Test method for testing and evaluating vehicle positioning precision

Abstract

The invention discloses a test method for testing and evaluating vehicle positioning precision. The test method comprises the following steps: step 1, establishing a small-range high-precision map of a test position; step 2, collecting the distance between the actual vehicle and the reference line in real time in the established test position; 3, evaluating the real-time position of the vehicle and the estimated position of the vehicle in real time; and 4, calculating the precision from the vehicle re-regression point to the vehicle pre-estimated position and in the longitude and latitude directions, and obtaining a navigation deviation error performance measurement result. The method has the advantages that the positioning precision is high, the vehicle positioning precision can be efficiently evaluated, the evaluation and positioning method is simple, the reliability of system operation is improved, and the overall evaluation and positioning method is simple, so that the dependence of the method on hardware is greatly reduced, and the hardware configuration cost of the system is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving assistance technology, and in particular to a test method for testing and evaluating vehicle positioning accuracy. Background Art

[0002] The high-end functions of the car's intelligent driving assistance module (high-speed navigation, city navigation, etc.) basically require various forms of high-precision map information. The smart cockpit module also puts forward increasingly higher requirements for navigation and positioning accuracy. The current methods for establishing high-precision maps mainly include two technical routes: map collection and provision by vendors and cloud-based fitting of actual scene collection from multiple vehicles. These two technical routes are relatively mature and have more and wider applications.

[0003] However, during the development process, the OEMs often need to locate and analyze the vehicles that deviate from the original planned route and then re-position themselves due to the influence of positioning sensor accuracy, installation location, and surrounding anti-interference ability. The equipment that can quickly test and evaluate the relevant data methods is very professional and expensive. There are also test methods for precise positioning of GPS navigation systems or Beidou navigation systems. For example, the public document with publication number CN115014392A, publication date September 6, 2022, and patent name "GPS Navigation System and Positioning Accuracy Test Method", discloses the GPS navigation system. The system and its positioning accuracy testing method include the following steps: driving a vehicle equipped with a GPS navigation system on an open road; the main controller receives and analyzes the operation instructions sent by the touch display screen in real time, and when the instruction to enter the navigation test mode is obtained through the analysis, the program-controlled power supply is repeatedly controlled to be turned on / off, and the power supply / power-off of the GPS antenna is interactively realized; the GPS antenna receives satellite signals and amplifies the satellite signals and sends them to the GPS module when it is powered by the program-controlled power supply; the GPS module calculates and obtains the real-time positioning data of the system according to the received satellite signals or the sensor data of the built-in gyroscope; the main controller receives the real-time positioning data of the GPS module, and then calculates and obtains the positioning accuracy of the system.

[0004] However, similar methods are all aimed at further optimizing the positioning of vehicle navigation and are unable to determine the accuracy of positioning or corrected positioning. Therefore, there is a lack of a relatively simple device and method to find the deviation value within a relatively small range and then evaluate the actual positioning accuracy of the vehicle. Summary of the invention

[0005] The technical problem to be solved by the present invention is to realize a test method for testing and evaluating the positioning accuracy of a vehicle, which can find the deviation value within a relatively small range and then evaluate the actual positioning accuracy of the vehicle.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a test method for testing and evaluating the positioning accuracy of a vehicle, comprising the following steps:

[0007] The first step is to create a small-scale high-precision map of the test location;

[0008] Step 2: In the established test location, collect the distance between the actual vehicle and the baseline in real time;

[0009] Step 3: Real-time evaluation of the vehicle’s real-time position and the vehicle’s estimated position;

[0010] The fourth step is to calculate the accuracy of the vehicle's re-regression point to the vehicle's estimated position and in the longitude and latitude directions to obtain the navigation deviation error performance measurement results.

[0011] The first step comprises:

[0012] Step 1.1, equip with positioning and collection device;

[0013] Step 1.2, the positioning acquisition device is connected to the Kvaser communication device;

[0014] Step 1.3, the positioning acquisition device configures the ASVea acquisition main software;

[0015] Step 1.4, the positioning acquisition device calibrates the inertial navigation equipment;

[0016] Step 1.5, obtaining the baseline according to the lane lines to be collected;

[0017] Step 1.6, define the categories of the baselines collected;

[0018] Step 1.7, generate a high-precision map file using the collected data.

[0019] In the step 1.1, the positioning and collecting device is installed on a push cart, and the push cart is provided with a battery for powering the positioning and collecting device, and an antenna fixed on the roof of the cart and connected to the communication port of the positioning and collecting device.

[0020] The positioning acquisition device comprises:

[0021] GPS data collection device used to collect longitude and latitude data of the location in real time

[0022] DTU differential positioning device used to achieve centimeter-level improvement in positioning accuracy

[0023] INS vehicle navigation and positioning system for combined positioning information processing and output of precise position information

[0024] And connect the GPS acquisition device, DTU differential positioning device and the host computer of the I NS vehicle navigation and positioning system through the host device.

[0025] The second step is to locate the real-time position of the vehicle in the area of ​​the high-precision map file established in the first step, and to collect the distance between the actual vehicle and the baseline in real time, including the vector distance and the distance in the longitude and latitude directions, so as to accurately locate the vehicle.

[0026] The second step includes:

[0027] Step 2.1, installing a positioning acquisition device on the car;

[0028] Step 2.2, calibrate the vehicle's inertial navigation information;

[0029] Step 2.3, the car uses the high-precision map file generated in the first step;

[0030] Step 2.4, call out the distance information between the car origin and the HD map baseline;

[0031] Step 2.5, use the bird's-eye view function to call out the position of the car and the baseline on the high-precision map in the bird's-eye view, and observe whether the monitored position information is output normally;

[0032] Step 2.6, positioning the vehicle at different distances near the baseline for multiple times and calibrating the position accuracy;

[0033] Step 2.7, conduct deviation performance tests at different distances near the baseline to obtain the vehicle's real-time position value.

[0034] The third step is to locate the starting point P1 where the vehicle begins to deviate from the navigation, the navigation positioning to the re-return point P2 of the deviation, and the estimated position point P3 of the vehicle along the original navigation in the established high-precision map environment.

[0035] The third step comprises:

[0036] Step 3.1, set the navigation, the route direction is from P1 to P3, and set point P2 on one side of the route;

[0037] Step 3.2, turn on the host computer and call up the monitoring signal;

[0038] Step 3. The vehicle is driving steadily, from P1 to P3, and the deviation value of the vehicle from the HD map baseline is observed. When the vehicle turns to P2, the deviation value suddenly increases. The point is recorded as the precise position of P1, which is the starting point of deviation.

[0039] Step 3.4, drive from P1 to P2, observe the navigation interface, wait for the navigation to detect that the vehicle has deviated, and when relocating the navigation route, record the point as P2, which is the re-return positioning point;

[0040] Step 3.5, with the help of the host computer, measure the travel distance S from P1 to P2;

[0041] Step 3.6, use the latitude and longitude information of point P1 at the time of marking, drive the vehicle back to point P1, and make sure that the vehicle posture and heading angle are consistent;

[0042] Step 3.7, use a tape measure to measure the distance S along the HD map baseline, which is recorded as point P3;

[0043] The fourth step is to calculate the accuracy of the vehicle's re-return point to the estimated point along the original navigation and the longitude and latitude directions.

[0044] The advantages of the present invention are high positioning accuracy, the ability to efficiently evaluate vehicle positioning accuracy, and the simplicity of the evaluation and positioning methods, which improves the reliability of system operation. Because the overall evaluation and positioning methods are simple, the method's dependence on hardware is greatly reduced, which helps to reduce the system hardware equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The following is a brief description of the contents expressed in each figure in the specification of the present invention:

[0046] Figure 1 Schematic diagram of navigation deviation error performance measurement under intersection conditions. DETAILED DESCRIPTION

[0047] The following is a further detailed description of the specific implementation methods of the present invention, such as the shape, structure, relative position and connection relationship between the various components involved, the function and working principle of each part, the manufacturing process and operation method, etc., through the description of the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0048] The test method for testing and evaluating vehicle positioning accuracy includes the following four steps:

[0049] The first step is to create a small-scale high-precision map of the test location;

[0050] Step 2: In the established test location, collect the distance between the actual vehicle and the baseline in real time;

[0051] Step 3: Real-time evaluation of the vehicle’s real-time position and the vehicle’s estimated position;

[0052] The fourth step is to calculate the accuracy of the vehicle's re-regression point to the vehicle's estimated position and in the longitude and latitude directions to obtain the navigation deviation error performance measurement results.

[0053] The following is a detailed description of each step:

[0054] The first step is to quickly establish a small-scale high-precision map of the location to be tested. High-precision maps are currently mainly collected and drawn by professional map vendors, and many small intersections do not have them. It is very meaningful for us to be able to use existing mature equipment to quickly establish a high-precision map in a small area. Using a combined inertial navigation solution based on GPS and Qianxun services, we can collect short-distance lane lines and collect lane line positions in real time for real-time monitoring of vehicle distance.

[0055] A positioning and collection device is needed. The positioning and collection device is mainly composed of a collection cart, which is a conventional cart. The main components include a car body, which is used to fix the collection and measurement equipment and place the industrial computer; four collection rolling wheels are used to select multiple precise target measurement lines and support the movement of the measurement cart; a GPS antenna bracket is used to raise the antenna, and placing it too low will affect the antenna.

[0056] The positioning and collection devices include: GPS collection equipment, which is mainly used to collect the latitude and longitude data of the location in real time, but the single GPS mode can only achieve sub-meter positioning; DTU differential positioning equipment (Qianxun service solution), which is mainly based on GPS equipment and achieves centimeter-level improvement in positioning accuracy through the time difference between signal transmission and reception between the surrounding Qianxun service base stations. The main combination is that GPS provides large-scale positioning, and Qianxun provides small-scale precision correction; I NS high-precision vehicle navigation and positioning system, which realizes the information processing of the above-mentioned combined positioning and outputs accurate location information. In addition, the built-in gyroscope is used to realize the position shift information in the location where the positioning information is not good; processing and storage workstation, using the positioning system host computer, realizes the data processing and storage of the collected high-precision map, which is convenient for subsequent measurement and call.

[0057] The host is connected and communicated with the host computer, GPS acquisition equipment, DTU differential positioning equipment and I NS high-precision vehicle-mounted navigation and positioning system, and controls the coordination between these devices. The trolley includes a base plate and wheels fixed on the base plate. The entire positioning acquisition device is pushed by the trolley to achieve accurate positioning within the area and build a small-scale high-precision map.

[0058] The specific steps include:

[0059] Step 1.1, assemble the equipment according to the collection vehicle composition and system and collection system wiring diagram;

[0060] Step 1.2, connect to Kvaser communication device;

[0061] Step 1.3, configure the ASVea acquisition main software;

[0062] Step 1.4, calibrate the inertial navigation equipment;

[0063] Step 1.5, push the high-precision map information on the lane line (baseline) to be collected;

[0064] Step 1.6, configure the lane collection mode, that is, define the collected baseline category, such as line type, line width, distance to adjacent lane lines, etc.

[0065] Step 1.7, generate a high-precision map file in the software.

[0066] At this point, high-precision map information has been collected.

[0067] The second step is to collect the distance between the actual vehicle and the baseline in real time within the established test location;

[0068] In the high-precision map area established in the first step, the high-precision map (baseline) information of the local area has been obtained. It is necessary to collect the distance between the actual vehicle and the baseline in real time, including the vector distance and the distance in the longitude and latitude directions. The collection method is now introduced.

[0069] The real-time location of the vehicle is still based on the GNSS combined positioning method, which uses GPS as the basic positioning and Qianxun service as the correction positioning. Install the positioning acquisition device on the car to be tested (not on the small car).

[0070] The implementation process is as follows:

[0071] Step 2.1, install the positioning acquisition device and related equipment on the vehicle under test;

[0072] The upper computer that records the high-precision map information of the first step is connected to the host. The host is connected to the DTU differential positioning device through the RS232 class and connected to the vehicle through the CAN interface. The host is connected with the main antenna and the slave antenna. The upper computer can collect the laptop computer;

[0073] Step 2.2, based on the equipment test main software host computer, adjust the positioning system data and calibrate the vehicle's inertial navigation information;

[0074] Step 2.3, copy the collected high-precision map data of the location to be measured, import it into the industrial computer, and generate a real-time environment with imported high-precision map;

[0075] Step 2.4, call out the distance information between the vehicle origin (which can be set to the center of the front edge of the vehicle) and the HD map baseline;

[0076] Step 2.5, open the bird's-eye view function of the industrial computer, call out the position of the vehicle and the high-precision map baseline in the bird's-eye view, and observe whether the monitored position information is output normally;

[0077] Step 2.6, drive the vehicle to a fixed point near the baseline, for example, at a distance of 0.5m, 1.0m, 2.0m, 5m, or 10m from the baseline, and calibrate the position accuracy. The above-set fixed point positions can be designed according to needs or test requirements;

[0078] Step 2.7, for all the above-mentioned fixed positions, carry out relevant pilot and navigation deviation performance tests in turn to obtain the real-time position value of the vehicle for each position.

[0079] Step 3: Real-time evaluation of the vehicle’s real-time position and the vehicle’s estimated position;

[0080] Taking the navigation deviation error performance at the intersection as an example, three points are pre-selected and designed, namely P1, P2 and P3. P2 is on one side between P1 and P3, generally in the middle between P1 and P3, such as Figure 1 As shown;

[0081] Step 3.1, set the navigation, the route direction is from P1 to P3;

[0082] Step 3.2, turn on the host computer and call up the monitoring signal;

[0083] Step 3.3: The vehicle is driving steadily, from P1 to P3, and the deviation value of the vehicle from the HD map baseline is observed. When the vehicle turns to P2, the deviation value suddenly increases. The point is recorded as the precise position of P1, which is the starting point of deviation.

[0084] Step 3.4, drive from P1 to P2, observe the navigation interface, wait for the navigation to detect that the vehicle has deviated, and when relocating the navigation route, record the point as P2, which is the re-return positioning point;

[0085] Step 3.5, with the help of the host computer, measure the travel distance S from P1 to P2;

[0086] Step 3.6, use the latitude and longitude information of point P1 at the time of marking, drive the vehicle back to point P1, and make sure that the vehicle posture and heading angle are consistent;

[0087] Step 3.7, use a tape measure to measure the distance S along the HD map baseline, which is recorded as point P3;

[0088] So far, under this working condition, in the established high-precision map environment, the starting point P1 where the vehicle begins to deviate from the navigation, the re-return point P2 where the navigation is located, and the estimated position point P3 of the vehicle along the original navigation have been located.

[0089] The fourth step is to calculate the accuracy of the vehicle's re-regression point to the vehicle's estimated position and in the longitude and latitude directions to obtain the navigation deviation error performance measurement results.

[0090] Calculate and evaluate the accuracy of the vehicle's re-regression point to the vehicle's estimated point along the original navigation and in the longitude and latitude directions.

[0091] Step 4.1, measure the straight-line distance A from P3 to P2, which is the point-to-point position accuracy;

[0092] Step 4.2: Project the vector directions of P3 and P2 onto the direction of the HD map baseline and the vertical direction to obtain A 经 and A 纬 , is the deviation of accuracy in longitude and latitude;

[0093] Step 4.3, use the vector distance A and A 经 and A 纬 , the positioning accuracy of navigation at this location can be evaluated;

[0094] Step 4.4, passing through the area at different vehicle speeds, obtaining different accuracy deviation values, and observing and analyzing the data distribution;

[0095] Step 4.5, compare the accuracy value measured by the test with the accuracy value of the system design. If a large deviation is found, explore the reasons for the poor positioning accuracy, such as whether the signal is strong enough, whether it is at the junction of two signal cells, whether there is a strong electromagnetic environment, whether the location of the vehicle antenna affects signal reception, etc.

[0096] The above four steps complete the test of vehicle positioning accuracy. The test method for testing and evaluating vehicle positioning accuracy has the following core advantages:

[0097] First, it can quickly create a small-scale high-precision map of the location to be tested;

[0098] Second, it can quickly collect the real-time location of the actual vehicle;

[0099] Third, it can evaluate the real-time position and estimated trajectory position in real time;

[0100] Fourth, it can quickly determine the point-to-point and longitude and latitude accuracy of the vehicle;

[0101] The present invention utilizes the relatively simple device and method to find the deviation value within a relatively small range and thus evaluate the actual positioning accuracy of the vehicle.

[0102] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A test method for testing and evaluating vehicle positioning accuracy, characterized in that: The following steps are involved: The first step is to create a small-scale high-precision map of the test location; Step 2: In the established test location, collect the distance between the actual vehicle and the baseline in real time; Step 3: Real-time evaluation of the vehicle’s real-time position and the vehicle’s estimated position; The fourth step is to calculate the accuracy of the vehicle's re-regression point to the vehicle's estimated position and in the longitude and latitude directions to obtain the navigation deviation error performance measurement results.

2. The test method according to claim 1, characterized in that The first step comprises: Step 1.1, equip with positioning and collection device; Step 1.2, the positioning acquisition device is connected to the Kvaser communication device; Step 1.3, the positioning acquisition device configures the ASVea acquisition main software; Step 1.4, the positioning acquisition device calibrates the inertial navigation equipment; Step 1.5, obtaining the baseline according to the lane lines to be collected; Step 1.6, define the categories of the baselines collected; Step 1.7, generate a high-precision map file using the collected data.

3. The test method according to claim 2, characterized in that: In the step 1.1, the positioning and collecting device is installed on a push cart, and the push cart is provided with a battery for powering the positioning and collecting device, and an antenna fixed on the roof of the cart and connected to the communication port of the positioning and collecting device.

4. The test method according to claim 3, characterized in that The positioning acquisition device comprises: GPS data collection device used to collect longitude and latitude data of the location in real time DTU differential positioning device used to achieve centimeter-level improvement in positioning accuracy INS vehicle-mounted navigation and positioning system for combined positioning information processing and output of precise position information And connect the GPS acquisition equipment, DTU differential positioning equipment and the host computer of the INS vehicle navigation and positioning system through the host device.

5. The test method according to claim 4, characterized in that: The second step is to locate the real-time position of the vehicle in the area of ​​the high-precision map file established in the first step, and to collect the distance between the actual vehicle and the baseline in real time, including the vector distance and the distance in the longitude and latitude directions, so as to accurately locate the vehicle.

6. The test method according to claim 5, characterized in that The second step includes: Step 2.1, installing a positioning acquisition device on the car; Step 2.2, calibrate the vehicle's inertial navigation information; Step 2.3, the car uses the high-precision map file generated in the first step; Step 2.4, call out the distance information between the car origin and the HD map baseline; Step 2.5, use the bird's-eye view function to call out the position of the car and the baseline on the high-precision map in the bird's-eye view, and observe whether the monitored position information is output normally; Step 2.6, positioning the vehicle at different distances near the baseline for multiple times and calibrating the position accuracy; Step 2.7, conduct deviation performance tests at different distances near the baseline to obtain the vehicle's real-time position value.

7. The test method according to any one of claims 1 to 6, characterized in that: The third step is to locate the starting point P1 where the vehicle begins to deviate from the navigation, the navigation positioning to the re-return point P2 of the deviation, and the estimated position point P3 of the vehicle along the original navigation in the established high-precision map environment.

8. The test method according to any one of claim 7, characterized in that: The third step comprises: Step 3.1, set the navigation, the route direction is from P1 to P3, and set point P2 on one side of the route; Step 3.2, turn on the host computer and call up the monitoring signal; Step 3. The vehicle is driving steadily, from P1 to P3, and the deviation value of the vehicle from the HD map baseline is observed. When the vehicle turns to P2, the deviation value suddenly increases. The point is recorded as the precise position of P1, which is the starting point of deviation. Step 3.4, drive from P1 to P2, observe the navigation interface, wait for the navigation to detect that the vehicle has deviated, and when relocating the navigation route, record the point as P2, which is the re-return positioning point; Step 3.5, with the help of the host computer, measure the travel distance S from P1 to P2; Step 3.6, use the latitude and longitude information of point P1 at the time of marking, drive the vehicle back to point P1, and make sure that the vehicle posture and heading angle are consistent; Step 3.7: Use a tape measure to measure the distance S along the HD map baseline, which is point P3.

9. The test method according to any one of claim 8, characterized in that: The fourth step is to calculate the accuracy of the vehicle's re-return point to the estimated point along the original navigation and the longitude and latitude directions.

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