Figure 4 shown.

[0077] The PBox receives the wheel speed corresponding to the wheel speed sensor, the first positioning speed corresponding to the satellite navigation system, and the second positioning speed corresponding to the inertial measurement system.

[0078] If it is determined that the wheel speed, the first positioning speed, and the second positioning speed are not 0, it means that the target vehicle is in normal working condition, the target vehicle is in normal motion state, and the INS algorithm normally calculates based on the wheel speed and the positioning information of the positioning system to output the target position information of the target vehicle.

[0079] If the wheel speed is determined to be 0, and the first positioning speed and the second positioning speed are not 0, it means that the target vehicle is on an open mobile platform. The INS algorithm calculates based on the positioning information generated by the satellite navigation system and the positioning information generated by the inertial measurement system, and outputs the target position information of the target vehicle.

[0080] If the wheel speed is determined to be 0, the first positioning speed cannot be calculated, and the second positioning speed is not 0, it means that the target vehicle is on a closed mobile platform. The filter parameters in the INS algorithm are reset until the target vehicle moves to the external road. The filter parameters are reinitialized based on the reset filter parameters to obtain the target position information of the target vehicle.

[0081] In the above scheme, the vehicle speed determined by GNSS, the vehicle speed determined by IMU and the wheel speed determine whether the target vehicle is in a state of normal driving, open mobile platform or closed mobile platform. The positioning algorithm is modified accordingly according to the state of the target vehicle, and the calculation method of the corresponding target position information is determined, so that the correct trajectory and position can be determined even if the target vehicle is on the mobile platform, and the target vehicle can still have the correct trajectory and position after leaving the mobile platform, so that the ADAS function and navigation function can be used normally.

[0082] Figure 5 A schematic structural diagram of a vehicle position determination device provided by an embodiment of the present disclosure is shown.

[0083] In some embodiments of the present disclosure, Figure 5 The vehicle position determination device shown can be executed by an electronic device or a server. The electronic device may include but is not limited to mobile terminals such as smart phones, laptops, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), vehicle terminals (such as vehicle navigation terminals), wearable devices, etc., and fixed terminals such as digital TVs, desktop computers, smart home devices, etc. The server can be a server cluster or a cloud server.

[0084] like Figure 5 As shown, the vehicle position determination device 500 may include: an acquisition module 501 and a first determination module 502 .

[0085] An acquisition module 501 is used to acquire the wheel speed of the target vehicle measured by the wheel speed sensor, and acquire the positioning speed of the target vehicle measured by the positioning system;

[0086] The first determination module 502 is configured to determine the target position information of the target vehicle through the positioning information generated by the positioning system if the wheel speed and the positioning speed do not satisfy a preset matching condition.

[0087] Optionally, the at least one positioning system includes: at least one of a satellite navigation system and an inertial measurement system.

[0088] Optionally, the acquisition module 501 is used to:

[0089] If the number of satellites searched by the satellite navigation system is greater than a preset satellite search threshold, a first positioning vehicle speed measured by the satellite navigation system is obtained.

[0090] Optionally, the first determining module 502 is configured to:

[0091] If the wheel speed and the vehicle speed are not greater than the first vehicle speed threshold, and the first positioning vehicle speed is greater than the first vehicle speed threshold, it is determined that the wheel speed and the vehicle speed and the first positioning vehicle speed do not meet the preset matching condition;

[0092] Acquiring angular velocity information and acceleration information generated by the inertial measurement system, and acquiring initial position information generated by the satellite navigation system;

[0093] The initial position information is corrected by using the angular velocity information and the acceleration information to obtain the target position information.

[0094] Optionally, the acquisition module 501 is used to:

[0095] If the number of satellites searched by the satellite navigation system is not greater than a preset satellite search threshold, a second positioning vehicle speed measured by the inertial measurement system is obtained.

[0096] Optionally, the first determining module 502 is used to

[0097] If the wheel speed and the vehicle speed are not greater than the first vehicle speed threshold, and the second positioning vehicle speed is greater than the first vehicle speed threshold, it is determined that the wheel speed and the vehicle speed and the second positioning vehicle speed do not meet the preset matching condition;

[0098] Determining whether the second positioning vehicle speed meets a preset vehicle speed convergence condition;

[0099] If the second positioning vehicle speed meets a preset vehicle speed convergence condition, obtaining angular velocity information and acceleration information generated by the inertial measurement system;

[0100] Position estimation is performed according to the angular velocity information and the acceleration information to obtain the target position information.

[0101] Optionally, the device also includes: a correction module, used to determine whether the number of searched stars is greater than the preset star search threshold after obtaining the target position information; if the number of searched stars is greater than the preset star search threshold, correcting the target position information through the satellite navigation system to obtain corrected position information.

[0102] Optionally, the device further comprises:

[0103] A monitoring module is used to monitor the wheel speed and the number of search stars if the second positioning speed does not meet the preset speed convergence condition, until the wheel speed is greater than the first speed threshold and the number of search stars is greater than the preset search star threshold, reset the filter parameters of the inertial navigation system algorithm of the target vehicle to initial values, and determine the target position information based on the reset filter parameters.

[0104] Optionally, the device further comprises:

[0105] The second determination module is used to determine the target position information of the target vehicle through the wheel speed, vehicle speed and the positioning information if the wheel speed and vehicle speed meet a preset matching condition.

[0106] The vehicle position determination device provided in the embodiments of the present disclosure can execute the vehicle position determination method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0107] Figure 6 A schematic diagram of the hardware circuit structure of a vehicle position determination device provided by an embodiment of the present disclosure is shown.

[0108] like Figure 6 As shown, the vehicle position determination device 600 may include a controller 601 and a memory 602 storing computer program instructions.

[0109] Specifically, the controller 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0110] The memory 602 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 602 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 602 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 602 is a non-volatile solid-state memory. In a particular embodiment, the memory 602 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0111] The controller 601 reads and executes the computer program instructions stored in the memory 602 to perform the steps of the vehicle position determination method provided in the embodiment of the present disclosure.

[0112] In one example, the vehicle position determination device 600 may further include a transceiver 603 and a bus 604. Figure 6 As shown, the controller 601, the memory 602 and the transceiver 603 are connected via a bus 604 and communicate with each other.

[0113] The bus 604 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 604 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0114] The following is an embodiment of a computer-readable storage medium provided in an embodiment of the present disclosure. The computer-readable storage medium and the vehicle position determination method of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the computer-readable storage medium, reference can be made to the embodiment of the above-mentioned lane keeping method.

[0115] The present embodiment provides a storage medium including computer executable instructions, which are used to perform a vehicle position determination method when executed by a computer processor.

[0116] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present disclosure is not limited to the above method operations, and the computer executable instructions can also execute related operations in the vehicle position determination method provided in any embodiment of the present disclosure.

[0117] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present disclosure can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions to enable a computer cloud platform (which can be a personal computer, server, or network cloud platform, etc.) to execute the vehicle position determination method provided by each embodiment of the present disclosure.

[0118] The embodiments of the present disclosure also provide a vehicle, comprising at least one of the following: the above-mentioned vehicle position determination device; the above-mentioned electronic device; and the above-mentioned computer-readable storage medium.

[0119] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A method for determining a vehicle position, characterized in that: include: Obtaining the wheel speed of the target vehicle measured by the wheel speed sensor, and obtaining the positioning speed of the target vehicle measured by the positioning system; If the wheel speed and the positioning speed do not meet the preset matching condition, the target position information of the target vehicle is determined through the positioning information generated by the positioning system.

2. The method according to claim 1, characterized in that The positioning system includes: at least one of a satellite navigation system and an inertial measurement system.

3. The method according to claim 2, characterized in that The obtaining of the positioning vehicle speed measured by the positioning system of the target vehicle includes: If the number of satellites searched by the satellite navigation system is greater than a preset satellite search threshold, a first positioning vehicle speed measured by the satellite navigation system is obtained.

4. The method according to claim 3, characterized in that The wheel speed and the positioning speed do not meet the preset matching condition, including: If the wheel speed and the vehicle speed are not greater than the first vehicle speed threshold, and the first positioning vehicle speed is greater than the first vehicle speed threshold, it is determined that the wheel speed and the vehicle speed and the first positioning vehicle speed do not meet the preset matching condition; Correspondingly, determining the location information of the target vehicle through the positioning information generated by the positioning system includes: Acquiring angular velocity information and acceleration information generated by the inertial measurement system, and acquiring initial position information generated by the satellite navigation system; The initial position information is corrected by using the angular velocity information and the acceleration information to obtain the target position information.

5. The method according to claim 2, characterized in that: The obtaining of the positioning vehicle speed measured by the positioning system of the target vehicle includes: If the number of satellites searched by the satellite navigation system is not greater than a preset satellite search threshold, a second positioning vehicle speed measured by the inertial measurement system is obtained.

6. The method according to claim 5, characterized in that The wheel speed and the positioning speed do not meet the preset matching condition, including: If the wheel speed and the vehicle speed are not greater than the first vehicle speed threshold, and the second positioning vehicle speed is greater than the first vehicle speed threshold, it is determined that the wheel speed and the vehicle speed and the second positioning vehicle speed do not meet the preset matching condition; Accordingly, determining the location information of the target vehicle by using the positioning information generated by the positioning system includes: Determining whether the second positioning vehicle speed meets a preset vehicle speed convergence condition; If the second positioning vehicle speed meets a preset vehicle speed convergence condition, obtaining angular velocity information and acceleration information generated by the inertial measurement system; Position estimation is performed according to the angular velocity information and the acceleration information to obtain the target position information.

7. The method according to claim 6, characterized in that After obtaining the target location information, the method further includes: Determine whether the number of searched stars is greater than the preset search star threshold; If the number of searched stars is greater than the preset search star threshold, the target position information is corrected by the satellite navigation system to obtain corrected position information.

8. The method according to claim 6, characterized in that The method further comprises: If the second positioning vehicle speed does not meet the preset vehicle speed convergence condition, the wheel speed and the number of search stars are monitored until the wheel speed is greater than the first vehicle speed threshold and the number of search stars is greater than the preset star search threshold, the filter parameters of the inertial navigation system algorithm of the target vehicle are reset to initial values, and the target position information is determined based on the reset filter parameters.

9. The method according to claim 1, characterized in that: The method further comprises: If the wheel speed and the vehicle speed meet the preset matching condition, the target position information of the target vehicle is determined by the wheel speed and the vehicle speed and the positioning information.

10. A vehicle position determination device, characterized in that: include: An acquisition module, used to acquire the wheel speed of the target vehicle measured by the wheel speed sensor, and acquire the positioning speed of the target vehicle measured by the positioning system; The first determination module is used to determine the target position information of the target vehicle through the positioning information generated by the positioning system if the wheel speed and the positioning speed do not meet the preset matching condition.

11. An electronic device, characterized in that: The electronic device comprises: Processor and memory; The processor is used to execute the steps of the method according to any one of claims 1 to 9 by calling the program or instruction stored in the memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute the steps of the method according to any one of claims 1 to 9.

13. A vehicle, characterized in that: Include at least one of the following: The vehicle position determination device as claimed in claim 10; The electronic device as claimed in claim 11; The computer readable storage medium of claim 12.

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