Vehicle positioning method and device, vehicle, storage medium and computer program product

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle positioning method and device, a vehicle, a storage medium and a computer program product.The method comprises the steps that when the vehicle meets a positioning failure condition, the initial longitudinal error of current positioning of the vehicle is recognized; updating the initial longitudinal error according to a preset divergence coefficient and the driving distance to obtain the positioning precision of the vehicle, and determining a search range of longitudinal constraint semantics according to the positioning precision; and detecting the longitudinal constraint semantics in the search range, and updating the positioning data of the vehicle according to the detected target longitudinal constraint semantics and the positioning precision of the vehicle. Therefore, the problem of how to improve the positioning precision of the vehicle under the condition of no signal is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle positioning method, device, vehicle, storage medium and computer program product. Background Art

[0002] With the development of autonomous driving technology, assisted driving systems are playing an increasingly important role in improving driving safety and comfort. However, in certain specific environments, such as long tunnels or when GNSS signals are unreliable, the performance of assisted driving systems will be seriously affected.

[0003] A tunnel positioning method is proposed in the related art. This method uses the signal provided by the long-distance radio equipment and the output data of the strapdown inertial navigation system as the input of the Kalman filter, and dynamically adjusts the parameters of the Kalman filter through deep learning technology to obtain a more stable and accurate positioning result. However, in the related art, in the case of long-term lack of signal coverage, the positioning error will still gradually accumulate, which may eventually lead to the degradation of the function of the assisted driving system, thereby affecting the user's driving experience. Summary of the invention

[0004] The present application provides a vehicle positioning method, device, vehicle, storage medium and computer program product to solve the problem of how to improve the positioning accuracy of the vehicle in the absence of a signal.

[0005] The first aspect of the present application provides a vehicle positioning method, comprising the following steps: when the vehicle meets the positioning failure condition, identifying the initial longitudinal error of the vehicle's current positioning; updating the initial longitudinal error according to a preset divergence coefficient and the driving distance to obtain the vehicle's positioning accuracy, and determining the search range of longitudinal constraint semantics according to the positioning accuracy; detecting longitudinal constraint semantics within the search range, and updating the vehicle's positioning data according to the detected target longitudinal constraint semantics and the vehicle's positioning accuracy.

[0006] Optionally, the failure condition includes that the current satellite signal state is the first state, and there is no longitudinal constraint semantics on the vehicle map, wherein the longitudinal constraint semantics include: road features, traffic sign features and geographical features.

[0007] Optionally, updating the vehicle's positioning data based on the detected target longitudinal constraint semantics and the vehicle's positioning accuracy includes: detecting the signal state of the satellite signal; when the signal state switches to a second state, updating the vehicle's positioning data based on the detected target longitudinal constraint semantics and the vehicle's positioning accuracy.

[0008] Optionally, after updating the vehicle's positioning data according to the detected target longitudinal constraint semantics and the vehicle's positioning accuracy, it also includes: obtaining the vehicle's navigation route; detecting whether there is a lane topology change on the navigation route within a preset distance range of the vehicle; if not, controlling the driving level of the vehicle's assisted driving function to remain unchanged, otherwise, adjusting the driving level of the vehicle's assisted driving function according to the updated positioning data and on-board map data.

[0009] Optionally, it also includes: if no longitudinal constraint semantics are detected within the search range, adjusting the driving level of the vehicle's assisted driving function according to the positioning accuracy.

[0010] The second aspect of the present application provides a vehicle positioning device, including: an identification module, used to identify the initial longitudinal error of the current positioning of the vehicle when the vehicle meets the positioning failure condition; a determination module, used to update the initial longitudinal error according to a preset divergence coefficient and driving distance to obtain the positioning accuracy of the vehicle, and determine the search range of the longitudinal constraint semantics according to the positioning accuracy; an update module, used to detect the longitudinal constraint semantics within the search range, and update the vehicle's positioning data according to the detected target longitudinal constraint semantics and the vehicle's positioning accuracy.

[0011] Optionally, the failure condition includes that the current satellite signal state is the first state, and there is no longitudinal constraint semantics on the vehicle map, wherein the longitudinal constraint semantics include: road features, traffic sign features and geographical features.

[0012] Optionally, the updating module is further used to detect the signal state of the satellite signal; when the signal state is switched to the second state, the positioning data of the vehicle is updated according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

[0013] Optionally, the vehicle positioning device also includes: a first adjustment module, used to obtain the navigation route of the vehicle; detect whether there is a lane topology change on the navigation route within a preset distance range of the vehicle; if not, controlling the driving level of the vehicle's assisted driving function to remain unchanged, otherwise, adjusting the driving level of the vehicle's assisted driving function according to the updated positioning data and on-board map data.

[0014] Optionally, the vehicle positioning device further includes: a second adjustment module, configured to adjust the driving level of the vehicle's assisted driving function according to the positioning accuracy if no longitudinal restraint semantics are detected within the search range.

[0015] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a vehicle positioning method as described in the above embodiment.

[0016] The fourth aspect of the present application provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, it is used to implement the vehicle positioning method as described in the above embodiment.

[0017] The fifth aspect of the present application provides a computer program product, including: a computer program or instructions, which, when executed, implements the vehicle positioning method as described in the above embodiment.

[0018] Therefore, this application has at least the following beneficial effects:

[0019] This application can control the growth rate of the longitudinal positioning error through the divergence coefficient when the vehicle meets the positioning failure conditions, thereby delaying the accumulation of positioning errors and reducing the risk of functional degradation. It can also ensure that the accuracy of vehicle positioning is maintained during signal loss based on the longitudinal semantic information in the map data.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A flow chart of a vehicle positioning method provided according to an embodiment of the present application;

[0023] Figure 2 To provide an example diagram of adjusting the vehicle assisted driving function according to an embodiment of the present application;

[0024] Figure 3 A block diagram of a vehicle positioning device provided according to an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] The vehicle positioning method, device, vehicle and storage medium of the embodiment of the present application are described below with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a vehicle positioning method, in which, when the vehicle meets the positioning failure condition, the growth rate of the longitudinal positioning error is controlled by the divergence coefficient, which can delay the accumulation of positioning errors, reduce the risk of functional degradation, and ensure that the accuracy of vehicle positioning can be maintained during signal loss based on the longitudinal semantic information in the map data.

[0028] Specifically, Figure 1 A flow chart of a vehicle positioning method provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the vehicle positioning method includes the following steps:

[0030] In step S101 , when the vehicle meets the positioning failure condition, the initial longitudinal error of the current positioning of the vehicle is identified.

[0031] Among them, the failure condition includes that the current satellite signal state is the first state, and there is no longitudinal constraint semantics on the on-board map, wherein the longitudinal constraint semantics include: road features, traffic sign features and geographical features, etc., which can be obtained from high-precision maps. Specifically, the embodiment of the present application can query the road features, traffic signs and geographical features near the current vehicle position through the map API. If no longitudinal constraint semantics are found within a certain range (for example, 1 km before and after), it is considered that there is no longitudinal constraint semantics on the on-board map.

[0032] In an embodiment of the present application, the first state may represent a GNSS signal loss state. The present application may monitor the signal strength and quality by an on-board GNSS receiver to determine the current satellite signal state. When the signal strength is lower than a certain threshold (for example, the signal-to-noise ratio SNR is lower than 20 dB-Hz), the signal is considered to be in the first state.

[0033] Furthermore, when the above two failure conditions are met at the same time, the embodiment of the present application can identify the initial longitudinal error of the current positioning of the vehicle, such as using the longitudinal error at the last reliable positioning as the initial longitudinal error, or setting a default initial longitudinal error value, without specific limitation.

[0034] In step S102, the initial longitudinal error is updated according to the preset divergence coefficient and the travel distance to obtain the positioning accuracy of the vehicle, and the search range of the longitudinal constraint semantics is determined according to the positioning accuracy.

[0035] The preset divergence coefficient may be specifically set according to actual conditions, such as being set to 3%, without specific limitation.

[0036] It is understandable that the driving distance of the embodiment of the present application is accumulated from the moment of identifying the initial longitudinal error, and the driving distance of the vehicle can be obtained through the vehicle's odometer or wheel speed sensor. The positioning longitudinal error of the embodiment of the present application is diverged according to the divergence coefficient of 0.3% of the distance to obtain the positioning accuracy of the vehicle, and the search range of the longitudinal constraint semantics is determined based on the positioning accuracy. The search range can be dynamically adjusted according to the positioning accuracy to ensure that important longitudinal constraint information can be captured in a timely manner.

[0037] In step S103, longitudinal constraint semantics are detected within the search range, and the positioning data of the vehicle is updated according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

[0038] Specifically, the embodiment of the present application can detect longitudinal constraint semantics within the determined search range. The longitudinal constraint semantics include but are not limited to road features (such as curves, ramps), traffic signs (such as speed limit signs, signs) and geographical features (such as bridges, tunnel entrances).

[0039] In an embodiment of the present application, updating the vehicle's positioning data based on the detected target longitudinal constraint semantics and the vehicle's positioning accuracy includes: detecting the signal state of the satellite signal; when the signal state switches to a second state, updating the vehicle's positioning data based on the detected target longitudinal constraint semantics and the vehicle's positioning accuracy.

[0040] The second state may be a GNSS signal available state.

[0041] The embodiment of the present application continuously monitors the signal state of the GNSS signal. When the GNSS signal state switches from a first state to a second state, the vehicle's positioning data is dynamically updated using the detected target longitudinal constraint semantics and the current positioning accuracy. This helps to quickly correct positioning errors, restore high-performance operation of the system, and improve the stability and reliability of the assisted driving system.

[0042] In one embodiment of the present application, before updating the vehicle's positioning data based on the detected target longitudinal constraint semantics and the vehicle's positioning accuracy, it also includes: obtaining the vehicle's navigation route; detecting whether there is a lane topology change on the navigation route within a preset distance range of the vehicle; if not, controlling the driving level of the vehicle's assisted driving function to remain unchanged, otherwise, adjusting the driving level of the vehicle's assisted driving function based on the updated positioning data and on-board map data.

[0043] Among them, the preset distance range can be 1 km ahead, without specific limitation.

[0044] In order to further improve the stability and safety of the assisted driving system, before updating the vehicle's positioning data according to the detected target longitudinal constraint semantics and the vehicle's positioning accuracy, such as Figure 2As shown, the embodiment of the present application can also obtain the current navigation route of the vehicle through the vehicle navigation system or high-precision map API. The navigation route includes the vehicle's driving path, lane information of each road section, intersection information, etc. Within a preset distance range (such as the updated positioning error + 1km), the lane topology changes on the navigation route are detected. If no lane topology changes are detected within the preset distance range, the driving level of the vehicle's assisted driving function is controlled to remain unchanged, that is, the vehicle will continue to maintain the current assisted driving function level without additional operations. If the lane topology changes are detected within the preset distance range, whether there are longitudinal constraint semantics, such as arrows, dotted lines, and non-straight roads on the vehicle map before the current position to the fork in the road is detected. If there are, the function will not be downgraded. If not, the longitudinal error E is too large, then change lanes to the navigation lane in advance to avoid potential driving risks. And reduce the driving level of the assisted driving function, such as switching from fully automatic driving mode to semi-automatic driving mode, reminding the driver to take over the vehicle.

[0045] In one embodiment of the present application, the vehicle positioning method further includes: if no longitudinal constraint semantics are detected within the search range, adjusting the driving level of the vehicle's assisted driving function according to the positioning accuracy.

[0046] It is understandable that the embodiments of the present application can automatically reduce the driving level and limit some auxiliary driving functions to ensure driving safety when the positioning accuracy is low.

[0047] According to the vehicle positioning method proposed in the embodiment of the present application, when the vehicle meets the positioning failure condition, the growth rate of the longitudinal positioning error is controlled by the divergence coefficient, which can delay the accumulation of positioning errors and reduce the risk of functional degradation. Based on the longitudinal semantic information in the map data, it is ensured that the accuracy of vehicle positioning can be maintained during signal loss.

[0048] Next, the vehicle positioning device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0049] Figure 3 It is a block diagram of a vehicle positioning device according to an embodiment of the present application.

[0050] like Figure 3 As shown, the vehicle positioning device 10 includes: an identification module 100 , a determination module 200 and an update module 300 .

[0051] Among them, the identification module 100 is used to identify the initial longitudinal error of the current positioning of the vehicle when the vehicle meets the positioning failure condition; the determination module 200 is used to update the initial longitudinal error according to the preset divergence coefficient and the driving distance to obtain the positioning accuracy of the vehicle, and determine the search range of the longitudinal constraint semantics according to the positioning accuracy; the update module 300 is used to detect the longitudinal constraint semantics within the search range, and update the vehicle's positioning data according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

[0052] In one embodiment of the present application, the failure condition includes that the current satellite signal state is the first state, and there is no longitudinal constraint semantics on the vehicle map, wherein the longitudinal constraint semantics include: road features, traffic sign features and geographical features.

[0053] In one embodiment of the present application, the update module 300 is further used to detect the signal state of the satellite signal; when the signal state is switched to the second state, the positioning data of the vehicle is updated according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

[0054] In one embodiment of the present application, the vehicle positioning device 10 also includes: a first adjustment module, which is used to obtain the navigation route of the vehicle before updating the positioning data of the vehicle according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle; detect whether there is a lane topology change on the navigation route within a preset distance range of the vehicle; if not, the driving level of the vehicle's assisted driving function is controlled to remain unchanged, otherwise, the driving level of the vehicle's assisted driving function is adjusted according to the updated positioning data and the on-board map data.

[0055] In one embodiment of the present application, the vehicle positioning device 10 further includes: a second adjustment module, which is used to adjust the driving level of the vehicle's assisted driving function according to the positioning accuracy if the longitudinal restraint semantics is not detected within the search range.

[0056] It should be noted that the above explanations of the vehicle positioning method embodiment are also applicable to the vehicle positioning device of this embodiment, and will not be repeated here.

[0057] According to the vehicle positioning device proposed in the embodiment of the present application, when the vehicle meets the positioning failure condition, the growth rate of the longitudinal positioning error is controlled by the divergence coefficient, which can delay the accumulation of positioning errors and reduce the risk of functional degradation. Based on the longitudinal semantic information in the map data, it is ensured that the accuracy of vehicle positioning can be maintained during signal loss.

[0058] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0059] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0060] When the processor 402 executes the program, the vehicle positioning method provided in the above embodiment is implemented.

[0061] Furthermore, the vehicle also includes:

[0062] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0063] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0064] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0065] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0066] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0067] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0068] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above vehicle positioning method is implemented.

[0069] The embodiment of the present application further provides a computer program product, including: a computer program or instructions, and when the computer program or instructions are executed, the vehicle positioning method as described in the above embodiment is implemented.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0071] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0072] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0073] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0074] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0075] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle positioning method, characterized in that: The following steps are involved: When the vehicle meets the positioning failure condition, identifying the initial longitudinal error of the vehicle's current positioning; The initial longitudinal error is updated according to a preset divergence coefficient and a travel distance to obtain a positioning accuracy of the vehicle, and a search range of the longitudinal constraint semantics is determined according to the positioning accuracy; The longitudinal constraint semantics are detected within the search range, and the positioning data of the vehicle is updated according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

2. The vehicle positioning method according to claim 1, characterized in that: The failure condition includes that the current satellite signal state is the first state, and there is no longitudinal constraint semantics on the vehicle map, wherein the longitudinal constraint semantics include: road features, traffic sign features and geographical features.

3. The vehicle positioning method according to claim 1, characterized in that: The updating of the positioning data of the vehicle according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle comprises: Detecting the signal status of satellite signals; When the signal state is switched to the second state, the positioning data of the vehicle is updated according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

4. The vehicle positioning method according to claim 1 or 3, characterized in that: Before updating the positioning data of the vehicle according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle, the method further includes: Get the navigation route of the vehicle; Detecting whether there is a lane topology change on the navigation route within a preset distance range of the vehicle; If not present, the driving level of the vehicle's assisted driving function is controlled to remain unchanged; otherwise, the driving level of the vehicle's assisted driving function is adjusted according to the updated positioning data and on-board map data.

5. The vehicle positioning method according to claim 1, characterized in that: Also includes: If the longitudinal restraint semantics is not detected within the search range, the driving level of the vehicle's assisted driving function is adjusted according to the positioning accuracy.

6. A vehicle positioning device, characterized in that: include: An identification module, used for identifying an initial longitudinal error of the current positioning of the vehicle when the vehicle meets a positioning failure condition; A determination module, configured to update the initial longitudinal error according to a preset divergence coefficient and a travel distance to obtain a positioning accuracy of the vehicle, and determine a search range of the longitudinal constraint semantics according to the positioning accuracy; An updating module is used to detect the longitudinal constraint semantics within the search range, and update the positioning data of the vehicle according to the detected target longitudinal constraint semantics and the positioning accuracy of the vehicle.

7. The vehicle positioning device according to claim 6, characterized in that: The failure condition includes that the current satellite signal state is the first state, and there is no longitudinal constraint semantics on the vehicle map, wherein the longitudinal constraint semantics include: road features, traffic sign features and geographical features.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle positioning method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the vehicle positioning method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising: A computer program or instruction, characterized in that when the computer program or instruction is executed, it implements the vehicle positioning method described in any one of claims 1-6.

Images