A vehicle positioning method and related device

Abstract

The present application relates to the field of automobile, especially to a vehicle positioning method and related equipment. The method comprises: collecting a first pulse number increase of a first rear wheel, a second pulse number increase of a second rear wheel and a steering wheel angle of a target vehicle in a first time period; calculating a vehicle speed according to the first pulse number increase and the second pulse number increase; calculating a vehicle motion change in the first time period based on the vehicle speed and the steering wheel angle; and obtaining a final pose coordinate of the target vehicle in the first time period according to the vehicle motion change and an initial pose coordinate of the target vehicle in the first time period.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobiles, and in particular to a vehicle positioning method and related equipment. BACKGROUND

[0002] With the continuous development of assisted driving functions, the function of automatic parking systems is also more and more perfect. In the automatic parking system, vehicle positioning needs to be relied on to achieve accurate parking of the vehicle. Currently, the wheel speed pulse method is often used to calculate the deflection angle of the vehicle attitude to determine the vehicle positioning, or the steering wheel angle method is used to calculate the vehicle positioning. The wheel speed pulse method calculates the deflection angle by calculating the pulse difference of the two rear wheels of the vehicle. When the tire pressure of the wheels is uneven, insufficient or excessive, it will affect the accuracy of the deflection angle. In the steering wheel angle method, the vehicle speed introduced has undergone complex filtering. Due to the time-consuming of filtering, the real-time performance of vehicle positioning is reduced. SUMMARY

[0003] Therefore, the present application provides a vehicle positioning method and related equipment, which can improve the real-time performance of vehicle positioning while ensuring positioning accuracy.

[0004] In a first aspect, an embodiment of the present application provides a vehicle positioning method, comprising:

[0005] collecting a first pulse increase quantity of a first rear wheel, a second pulse increase quantity of a second rear wheel and a steering wheel angle of a target vehicle in a first time period;

[0006] calculating a vehicle speed according to the first pulse increase quantity and the second pulse increase quantity;

[0007] calculating a vehicle motion change quantity in the first time period based on the vehicle speed and the steering wheel angle;

[0008] obtaining a final pose coordinate of the target vehicle in the first time period according to the vehicle motion change quantity and an initial pose coordinate of the target vehicle in the first time period.

[0009] In a possible implementation, the calculating a vehicle speed according to the first pulse increase quantity and the second pulse increase quantity comprises:

[0010] obtaining a rolling radius of the first rear wheel and the second rear wheel, and a pulse increase quantity per rotation of the first rear wheel and the second rear wheel;

[0011] calculating the vehicle speed according to the first pulse increase quantity, the second pulse increase quantity, the pulse increase quantity per rotation and the rolling radius.

[0012] In a possible implementation, the calculating the vehicle motion change amount in the first time period based on the vehicle speed and the steering wheel angle comprises:

[0013] obtaining a vehicle wheelbase of the target vehicle;

[0014] obtaining a turning radius of the target vehicle according to the vehicle wheelbase and the steering wheel angle;

[0015] calculating the vehicle motion change amount according to the vehicle speed, the turning radius, and a length of the first time period.

[0016] In a possible implementation, the method further comprises:

[0017] obtaining, by an image acquisition device, first corner point coordinates of a parking space line corner point of a target parking space in the first time period, and second corner point coordinates of the parking space line corner point in a second time period; the second time period is a previous time period adjacent to the first time period;

[0018] determining an error value of the vehicle motion change amount according to the vehicle motion change amount, the first corner point coordinates, and the second corner point coordinates;

[0019] correcting the final pose coordinates in the first time period according to the error value.

[0020] In a possible implementation, the obtaining, by an image acquisition device, first corner point coordinates of a parking space line corner point of a target parking space in the first time period, and second corner point coordinates of the parking space line corner point in a second time period comprises:

[0021] obtaining image data collected by a plurality of image acquisition devices;

[0022] stitching the image data collected by the plurality of image acquisition devices to obtain a bird's eye view;

[0023] determining first coordinates of the parking space line corner point in an image coordinate system in the first time period, and second coordinates of the parking space line corner point in the image coordinate system in the second time period based on the bird's eye view; the image coordinate system is obtained based on the bird's eye view;

[0024] converting the first coordinates into third coordinates in a vehicle coordinate system, and converting the second coordinates into fourth coordinates in the vehicle coordinate system based on a conversion relationship between the image coordinate system and the vehicle coordinate system;

[0025] determining the third coordinates as the first corner point coordinates, and determining the fourth coordinates as the second corner point coordinates.

[0026] In a possible implementation, the determining of the first coordinate of the parking line corner point in the image coordinate system in the first time period and the second coordinate of the parking line corner point in the image coordinate system in the second time period comprises:

[0027] inputting the bird's eye view in the first time period and the bird's eye view in the second time period into a pre-trained deep learning model, so that the deep learning model identifies a first position of the parking line corner point in the bird's eye view in the first time period and a second position of the parking line corner point in the bird's eye view in the second time period according to the features of the parking line corner point;

[0028] obtaining the first coordinate and the second coordinate according to the first position, the second position, and the image coordinate system.

[0029] In a possible implementation, the determining of the error value of the vehicle motion change amount according to the vehicle motion change amount, the first corner point coordinate, and the second corner point coordinate comprises:

[0030] obtaining a predicted corner point coordinate of the parking line corner point in the first time period according to the second corner point coordinate and the vehicle motion change amount;

[0031] determining a difference value between the predicted corner point coordinate and the first corner point coordinate;

[0032] determining the difference value between the predicted corner point coordinate and the first corner point coordinate as the error value of the vehicle motion change amount.

[0033] In a second aspect, an embodiment of the present application provides a vehicle positioning device, comprising:

[0034] a collection module configured to collect a first pulse number increase of a first rear wheel, a second pulse number increase of a second rear wheel, and a steering wheel rotation angle of a target vehicle in a first time period;

[0035] a vehicle speed calculation module configured to calculate a vehicle speed according to the first pulse number increase and the second pulse number increase;

[0036] a vehicle motion calculation module configured to calculate a vehicle motion change amount in the first time period based on the vehicle speed and the steering wheel rotation angle;

[0037] a pose coordinate calculation module configured to obtain a final pose coordinate of the target vehicle in the first time period according to the vehicle motion change amount and a vehicle initial pose coordinate of the target vehicle in the first time period.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, comprising:

[0039] at least one processor; and

[0040] at least one memory connected with the processor, wherein:

[0041] the memory stores program instructions executable by the processor, and the processor invoking the program instructions can execute the method of the first aspect.

[0042] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions make the computer execute the method of the first aspect.

[0043] In the embodiment of the present application, the vehicle speed is calculated by the pulses of the two rear wheels of the vehicle, the complex vehicle speed filtering operation is avoided, and the real-time positioning is improved. The positioning coordinates of the vehicle are calculated by the steering wheel angle and the vehicle speed, and the influence of the insufficient tire pressure, the excessive foot and the uneven situation on the deflection angle in the vehicle pose coordinates is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0045] Figure 1 A flow chart of a vehicle positioning method provided by an embodiment of the present application;

[0046] Figure 2 A structural schematic diagram of a vehicle positioning device provided by an embodiment of the present application;

[0047] Figure 3 A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the drawings.

[0049] It should be clear that the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0050] The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the description of the embodiments of the present application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0051] It should be understood that the term "and / or" as used herein merely describes association between associated objects, and can indicate that three relationships can exist, for example, A and / or B can indicate that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in the present application generally indicates that the associated objects before and after the " / " have an "or" relationship.

[0052] Figure 1 A flowchart of a vehicle positioning method provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the method comprises the following steps. Figure 1

[0053] In step 101, the first pulse number increase of a first rear wheel, the second pulse number increase of a second rear wheel, and the steering wheel angle of a target vehicle in a first time period are collected.

[0054] The first rear wheel and the second rear wheel are respectively a left rear wheel and a right rear wheel arranged on the left and right sides of the vehicle, for example, the left rear wheel and the right rear wheel of a four-wheel vehicle. The first pulse number increase of the first rear wheel, the second pulse number increase of the second rear wheel, and the steering wheel angle can be collected through a vehicle bus (for example, a CAN bus or a K bus, etc.). The pulses of the first rear wheel and the second rear wheel are in a state of continuous accumulation with rotation, and thus the first pulse number increase of the first rear wheel and the second pulse number increase of the second rear wheel in the current time period are obtained by performing algebraic operation on the first pulse number of the first rear wheel and the second pulse number of the second rear wheel collected in the current time period and the third pulse number of the first rear wheel and the fourth pulse number of the second rear wheel collected in the last time period.

[0055] ​The first pulse increase quantity of the first rear wheel, the second pulse increase quantity of the second rear wheel and the steering wheel angle are periodically collected to calculate the pose coordinates of the vehicle. For example, the length of the first time period is 2 seconds, so the pulse number of the first rear wheel, the pulse number of the second rear wheel and the steering wheel angle are collected every 2 seconds. Then the pulse number of the first rear wheel collected this time is subtracted from the pulse number of the first rear wheel collected last time to obtain the first pulse increase quantity. The pulse number of the second rear wheel collected this time is subtracted from the pulse number of the second rear wheel collected last time to obtain the second pulse increase quantity. Specifically, according to the collection frequency of every 2 seconds, the pulse number of the left rear wheel collected this time is 1100, and the pulse number of the right rear wheel collected this time is 1102. The pulse number of the left rear wheel collected last time (i.e. 2 seconds ago) is 1098, and the pulse number of the right rear wheel collected last time is 1099. Then the first pulse increase quantity of the left rear wheel in the current time period is: 1100-1098 = 2. The second pulse increase quantity of the right rear wheel is 1102-1099 = 3.

[0056] In step 102, the vehicle speed is calculated according to the first pulse increase quantity and the second pulse increase quantity.

[0057] In the formula (1), v is the vehicle speed, R is the wheel rolling radius, △CL is the first pulse increase quantity, △CR is the second pulse increase quantity, and numpercircle is the pulse increase quantity per circle of the wheel.

[0058] Formula (1):

[0059] In the formula (1), v is the vehicle speed, R is the wheel rolling radius, △CL is the first pulse increase quantity, △CR is the second pulse increase quantity, and numpercircle is the pulse increase quantity per circle of the wheel.

[0060] In step 103, the vehicle motion change quantity in the first time period is calculated based on the vehicle speed and the steering wheel angle.

[0061] Specifically, the wheelbase of the target vehicle is obtained first. The wheelbase specifically refers to the distance from the center of the front axle to the center of the rear axle. The wheelbase is the distance between the centers of two adjacent wheels on the same side of the vehicle and perpendicular to the longitudinal symmetry plane of the vehicle. Then the steering radius of the target vehicle can be calculated according to the wheelbase and the above-mentioned collected steering wheel angle. The larger the steering wheel angle, the smaller the steering radius, and the smaller the steering wheel angle, the larger the steering radius. Finally, the vehicle motion change quantity is calculated based on the vehicle speed, the steering radius and the length of the first time period.

[0062] Wherein, the vehicle coordinate system can be established first, and when starting the automatic parking, the position of the target vehicle is the coordinate origin, the front of the target vehicle is the positive direction of the x-axis, the left of the target vehicle is the positive direction of the y-axis, and the top of the target vehicle is the positive direction of the z-axis. Then, the x change, the y change and the angle θ change of the target vehicle in the first time period are calculated based on the self-motion model of the target vehicle and the vehicle speed and the steering radius. Then, the vehicle motion change (R, T) is obtained based on the x change, the y change and the angle θ change. Wherein, R represents rotation, and T represents translation.

[0063] In step 104, the final pose coordinate of the target vehicle in the first time period is obtained based on the vehicle motion change and the initial pose coordinate of the target vehicle in the first time period.

[0064] Wherein, the initial pose coordinate of the target vehicle in the first time period is the final pose coordinate of the last time period. The final pose coordinate of the last time period is calculated with the vehicle motion change in the current time period to update the vehicle pose coordinate of the target vehicle in the vehicle coordinate system, i.e. the final pose coordinate in the first time period, denoted as (x, y, z, θ). The coordinate can be used for vehicle positioning in the automatic parking scenario.

[0065] In some embodiments, the calculated vehicle motion change may have some errors compared with the real vehicle motion change, so the error can be reduced by introducing environmental factors. Specifically, when the first pulse increase of the first rear wheel, the second pulse increase of the second rear wheel and the steering angle are periodically collected, the coordinates of the parking line corner points can be additionally collected, and the error of the vehicle motion change is corrected based on the change of the coordinates of the parking line corner points.

[0066] In some embodiments, the first corner point coordinate of the target parking space in the first time period and the second corner point coordinate of the target parking space in the second time period can be obtained by the image acquisition device. Wherein, the second time period is the last time period adjacent to the first time period. Then, the error value of the vehicle motion change is determined based on the calculated vehicle motion change, the first corner point coordinate and the second corner point coordinate. Finally, the final pose coordinate in the first time period is corrected according to the error value.

[0067] Specifically, image data collected by multiple image collection devices can be acquired. The multiple image collection devices can be implemented in the form of multiple 360° surround-view cameras. Then, the image data of the multiple image collection devices is stitched to obtain a bird's-eye view (BEV). The bird's-eye view is a technique for observing an object or a scene from above. In the field of autonomous driving, the BEV perception technology converts data collected by sensors (such as cameras, radars, LiDARs, etc.) into image information from the perspective of looking from above, thereby providing more comprehensive and accurate environmental perception information. Before the image data is stitched, the multiple image collection devices need to be calibrated for internal and external parameters. After the internal and external parameter calibration is completed, the image data collected by the multiple image collection devices can be stitched.

[0068] Then, based on the bird's-eye view, a first coordinate of the parking line corner point in the image coordinate system in a first time period and a second coordinate of the parking line corner point in the image coordinate system in a second time period are determined. The image coordinate system is obtained based on the bird's-eye view. The image coordinate system is different from the vehicle coordinate system described above. Then, coordinate system conversion is performed on the first coordinate and the second coordinate. Based on the conversion relationship between the image coordinate system and the vehicle coordinate system, the first coordinate is converted into a third coordinate in the vehicle coordinate system, and the second coordinate is converted into a fourth coordinate in the vehicle coordinate system. Finally, the obtained third coordinate is the first corner point coordinate, and the fourth coordinate is the second corner point coordinate.

[0069] After that, according to the second corner point coordinates collected in the last time period (i.e. the second time period) and the vehicle motion change amount in the current time period (i.e. the first time period), the predicted corner point coordinates of the parking line corner point in the current time period (i.e. the first time period) can be calculated, that is, the theoretical value of the corner point coordinates. The difference between the theoretical value and the true value is the error value of the vehicle motion change amount. Specifically, first, the difference between the predicted corner point coordinates (theoretical value) and the first intersection point coordinates (true value) is determined. The difference between the predicted corner point coordinates and the first corner point coordinates is determined as the error value of the vehicle motion change amount. Finally, the final pose coordinates of the first time period calculated above are corrected according to the error value. For example, the coordinates of the parking line corner point collected in the last time period are (xj, yj, zj), and the coordinates of the parking line corner point collected in the current time period are (xk, yk, zk). The vehicle motion change amount (R, T) is calculated through the above steps. The predicted corner point coordinates of the current time period should be the product of (xj, yj, zj) and (R, T), which is (xk', yk', zk'). If the error of the vehicle motion change amount is 0, then (xk', yk', zk') should be equal to (xk, yk, zk). But in actual application, the error is basically not 0. At this time, the error value of the vehicle motion change amount is calculated based on the difference between (xk', yk', zk') and (xk, yk, zk), denoted as (R1, T1). Then, the final pose coordinates (x, y, z, θ) of the current time period calculated above are multiplied by the error value (R1, T1) to obtain the corrected final pose coordinates (x', y', z', θ').

[0070] In some embodiments, the parking line corner point can be extracted from the bird's eye view based on a deep learning model. Specifically, the bird's eye view in the first time period and the bird's eye view in the second time period can be input into a pre-trained deep learning model, so that the deep learning model identifies the first position of the parking line corner point in the bird's eye view in the first time period according to the characteristics of the parking line corner point, and identifies the second position of the parking line corner point in the bird's eye view in the second time period. The first coordinates and the second coordinates are obtained according to the first position, the second position and the image coordinate system.

[0071] Further, the reliability of error calculation can also be increased by identifying multiple parking line corner points. Specifically, the parking line corner points in the BEV are identified by a perception deep learning model, and the pixel coordinates (Ui, Vi) {i = 0, 1, 2, 3...} of the multiple parking line corner points in the image coordinate system of the BEV are converted, and the coordinates (xi, yi, zi) {i = 0, 1, 2, 3...} of the multiple parking line corner points in the vehicle coordinate system can be obtained.

[0072] The vehicle coordinate system coordinates of the parking line corner points recognized in the last time period are (xj, yj, zj) {j=0, 1, 2, 3...}, and the vehicle coordinate system coordinates of the parking line corner points recognized in the current time period are (xk, yk, zk) {k=0, 1, 2, 3...}. The vehicle coordinate system coordinates (xj, yj, zj) {j=0, 1, 2, 3...} of the parking line corner points recognized in the last time period are multiplied by the calculated motion change (R, T) in the current time period to obtain the predicted corner point coordinates (xk', yk', zk') of the plurality of parking line corner points. Then, the singular value decomposition (SVD) algorithm can be used to calculate the error between (xk', yk', zk') and (xk, yk, zk), and the error value (R1, T1) of the vehicle motion change is obtained based on the error. Finally, the final pose coordinates (x, y, z, θ) of the current time period calculated are multiplied by the error value (R1, T1) to obtain the vehicle pose coordinates (x', y', z', θ') after the correction error.

[0073] Corresponding to the vehicle positioning method described above, an embodiment of the present application provides a vehicle positioning device. Figure 2 A structural schematic diagram of a vehicle positioning device provided by an embodiment of the present application is shown in FIG. 1. Figure 2 As shown in FIG. 1, the vehicle positioning device comprises a collection module 201, a vehicle speed calculation module 202, a vehicle motion calculation module 203, and a pose coordinate calculation module 204.

[0074] The collection module 201 is configured to collect the first pulse number increase of the first rear wheel, the second pulse number increase of the second rear wheel, and the steering wheel angle of the target vehicle in the first time period.

[0075] The vehicle speed calculation module 202 is configured to calculate the vehicle speed according to the first pulse number increase and the second pulse number increase.

[0076] The vehicle motion calculation module 203 is configured to calculate the vehicle motion change in the first time period based on the vehicle speed and the steering wheel angle.

[0077] The pose coordinate calculation module 204 is configured to obtain the final pose coordinates of the target vehicle in the first time period according to the vehicle motion change and the initial pose coordinates of the target vehicle in the first time period.

[0078] Figure 2 The vehicle positioning device provided by the embodiment shown in FIG. 1 can be used to execute the vehicle positioning method described in the present specification. Figure 1 The technical solutions of the method embodiment shown in FIG. 2 can further refer to the related descriptions in the method embodiment for the implementation principles and technical effects.

[0079] Figure 3 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown in Figure 3 The electronic device can include at least one processor, and at least one memory connected with the processor, wherein the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the embodiments of the present application Figure 1 The vehicle positioning method provided by the embodiment shown in

[0080] As shown in Figure 3 The electronic device is in the form of a general-purpose computing device. The components of the electronic device can include, but are not limited to, one or more processors 310, a communication interface 320, and a memory 330, a communication bus 340 connecting different system components including the memory 330, the communication interface 320, and the processor 310.

[0081] The communication bus 340 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0082] The electronic device typically includes a variety of computer system readable media. These media can be any available media that is accessible by the electronic device and includes both volatile and non-volatile media, removable and non-removable media.

[0083] The memory 330 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device can further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 330 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the embodiments of the present application.

[0084] The program / utility, having a set of program modules, can be stored in memory 330, for execution by the processor 310, as complimentarily shown in the illustrative embodiments. The program modules include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, likely including implementation of a network environment, as each of these examples or some combination thereof. The program modules commonly execute the functions and / or methods of the embodiments described in this specification.

[0085] The processor 310 performs functions and data processing by running programs stored in the memory 330, such as implementing the embodiments described in this specification. Figure 1 The vehicle positioning method provided by the embodiments shown.

[0086] The computer readable storage medium provided by the embodiments of the present specification stores computer instructions, which cause the computer to perform the vehicle positioning method provided by the embodiments of the present specification. Figure 1 The vehicle positioning method provided by the embodiments shown.

[0087] The computer readable storage medium described above can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the computer readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM) or flash memory, an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus.

[0088] The above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or possible.

[0089] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the specification. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0090] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the specification, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0091] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) in the process, and the various embodiments of the specification include additional implementations in which the order of steps can be changed, including use of concurrent or substantially simultaneous steps, and the functions can be performed in reverse order, depending on the functionality involved, which will be understood by those skilled in the art.

[0092] Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "while" or "in response to the determination" or "in response to the detection." Similarly, the phrase "if it is determined" or "if it is detected" can be interpreted to mean "upon the determination" or "in response to the determination" or "upon the detection" or "in response to the detection," depending on the context.

[0093] It should be noted that the devices involved in the embodiments of the specification can include, but are not limited to, personal computers (Personal Computer; hereinafter referred to as PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 displays, MP4 displays, etc.

[0094] In several embodiments provided in the present specification, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiments is merely a logical function division, and there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0095] In addition, each functionally described unit in the various embodiments of the present specification can be integrated into one processing unit, or each unit can be physically separated, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0096] The integrated unit implemented in the form of software function units can be stored in a computer readable storage medium. The above-mentioned software function unit stored in a storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a connector, or a network device, etc.) or a processor to execute part of the steps of the method described in the various embodiments of the present specification. The above-mentioned storage medium includes a variety of program code storage media, such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0097] The above only provides a preferred embodiment of the present specification, and is not intended to limit the present specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

[0098] The same or similar parts among the various embodiments in the present specification can be referred to each other. In particular, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant part can be referred to the description in the method embodiments.

Claims

1. A vehicle positioning method characterized by comprising: The method comprises: collecting a first pulse number increase of a first rear wheel, a second pulse number increase of a second rear wheel and a steering wheel angle of a target vehicle in a first time period; calculating a vehicle speed according to the first pulse number increase and the second pulse number increase; calculating a vehicle motion change in the first time period based on the vehicle speed and the steering wheel angle; calculating a final pose coordinate of the target vehicle in the first time period according to the vehicle motion change and an initial pose coordinate of the target vehicle in the first time period; the calculating of the vehicle motion change in the first time period based on the vehicle speed and the steering wheel angle comprises: obtaining a wheelbase of the target vehicle; obtaining a turning radius of the target vehicle according to the wheelbase and the steering wheel angle; calculating the vehicle motion change according to the vehicle speed, the turning radius and a time length of the first time period.

2. The method of claim 1, wherein, the calculating of the vehicle speed according to the first pulse number increase and the second pulse number increase comprises: obtaining a rolling radius of the first rear wheel and the second rear wheel, and a pulse number increase per rotation of the first rear wheel and the second rear wheel; calculating the vehicle speed according to the first pulse number increase, the second pulse number increase, the pulse number increase per rotation and the rolling radius.

3. The method of claim 1, wherein, The method further comprises: obtaining a first corner point coordinate of a corner point of a target parking space in the first time period and a second corner point coordinate of the corner point in a second time period through an image acquisition device, wherein the second time period is a previous time period adjacent to the first time period; determining an error value of the vehicle motion change according to the vehicle motion change, the first corner point coordinate and the second corner point coordinate; correcting the final pose coordinate in the first time period according to the error value.

4. The method of claim 3, wherein, The obtaining of the first corner point coordinate of the corner point of the target parking space in the first time period and the second corner point coordinate of the corner point in the second time period through the image acquisition device comprises: obtaining image data collected by a plurality of image acquisition devices; stitching the image data collected by the plurality of image acquisition devices to obtain a bird's eye view; determining a first coordinate of the corner point in an image coordinate system in the first time period and a second coordinate of the corner point in the image coordinate system in the second time period based on the bird's eye view, wherein the image coordinate system is obtained based on the bird's eye view; converting the first coordinate into a third coordinate in a vehicle coordinate system and converting the second coordinate into a fourth coordinate in the vehicle coordinate system based on a conversion relationship between the image coordinate system and the vehicle coordinate system; determining the third coordinate as the first corner point coordinate and determining the fourth coordinate as the second corner point coordinate.

5. The method of claim 4, wherein, The determining the first coordinate of the parking line corner point in the image coordinate system in the first time period and the second coordinate of the parking line corner point in the image coordinate system in the second time period comprises: inputting the bird's eye view in the first time period and the bird's eye view in the second time period into a pre-trained deep learning model, so that the deep learning model identifies the first position of the parking line corner point in the bird's eye view in the first time period and the second position of the parking line corner point in the bird's eye view in the second time period according to the characteristics of the parking line corner point; obtaining the first coordinate and the second coordinate according to the first position, the second position and the image coordinate system.

6. The method of claim 3, wherein, The determining the error value of the vehicle motion change amount according to the vehicle motion change amount, the first corner point coordinate and the second corner point coordinate comprises: obtaining the predicted corner point coordinate of the parking line corner point in the first time period according to the second corner point coordinate and the vehicle motion change amount; determining the difference value between the predicted corner point coordinate and the first corner point coordinate; determining the error value of the vehicle motion change amount as the difference value between the predicted corner point coordinate and the first corner point coordinate.

7. A vehicle positioning apparatus characterized by comprising: including; The acquisition module is used for acquiring the first pulse number increase of the first rear wheel, the second pulse number increase of the second rear wheel and the steering wheel rotation angle of the target vehicle in the first time period; The vehicle speed calculation module is used for calculating the vehicle speed according to the first pulse number increase and the second pulse number increase; The vehicle motion calculation module is used for calculating the vehicle motion change amount in the first time period based on the vehicle speed and the steering wheel rotation angle; The pose coordinate calculation module is used for obtaining the final pose coordinate of the target vehicle in the first time period according to the vehicle motion change amount and the initial pose coordinate of the target vehicle in the first time period. The vehicle motion calculation module is specifically used for: obtaining the vehicle wheelbase of the target vehicle; obtaining the steering radius of the target vehicle according to the vehicle wheelbase and the steering wheel rotation angle; calculating the vehicle motion change amount according to the vehicle speed, the steering radius and the time length of the first time period.

8. An electronic device, comprising: including: at least one processor; and at least one memory connected with the processor in communication, wherein: the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the method in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions make the computer execute the method in any one of claims 1 to 6.

Images