A vehicle positioning correction method and system

Abstract

The present application relates to the field of vehicle positioning, and discloses a vehicle positioning correction method and system, in order to improve the accuracy of unmanned vehicles when performing transportation tasks in industrial parks, the present application firstly sets a plurality of vehicle driving reference points in the park, and installs RFID electronic tags on each vehicle driving reference point, then installs positioning sensors and RFID card readers on each vehicle, the positioning sensors are used to measure the real-time position information of the vehicle, the RFID card readers and RFID electronic tags are used to measure the pre-acquisition position information of the vehicle, that is, the distance between the vehicle and the reference point when the vehicle approaches the reference point, then the positioning deviation of the vehicle at each reference point is calculated according to the real-time position information of the vehicle and the pre-acquisition position information of the vehicle, and then whether to correct the vehicle positioning is judged according to whether the positioning deviation meets the set standard value.

Description

TECHNICAL FIELD

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

[0002] Unmanned transportation refers to a process of realizing autonomous completion of goods or personnel transportation by advanced automatic driving technology without any human intervention.

[0003] With the continuous maturity of technology and the expansion of application scenarios, unmanned vehicles are gradually widely and deeply applied in industrial parks. In the industrial park, unmanned vehicles can be used for material transportation between production lines, goods distribution between warehouses and production lines, and employee commuting, etc. scenarios, which can realize automatic and intelligent material handling and distribution, improve production efficiency, and reduce operating costs.

[0004] The positioning technology of unmanned vehicles is very important in the process of transporting in the park, which can effectively improve the accuracy of vehicle operation. However, in actual application, there are the following problems: due to the influence of various factors (such as environmental interference, equipment error, etc.), there is a certain deviation in vehicle positioning, which causes the vehicle to not accurately arrive at the destination. Therefore, the present application provides a vehicle positioning correction method and system. SUMMARY

[0005] The purpose of the present application is to provide a vehicle positioning correction method and system to solve the above technical problems.

[0006] A vehicle positioning correction method, the method comprising the following steps:

[0007] Step S1, setting n vehicle driving reference points in the park, and installing an RFID electronic tag at each vehicle driving reference point;

[0008] Step S2, installing a positioning sensor and an RFID card reader on each vehicle;

[0009] Step S3, when the vehicle approaches the driving reference point, collecting the real-time position information of the vehicle through the positioning sensor, and collecting the pre-acquisition position information of the vehicle through the RFID card reader;

[0010] Step S4, calculating the vehicle positioning deviation value according to the real-time position information and the pre-acquisition position information of the vehicle;

[0011] Step S5, judging whether the vehicle positioning deviates according to the vehicle positioning deviation value, and if it deviates, correcting the position information of the vehicle.

[0012] As a further description of the technical scheme of the present application, the process of collecting the real-time position information of the vehicle in step S3 comprises:

[0013] A spatial rectangular coordinate system is constructed with the starting point of the vehicle as the origin, and when the vehicle drives into the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor as (a1, b1, c1);

[0014] When the vehicle drives into the vicinity of the second driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor as (a2, b2, c2);

[0015] By analogy, when the vehicle drives into the vicinity of the ith driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor as (a i , b i , c i ), wherein i belongs to n;

[0016] When the vehicle drives into the vicinity of the nth driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor as (a n , b n , c n ).

[0017] A spatial rectangular coordinate system is constructed with the starting point of the vehicle as the origin, and the coordinate data of the n vehicle driving reference points are obtained in sequence as (x1, y1, z1), (x2, y2, z2), …, (x i , y i , z i ), …, (x n , y n , z n );

[0018] According to the real-time coordinate data of the vehicle and the coordinate data of the n vehicle driving reference points, the real-time position distance of the vehicle from the reference point when the vehicle enters the vicinity of the n reference points is calculated in sequence:

[0019]

[0020] As a further description of the technical scheme of the application, the process of collecting the pre-collection position information of the vehicle in step S3 includes:

[0021] When the vehicle drives into the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor, and at the same time, the pre-collection position distance d 1 between the vehicle and the reference point is collected by the RFID card reader;

[0022] When the vehicle drives into the vicinity of the second driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor, and at the same time, the pre-collection position distance d 2 between the vehicle and the reference point is collected by the RFID card reader;

[0023] By analogy, when the vehicle enters the vicinity of the ith driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor, and the pre-acquisition position distance d of the vehicle and the reference point is collected by the RFID reader i ;

[0024] When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle are obtained by the positioning sensor, and the pre-acquisition position distance d of the vehicle and the reference point is collected by the RFID reader n ;

[0025] As a further description of the technical scheme of the present application, the method for collecting the pre-acquisition position distance of the vehicle and the reference point by the RFID reader is to measure the distance between the RFID electronic tag and the RFID reader according to the received signal strength.

[0026] As a further description of the technical scheme of the present application, the specific process of the step S5 includes:

[0027] When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S1 = |d1-d 1 | is calculated.

[0028] When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S2 = |d2-d 2 | is calculated.

[0029] By analogy, when the vehicle enters the vicinity of the ith driving reference point, the positioning deviation value S i = |d i -d i | is calculated.

[0030] When the vehicle enters the vicinity of the nth driving reference point, the positioning deviation value S n = |d n -d n | is calculated.

[0031] Each positioning deviation value is compared with the corresponding threshold value, and if there is a positioning deviation item greater than the threshold value, it is judged that the vehicle positioning is abnormal, the vehicle needs to be positioned and corrected, and a warning is issued.

[0032] Otherwise, if there is no positioning deviation item greater than the threshold value, the positioning deviation is further judged according to the overall deviation condition.

[0033] As a further description of the technical scheme of the present application, the specific process of further judging the positioning deviation according to the overall deviation condition includes:

[0034] A deviation coefficient calculation model is constructed, and the expression is:

[0035]

[0036] wherein σ is a deviation coefficient, i belongs to n, S i0 is a preset threshold value of the positioning deviation value of the ith driving reference point, S th is a difference standard value, k i is a corresponding reference point weight, the farther the distance between the reference point and the driving point, the greater the weight;

[0037] The deviation coefficient σ is compared with a set deviation coefficient threshold σ0, if the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is judged that the vehicle positioning is abnormal, the vehicle needs to be positioned and corrected, and a warning is issued;

[0038] Otherwise, it is judged that the vehicle positioning is normal, and the vehicle does not need to be positioned and corrected.

[0039] As a further description of the technical scheme of the present application, the method for correcting the position information of the vehicle in step S5 includes: map matching correction and manual correction;

[0040] The map matching correction is to match the real-time position information of the vehicle with a high-precision map, identify and correct the positioning deviation;

[0041] The manual correction is to correct the positioning deviation by manually inputting the accurate position information of the vehicle.

[0042] A vehicle positioning correction system, the system includes: a data acquisition module, a deviation calculation module, a data analysis module and a reminding module;

[0043] The data acquisition module is used to acquire the real-time position information of the vehicle and the pre-acquired position information of the reference point;

[0044] The deviation calculation module is used to calculate the vehicle positioning deviation according to the real-time position information and the pre-acquired position information;

[0045] The data analysis module is used to judge whether the vehicle positioning is abnormal according to the vehicle positioning deviation;

[0046] The reminding module is used to issue a warning in real time according to the analysis result of the data analysis module, reminding the staff to correct the positioning deviation.

[0047] The beneficial effects of the present application are: 1. In order to improve the accuracy of unmanned vehicles in industrial parks when performing transportation tasks, the present application firstly sets a plurality of vehicle driving reference points in the park, and installs an RFID electronic tag at each vehicle driving reference point, then installs a positioning sensor and an RFID card reader on each vehicle, the positioning sensor is used to measure the real-time position information of the vehicle, the RFID card reader and the RFID electronic tag are used to measure the pre-acquired position information of the vehicle, that is, the distance between the vehicle and the reference point when the vehicle approaches the reference point, then the positioning deviation of the vehicle at each reference point is calculated according to the real-time position information of the vehicle and the pre-acquired position information of the vehicle, and then whether the vehicle positioning is corrected is judged according to whether the positioning deviation meets the set standard value. BRIEF DESCRIPTION OF DRAWINGS

[0048] The present application will be further described below in conjunction with the accompanying drawings.

[0049] Figure 1 is a part of the flow diagram of the vehicle positioning correction method provided by the present application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. 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.

[0051] Please refer to Figure 1 The present application is a vehicle positioning correction method, which comprises the following steps:

[0052] Step S1, setting n vehicle driving reference points in the park, and installing an RFID electronic tag at each vehicle driving reference point;

[0053] Step S2, installing a positioning sensor and an RFID card reader on each vehicle;

[0054] Step S3, when the vehicle approaches the driving reference point, the real-time position information of the vehicle is acquired by the positioning sensor, and the pre-acquired position information of the vehicle is acquired by the RFID card reader;

[0055] Step S4, calculating the vehicle positioning deviation value according to the real-time position information and the pre-acquired position information of the vehicle;

[0056] Step S5, judging whether the vehicle positioning deviates according to the vehicle positioning deviation value, and if the deviation occurs, the position information of the vehicle is corrected.

[0057] Through the technical scheme, in order to improve the accuracy of the unmanned vehicle in the industrial park when performing a transportation task, the application firstly sets a plurality of vehicle driving reference points in the park, and installs an RFID electronic tag at each vehicle driving reference point, then installs a positioning sensor and an RFID card reader on each vehicle, the positioning sensor is used to measure the real-time position information of the vehicle, the RFID card reader and the RFID electronic tag are used to measure the pre-acquired position information of the vehicle, that is, the distance between the vehicle and the reference point when the vehicle approaches the reference point, then the positioning deviation of the vehicle at each reference point is calculated according to the real-time position information of the vehicle and the pre-acquired position information of the vehicle, and then whether to correct the positioning of the vehicle is judged according to whether the positioning deviation meets the set standard value.

[0058] As a further description of the technical scheme of the application, the process of acquiring the real-time position information of the vehicle in step S3 includes:

[0059] A space rectangular coordinate system is constructed with the starting point of the vehicle as the origin, when the vehicle drives into the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor as (a1, b1, c1);

[0060] When the vehicle drives into the vicinity of the second driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor as (a2, b2, c2);

[0061] By analogy, when the vehicle drives into the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor as (ai, bi, ci), wherein i belongs to n; i i i

[0062] When the vehicle drives into the vicinity of the n-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor as (an, bn, cn). n n n

[0063] A space rectangular coordinate system is constructed with the starting point of the vehicle as the origin, and the coordinate data of the n vehicle driving reference points are obtained in sequence as (x1, y1, z1), (x2, y2, z2), …, (xi, yi, zi), …, (xn, yn, zn); i i i n n n

[0064] According to the real-time coordinate data of the vehicle and the coordinate data of the n vehicle driving reference points, the real-time position distance of the vehicle when entering the vicinity of the n reference points from the reference points is calculated in sequence:

[0065] ​​​​​​​​​​​​

[0066] Through the above calculation scheme, the embodiment provides a method for collecting real-time position information of a vehicle, a space rectangular coordinate system is constructed with a starting point of the vehicle as an origin, coordinate data of n vehicle driving reference points are respectively acquired, and are sequentially (x1, y1, z1), (x2, y2, z2), …, (x i , y i , z i ), …, (x n , y n , z n ).

[0067] As a further description of the technical scheme of the embodiment, the process of collecting the pre-collection position information of the vehicle in the step S3 comprises:

[0068] When the vehicle drives into the vicinity of the first driving reference point, the real-time coordinate of the vehicle is acquired through the positioning sensor, and the pre-collection position distance d 1 between the vehicle and the reference point is collected through the RFID card reader.

[0069] When the vehicle drives into the vicinity of the second driving reference point, the real-time coordinate of the vehicle is acquired through the positioning sensor, and the pre-collection position distance d 2 between the vehicle and the reference point is collected through the RFID card reader.

[0070] In succession, when the vehicle drives into the vicinity of the i-th driving reference point, the real-time coordinate of the vehicle is acquired through the positioning sensor, and the pre-collection position distance d ； between the vehicle and the reference point is collected through the RFID card reader.

[0071] When the vehicle drives into the vicinity of the n-th driving reference point, the real-time coordinate of the vehicle is acquired through the positioning sensor, and the pre-collection position distance d n between the vehicle and the reference point is collected through the RFID card reader.

[0072] According to the technical scheme, the method for collecting the pre-collection position information of the vehicle is provided, the distance between the vehicle and the vehicle driving reference point is measured according to the signal strength between the RFID card reader and the RFID electronic tag, and the relationship between the distance between the vehicle and the vehicle driving reference point and the signal strength satisfies that the signal strength attenuates with the increase of the distance, so that the measurement can be realized only when the vehicle drives into a certain range of the vehicle driving reference point.

[0073] As a further description of the technical scheme, the method for collecting the pre-collection position distance between the vehicle and the reference point by the RFID card reader is according to the received signal strength to measure the distance between the RFID electronic tag and the RFID card reader.

[0074] As a further description of the technical scheme, the specific process of the step S5 includes:

[0075] When the vehicle drives into the vicinity of the first driving reference point, the positioning deviation value S1 = |d1-d0| is calculated. 1 |;

[0076] When the vehicle drives into the vicinity of the first driving reference point, the positioning deviation value S2 = |d2-d0| is calculated. 2 |;

[0077] By analogy, when the vehicle drives into the vicinity of the i-th driving reference point, the positioning deviation value Si = |di-d0| is calculated. i i i |;

[0078] When the vehicle drives into the vicinity of the n-th driving reference point, the positioning deviation value Sn = |dn-d0| is calculated. n n n |;

[0079] The respective positioning deviation values are compared with the corresponding threshold values respectively, if there is a positioning deviation item greater than the threshold value, it is judged that the vehicle positioning is abnormal, the vehicle positioning needs to be corrected, and a pre-warning is issued.

[0080] Otherwise, if there is no positioning deviation item greater than the threshold value, the positioning deviation is further judged according to the overall deviation condition.

[0081] As a further description of the technical scheme, the specific process of the further judgment of the positioning deviation according to the overall deviation condition includes:

[0082] A deviation coefficient calculation model is constructed, and the expression is:

[0083]

[0084] In the formula, σ is the deviation coefficient, i belongs to n, and S is the positioning deviation value.​​​​i0 preset a threshold value for the positioning deviation value of the i-th driving reference point, S th is a difference standard value, k i is a corresponding reference point weight, and the weight is greater when the reference point is farther away from the driving point;

[0085] The deviation coefficient σ is compared with a set deviation coefficient threshold σ0, and if the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is determined that the vehicle positioning is abnormal, the vehicle needs to be positioned and corrected, and a warning is issued.

[0086] Otherwise, it is determined that the vehicle positioning is normal, and the vehicle does not need to be positioned and corrected.

[0087] Through the above technical solution, the embodiment provides a method for determining whether the vehicle positioning is abnormal. First, the positioning deviation when the vehicle approaches each reference point is obtained, and then the positioning deviation when the vehicle approaches each reference point is compared with a set standard threshold value. If there is a positioning deviation item greater than the threshold value, it is determined that the vehicle positioning is abnormal, the vehicle needs to be positioned and corrected, and a warning is issued. If there is no positioning deviation item greater than the threshold value, a deviation coefficient calculation model is constructed, and the deviation coefficient is calculated by the formula S i0 preset a threshold value for the positioning deviation value of the i-th driving reference point, S th is a difference standard value, k i is a corresponding reference point weight, and the weight is greater when the reference point is farther away from the driving point. Then, the deviation coefficient σ is compared with a set deviation coefficient threshold σ0. If the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is determined that the vehicle positioning is abnormal, the vehicle needs to be positioned and corrected, and a warning is issued. Otherwise, it is determined that the vehicle positioning is normal, and the vehicle does not need to be positioned and corrected.

[0088] As a further description of the technical scheme of the present application, the method for correcting the position information of the vehicle in step S5 includes map matching correction and manual correction.

[0089] The map matching correction identifies and corrects the positioning deviation by matching the real-time position information of the vehicle with a high-precision map.

[0090] The manual correction corrects the positioning deviation by manually inputting the accurate position information of the vehicle.

[0091] By the technical solution, the position information of the vehicle is corrected, when there is a positioning deviation greater than the threshold, it is judged that the vehicle positioning is abnormal, that is, the vehicle has positioning deviation near the reference point, the position information of the vehicle is corrected by manual correction, when the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is judged that the vehicle positioning is abnormal, that is, the overall positioning has deviation, the position information of the vehicle is corrected by map matching correction.

[0092] A vehicle positioning correction system, the system comprises: a data acquisition module, a deviation calculation module, a data analysis module and a reminding module;

[0093] The data acquisition module is used for acquiring real-time position information of the vehicle and pre-acquired position information of the reference point;

[0094] The deviation calculation module is used for calculating the vehicle positioning deviation according to the real-time position information and the pre-acquired position information;

[0095] The data analysis module is used for judging whether the vehicle positioning is abnormal according to the vehicle positioning deviation;

[0096] The reminding module is used for issuing a pre-warning in real time according to the analysis result of the data analysis module, reminding the staff to correct the positioning deviation.

[0097] The above describes one embodiment of the present application in detail, but the content is only the preferred embodiment of the present application, and cannot be considered as limiting the scope of the present application. Any equivalent changes and improvements made according to the scope of the present application should still belong to the patent coverage range of the present application.

Claims

1. A vehicle positioning correction method, characterized in that, The method includes the following steps: Step S1: Set up n vehicle driving reference points in the park and install RFID electronic tags at each vehicle driving reference point; Step S2: Install positioning sensors and RFID readers on each vehicle; Step S3: When the vehicle approaches the driving reference point, the real-time location information of the vehicle is collected by the positioning sensor, and the pre-collected location information of the vehicle is collected by the RFID reader. Step S4: Calculate the vehicle positioning deviation value based on the vehicle's real-time location information and pre-collected location information; Step S5: Determine whether the vehicle positioning has deviated based on the vehicle positioning deviation value. If a deviation has occurred, correct the vehicle's position information. The specific process of step S5 includes: When the vehicle approaches the first driving reference point, the positioning deviation value is calculated. ; When the vehicle approaches the first driving reference point, the positioning deviation value is calculated. ; Similarly, when the vehicle enters the vicinity of the i-th driving reference point, the positioning deviation value is calculated. ; When the vehicle approaches the nth driving reference point, calculate the positioning deviation value. ; Each positioning deviation value is compared with its corresponding threshold. If there is a positioning deviation value that is greater than the threshold, the vehicle positioning is determined to be abnormal, the vehicle positioning needs to be corrected, and an early warning is issued. Otherwise, if there are no positioning deviations greater than the threshold, the positioning deviations will be further judged based on the overall deviation situation. The specific process for further judging the positioning deviation based on the overall deviation situation includes: Construct a model for calculating the deviation coefficient, with the following expression: ； In the formula, Let i be the deviation coefficient, and i belong to n. A preset threshold is set for the positioning deviation value of the i-th driving reference point. This is the standard value for the difference. The corresponding reference point weights are determined by the distance between the reference point and the driving point, with the weight increasing as the reference point is farther away from the driving point. deviation coefficient Deviation coefficient threshold Comparison, if the deviation coefficient Greater than or equal to the set deviation coefficient threshold If the vehicle's location is abnormal, the vehicle's location needs to be corrected, and an early warning will be issued. Otherwise, if the vehicle's positioning is deemed normal, no positioning correction is required.

2. The vehicle positioning correction method according to claim 1, characterized in that, The process of collecting real-time vehicle location information in step S3 includes: A spatial rectangular coordinate system is constructed with the vehicle's starting point as the origin. When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained through positioning sensors. ; When the vehicle approaches the second driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor. ; Similarly, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor. Where i belongs to n; When the vehicle approaches the nth driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor. ; Construct a spatial rectangular coordinate system with the vehicle's starting point as the origin, and obtain the coordinate data of n vehicle driving reference points, in the following order: , … … ; Based on the vehicle's real-time coordinate data and the coordinate data of n vehicle driving reference points, calculate the real-time distance between the vehicle and each of the n reference points when the vehicle enters the vicinity of the reference points: 。 3. The vehicle positioning correction method according to claim 1, characterized in that, The process of collecting the pre-collected location information of the vehicle in step S3 includes: When the vehicle approaches the first driving reference point, the positioning sensor acquires the vehicle's real-time coordinates, while the RFID reader collects the pre-collected distance between the vehicle and the reference point. ; When the vehicle approaches the second driving reference point, the positioning sensor acquires the vehicle's real-time coordinates, while the RFID reader collects the pre-collected distance between the vehicle and the reference point. ; Similarly, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected distance between the vehicle and the reference point is collected through the RFID reader. ; When the vehicle approaches the nth driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected distance between the vehicle and the reference point is collected through the RFID reader. .

4. The vehicle positioning correction method according to claim 3, characterized in that, The method of collecting the pre-collected location distance between a vehicle and a reference point using an RFID reader is to measure the distance between the RFID tag and the RFID reader based on the received signal strength.

5. The vehicle positioning correction method according to claim 1, characterized in that, The methods for correcting the vehicle's location information in step S5 include: map matching correction and manual correction; The map matching correction identifies and corrects positioning deviations by matching the vehicle's real-time location information with a high-precision map. The manual calibration corrects the positioning deviation by manually inputting the vehicle's accurate location information.

6. A vehicle positioning correction system applying the vehicle positioning correction method according to any one of claims 1-5, characterized in that, The system includes: a data acquisition module, a deviation calculation module, a data analysis module, and an alert module; The data acquisition module is used to collect the real-time location information of the vehicle and the pre-collected location information of the reference point; The deviation calculation module is used to calculate the vehicle positioning deviation based on real-time location information and pre-collected location information; The data analysis module is used to determine whether the vehicle positioning is abnormal based on the vehicle positioning deviation. The alert module is used to issue real-time warnings based on the analysis results of the data analysis module, reminding staff to correct positioning deviations.

Images