High-precision positioning system and method for intelligent driving

Abstract

The invention provides a high-precision positioning system and method for intelligent driving, and belongs to the field of intelligent driving control, an IMU chip is utilized to send IMU original information to an INS algorithm module, an RTK software module is utilized to acquire a general position from a first GNSS positioning module and upload the general position to a third-party RTK differential service platform, the third-party RTK differential service platform returns RTK differential correction information, and the RTK differential correction information is transmitted to a second GNSS positioning module through the third-party RTK differential service platform. An RTK algorithm module is used for carrying out RTK calculation according to the approximate position and RTK differential correction information to obtain an RTK positioning result, an INS algorithm module is used for carrying out INS calculation according to all the obtained information to obtain an INS navigation positioning result, and the RTK algorithm module and an INS algorithm module are directly embedded into a first GNSS positioning module of the intelligent driving domain controller. Therefore, the realization cost and the arrangement difficulty of the cabin are reduced on the basis of realizing high-precision positioning for intelligent driving.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a high-precision positioning system and method for intelligent driving. Background Art

[0002] With the rapid development and popularization of intelligent driving technology, high-precision positioning technology has become one of the key elements to realize intelligent driving, and the Inertial Navigation System (INS) is one of the widely used high-precision positioning technologies. The INS is a combination of the Global Navigation Satellite System (GNSS) and the Inertial Measurement Unit (IMU).

[0003] The INS algorithm module required by the INS inertial navigation and positioning system needs to interact and calculate with the GNSS module and IMU chip in real time, and finally solve the INS navigation and positioning results. In the existing implementation scheme, the INS algorithm is generally implemented by the Microcontroller Unit (MCU) built into the separate P-Box hardware, and the IMU chip is generally deployed in a separate P-Box hardware or IMU-BOX.

[0004] As independent hardware, P-Box and IMU-Box have structural component costs and increase the difficulty of cabin layout. Summary of the invention

[0005] In view of this, the present application provides a high-precision positioning system for intelligent driving, which reduces the implementation cost and the difficulty of cabin layout. The system includes a telematics control unit T-BOX, a Real Time Kinematic real-time dynamic measurement RTK software module, a first Global Navigation Satellite System GNSS positioning module, an Inertial Measurement Unit IMU chip and a vehicle body controller. The first GNSS positioning module is embedded with an RTK algorithm module and an Inertial Navigation System INS algorithm module. The system is configured as follows:

[0006] The IMU chip is used to send IMU raw information to the INS algorithm module. The IMU raw information includes acceleration and angular velocity.

[0007] The first GNSS positioning module is used to send a second pulse signal to the IMU chip to synchronize the time of the first GNSS positioning module and the IMU chip.

[0008] The RTK software module is used to obtain the approximate position and the vehicle's unique identification VIN code from the first GNSS positioning module, and the approximate position and VIN code are uploaded to the third-party RTK differential service platform through the network communication module of the telematics control unit T-Box, so that the third-party RTK differential service platform returns the RTK differential correction information after successful authentication based on the VIN code.

[0009] The RTK differential correction information is forwarded to the RTK algorithm module using the telematics control unit T-Box and the RTK software module.

[0010] The RTK algorithm module is used to perform RTK solution based on the approximate position and RTK differential correction information to obtain the RTK positioning result.

[0011] The vehicle body controller is used to send body information to the first GNSS positioning module. The body information includes four-wheel speed, direction, steering wheel angle and gear position.

[0012] The INS algorithm module is used to perform INS solution based on the RTK positioning results, IMU original information, and vehicle body information to obtain the INS navigation positioning results.

[0013] The first GNSS positioning module is set in the intelligent driving domain controller.

[0014] Optionally, the telematics control unit T-BOX is set in the cockpit domain controller, and the RTK software module is also set in the intelligent driving domain controller.

[0015] Optionally, an IMU chip is also provided in the intelligent driving domain controller.

[0016] Optionally, the IMU chip is placed in an IMU cavity, the IMU cavity is configured to be connected to the housing of the intelligent driving domain controller using a floating connector, and the IMU chip is electrically connected to the intelligent driving domain controller.

[0017] Optionally, the intelligent driving domain controller also includes a fusion positioning module, a visual sensor and a high-precision map module, and the system is also configured as follows:

[0018] The fusion positioning module is used to receive the INS navigation and positioning results.

[0019] The fusion positioning module is used to receive auxiliary data sent by the visual sensor and high-precision map module.

[0020] The fusion positioning module is used to perform local path planning based on the INS navigation positioning results and auxiliary data to guide the vehicle to perform intelligent driving.

[0021] Optionally, the high-precision positioning system for intelligent driving also includes a GNSS antenna, the telematics control unit T-BOX also includes a second GNSS positioning module, the first GNSS positioning module and the second GNSS positioning module share a GNSS antenna, the telematics control unit T-BOX is not provided with a GNSS antenna, and the positioning accuracy of the first GNSS positioning module is higher than that of the second GNSS positioning module.

[0022] Optionally, the generation frequency of the approximate position is 1 Hz, the generation frequency of the RTK positioning result is 10 Hz, and the generation frequency of the INS navigation positioning result is 100 Hz.

[0023] On the other hand, the present application also provides a high-precision positioning method for intelligent driving, the method comprising:

[0024] The Inertial Measurement Unit (IMU) chip is used to send IMU raw information to the Inertial Navigation System (INS) algorithm module. The IMU raw information includes acceleration and angular velocity.

[0025] The first Global Navigation Satellite System navigation satellite system GNSS positioning module is used to send a second pulse signal to the IMU chip to synchronize the time of the first GNSS positioning module and the IMU chip.

[0026] The Real Time Kinematic real-time dynamic measurement RTK software module is used to obtain the approximate position and the vehicle's unique identification VIN code from the first GNSS positioning module, and the approximate position and VIN code are uploaded to the third-party RTK differential service platform through the network communication module of the telematics control unit T-Box. The third-party RTK differential service platform returns the RTK differential correction information after successful authentication based on the VIN code.

[0027] The RTK differential correction information is forwarded to the RTK algorithm module using the telematics control unit T-Box and the RTK software module.

[0028] The RTK algorithm module is used to perform RTK solution based on the approximate position and RTK differential correction information to obtain the RTK positioning result.

[0029] The vehicle body controller is used to send body information to the first GNSS positioning module. The body information includes four-wheel speed, direction, steering wheel angle and gear position.

[0030] The INS algorithm module is used to perform INS solution based on the RTK positioning results, IMU original information, and vehicle body information to obtain the INS navigation positioning results.

[0031] The first GNSS positioning module is set in the intelligent driving domain controller.

[0032] Optionally, the telematics control unit T-BOX is set in the cockpit domain controller, and the RTK software module is also set in the intelligent driving domain controller.

[0033] Optionally, an IMU chip is also provided in the intelligent driving domain controller.

[0034] The high-precision positioning system for intelligent driving provided by the present application is adopted, the IMU chip is used to send the IMU original information to the INS algorithm module, the RTK software module is used to obtain the approximate position from the first GNSS positioning module and upload it to the third-party RTK differential service platform, so that the third-party RTK differential service platform returns the RTK differential correction information, the RTK algorithm module is used to perform RTK solution according to the approximate position and the RTK differential correction information to obtain the RTK positioning result, the INS algorithm module is used to perform INS solution according to all the obtained information to obtain the INS navigation positioning result, and the RTK algorithm module and the inertial navigation system INS algorithm module are directly embedded in the first GNSS positioning module of the intelligent driving domain controller, thereby reducing the implementation cost and the difficulty of cabin layout on the basis of achieving high-precision positioning for intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 An architectural diagram of a high-precision positioning system for intelligent driving provided in an embodiment of the present application;

[0037] Figure 2 A partial architecture diagram of a high-precision positioning system for intelligent driving provided in an embodiment of the present application;

[0038] Figure 3 A flowchart of a high-precision positioning method for intelligent driving provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] The embodiment of the present application provides a high-precision positioning system for intelligent driving, which reduces the implementation cost and the difficulty of cabin layout. Figure 1 As shown, the system includes a telematics control unit T-BOX 101, a Real Time Kinematic real-time dynamic measurement RTK software module 102, a first Global Navigation Satellite System GNSS positioning module 103, an Inertial Measurement Unit IMU chip 104 and a vehicle body controller 105. The first GNSS positioning module 103 is embedded with an RTK algorithm module 106 and an Inertial Navigation System INS algorithm module 107. The system is configured as follows:

[0041] The IMU chip 104 is used to send IMU original information to the INS algorithm module 107. The IMU original information includes acceleration and angular velocity.

[0042] The first GNSS positioning module 103 is used to send a pulse per second signal to the IMU chip 104 to synchronize the time of the first GNSS positioning module 103 and the IMU chip 104 .

[0043] The RTK software module 102 is used to obtain the approximate position and the vehicle unique identification VIN code from the first GNSS positioning module 103, and the approximate position and VIN code are uploaded to the third-party RTK differential service platform 2 through the network communication module of the telematics control unit T-Box 101, so that the third-party RTK differential service platform 2 returns the RTK differential correction information after successful authentication according to the VIN code.

[0044] The RTK differential correction information is forwarded to the RTK algorithm module 106 using the telematics control unit T-Box 101 and the RTK software module 102 .

[0045] The RTK algorithm module 106 performs RTK calculation based on the approximate position and the RTK differential correction information to obtain the RTK positioning result.

[0046] The vehicle body controller 105 is used to send body information to the first GNSS positioning module 103 , and the body information includes four-wheel speed, direction, steering wheel angle and gear position.

[0047] The INS algorithm module 107 is used to perform INS calculation according to the RTK positioning result, the IMU original information, and the vehicle body information to obtain the INS navigation positioning result.

[0048] The first GNSS positioning module is set in the intelligent driving domain controller.

[0049] It is understandable that in the prior art, the RTK and INS algorithm modules are set in independent hardware P-BOXs. This setting has the following disadvantages:

[0050] 1. The addition of independent hardware is not conducive to simplifying the overall vehicle architecture.

[0051] 2. As an independent hardware, P-Box has structural parts costs, MCU chips, CAN chips, or Ethernet chips and other component costs, resulting in the P-Box cost accounting for too high a proportion of the entire intelligent driving solution.

[0052] 3. Considering geographic information security, the high-precision absolute position information of smart cars can only be used in the intelligent driving domain. Once leaked, there is a risk. As an independent hardware, the P-Box must transmit high-frequency positioning result information to the intelligent driving domain controller in real time through the CAN FD bus or Ethernet bus, which increases information security risks.

[0053] 4. As an independent hardware, the P-Box has high installation requirements. It needs a certain installation space, a rigid connection to the vehicle body, needs to be close to the center axis of the vehicle, needs to be away from vibration sources, and needs to be close to the intelligent driving domain controller.

[0054] In the embodiment of the present application, the first GNSS positioning module is directly set in the intelligent driving domain controller, and the RTK algorithm module 106 and the INS algorithm module 107 are embedded in the first GNSS positioning module 103. The first GNSS positioning module is equipped with an MCU chip, which can run the RTK algorithm and the INS algorithm. The interactive link of the positioning solution information data is shortened and concentrated inside the first GNSS positioning module. The first GNSS positioning module can quickly complete the troubleshooting and closed loop of related problems, and the high-precision RTK positioning results and INS navigation positioning results, that is, the high-precision absolute position information of the vehicle, will only be used for fusion positioning and local path planning, ensuring information security.

[0055] In some optional embodiments, the telematics control unit T-BOX 101 is set in the cockpit domain controller 3, and the RTK software module 102 is also set in the intelligent driving domain controller 4.

[0056] In the existing technology, the RTK software module is integrated into the T-Box, which requires the T-Box supplier to carry out integrated development, resulting in additional development costs. At the same time, the joint debugging and resolution of the problem depend on the technical support of the T-Box supplier. Zhijiayu itself cannot complete the problem closed loop. In addition, the T-Box itself has many network sleep, wake-up, and reconnection mechanisms, which will cause the RTK differential data to be interrupted or lost, and then lead to the instability of the high-precision positioning results.

[0057] In the embodiment of the present application, the RTK software module 102 is also set in the intelligent driving domain controller 4. Since the intelligent driving domain controller 4 has built-in integrated RTK software, it no longer relies on the T-Box of the cockpit domain controller 3, saving the development cost of the T-Box end. At the same time, the RTK differential data interaction link is shortened and concentrated inside the intelligent driving domain controller 4. The intelligent driving domain controller 4 can quickly complete the troubleshooting and closed-loop of related problems by itself, and also greatly improves the stability of the high-precision positioning results.

[0058] In some optional embodiments, the IMU chip 104 is also provided in the intelligent driving domain controller 4 .

[0059] In some optional embodiments, such as Figure 2 As shown, the IMU chip is placed in the IMU cavity 5, and the IMU cavity 5 is configured to be connected to the housing of the intelligent driving domain controller using a floating connector 6. It can be understood that the figure shows the IMU cavity 5 upside down.

[0060] Moreover, the IMU chip is electrically connected to the intelligent driving domain controller.

[0061] In the prior art, there are two solutions for the arrangement of IMU chips:

[0062] Solution 1: Directly solder the IMU chip to the intelligent driving domain controller PCB circuit board.

[0063] Solution 2: Place the IMU chip in an independent IMU-Box hardware product.

[0064] For solution 1, its disadvantages are as follows:

[0065] 1. The intelligent driving domain controller contains a high-computing power computing chip. The temperature during operation is usually high and changes dramatically. At this time, the IMU zero bias will drift with the temperature change. Even if the calibration parameters at the time of offline operation are used to compensate for the temperature drift and zero bias noise, the correlation between the calibration parameters at the time of offline operation and the noise will gradually deform due to aging during the application process, resulting in a gradual decrease in the IMU inertial navigation positioning accuracy.

[0066] 2. The intelligent driving domain controller contains many components. Due to the limitations of heat dissipation and structural design, the PCB circuit board area is usually large. No matter where the IMU chip is soldered, the complex and changeable application environment of the car will cause stress on the IMU chip and reduce the IMU inertial navigation positioning accuracy.

[0067] 3. The IMU chip is a fragile component. Working for a long time in such a complex environment inside the intelligent driving domain controller, there is great uncertainty about its performance and lifespan. When the performance of the IMU chip does not meet the usage requirements, the device must be disassembled for repair and replacement, and the after-sales efficiency is low.

[0068] For solution 2, its disadvantages are as follows:

[0069] 1. The IMU chip is a high-frequency component. The frequency of transmitting IMU Raw Data information between the IMU chip and the INS navigation algorithm needs to be at least 100Hz. At the same time, the IMU chip needs the PPS pulse per second signal provided by the GNSS module for time synchronization. Both have high requirements for the stability of the communication transmission link.

[0070] 2. As an independent hardware, the IMU-Box still has high installation and deployment requirements: it requires a certain installation space, needs to be rigidly connected to the vehicle body, needs to be close to the vehicle's center axis, needs to be away from vibration sources, needs to be close to the intelligent driving domain controller, etc.

[0071] 3. As an independent hardware, IMU-Box has the cost of structural parts, MCU chips and connecting devices used for calibration and compensation, and the hardware cost is still relatively high.

[0072] In the embodiment of the present application, the IMU chip 104 is also provided in the intelligent driving domain controller 4, and the IMU chip 104 is placed in the IMU cavity 5, the IMU cavity 5 is configured to be connected to the shell of the intelligent driving domain controller 4 using a floating connector 6, and the IMU chip 104 is electrically connected to the intelligent driving domain controller 4.

[0073] Since the intelligent driving domain controller 4 has a built-in high-precision IMU chip, through innovative structural design, it not only ensures the positioning performance of the IMU chip, but also saves the hardware cost of the IMU-Box, which greatly reduces the cost of the entire combined navigation and positioning system overall. It also does not need to occupy too much physical installation space, which makes the layout of the intelligent driving domain controller 4 more selective.

[0074] Moreover, the first GNSS positioning module and IMU chip are all integrated inside the intelligent driving domain controller 4, and the information transmission between them is mainly through the Uart bus, which avoids external communication links, improves transmission stability, and thus improves positioning success rate and reliability.

[0075] An independent IMU cavity 5 is designed for the IMU chip 104, which is isolated from the shell of the intelligent driving domain controller 4 to prevent the IMU chip 104 from being affected by the temperature of the main cavity of the intelligent driving domain controller 4.

[0076] The IMU chip 104 and the intelligent driving domain controller 4 are connected via a floating connector to prevent the IMU chip 104 from being affected by the stress of the intelligent driving domain controller 4. Moreover, the connection via a floating connector instead of a soft wire meets the conditions of automated production, avoids manual operation, and improves production efficiency.

[0077] When the positioning performance of the IMU chip 104 cannot meet the requirements, the IMU chip 104 can be conveniently replaced without disassembling the domain controller 4, and the after-sales maintenance efficiency is high.

[0078] In some optional embodiments, the intelligent driving domain controller 4 further includes a fusion positioning module 108, a visual sensor 109 and a high-precision map module 110, and the system is further configured as follows:

[0079] The fusion positioning module 108 is used to receive the INS navigation positioning result.

[0080] The fusion positioning module 108 is used to receive auxiliary data sent by the visual sensor 109 and the high-precision map module 110.

[0081] The fusion positioning module 108 is used to perform local path planning based on the INS navigation positioning results and auxiliary data to guide the vehicle to perform intelligent driving.

[0082] In some optional embodiments, the high-precision positioning system for intelligent driving also includes a GNSS antenna 111, the telematics control unit T-BOX 101 also includes a second GNSS positioning module 112, the first GNSS positioning module 103 and the second GNSS positioning module 112 share a GNSS antenna 111, and no GNSS antenna is provided in the telematics control unit T-BOX 101. The positioning accuracy of the first GNSS positioning module 103 is higher than that of the second GNSS positioning module 112.

[0083] In the existing technology, the entire vehicle is generally equipped with a high-precision antenna and a common antenna. The high-precision antenna is used for high-precision positioning of intelligent driving, and the common antenna is used to provide basic positioning for cockpit-related functions. The two sets of antennas increase additional costs and difficulty in deployment.

[0084] In the embodiment of the present application, only one set of high-precision GNSS positioning antenna 111 is deployed in the whole vehicle, which is divided into two paths through a power divider. It can not only meet the positioning requirements of the high-precision first GNSS positioning module in the intelligent driving domain controller 4, but also meet the positioning requirements of the ordinary-precision second GNSS positioning module of the cockpit domain controller.

[0085] The whole vehicle is still equipped with two sets of GNSS positioning modules. The T-Box is equipped with a second GNSS positioning module with ordinary accuracy, and is matched with a high-precision GNSS positioning antenna 111, which mainly provides basic positioning results for cockpit-related functional requirements, such as SD standard map navigation.

[0086] In some optional embodiments, the generation frequency of the approximate position is 1 Hz, the generation frequency of the RTK positioning result is 10 Hz, and the generation frequency of the INS navigation positioning result is 100 Hz.

[0087] In some optional embodiments, the intelligent driving domain controller 4 meets the following support conditions:

[0088] 1. The intelligent driving domain controller 4 is rigidly connected to the vehicle through screws and brackets, and is away from vibration sources.

[0089] 2. The high-precision IMU chip 104 needs to be calibrated with dynamic internal parameters over the entire temperature range when it is offline. During operation, real-time compensation is performed through algorithms to improve positioning performance.

[0090] 3. The high-precision IMU chip 104 needs to support functional safety and be able to output various fault status information. When any parameter is abnormal, it can issue early warning information in time.

[0091] 4. The coordinate system of the IMU chip 104 is consistent with the coordinate system of the intelligent driving domain controller 4, and can be arbitrarily converted between the coordinate system of the entire vehicle.

[0092] 5. When the intelligent driving domain controller 4 is offline, the IMU chip 104 needs to be calibrated with external parameters to compensate for the tolerance introduced during the installation process.

[0093] 6. The vehicle network specification needs to define the communication segment and port between the intelligent driving domain controller 4 and the cockpit domain controller 3. The intelligent driving domain controller 4 can communicate online through the T-Box of the cockpit domain controller 3.

[0094] 7. The high-precision GNSS antenna 111 is arranged in a position on the vehicle to avoid being blocked by other objects from the satellite signal and to avoid interference with the electromagnetic signal of the vehicle.

[0095] The high-precision positioning system for intelligent driving provided by the present application is adopted, the IMU chip is used to send the IMU original information to the INS algorithm module, the RTK software module is used to obtain the approximate position from the first GNSS positioning module and upload it to the third-party RTK differential service platform, so that the third-party RTK differential service platform returns the RTK differential correction information, the RTK algorithm module is used to perform RTK solution according to the approximate position and the RTK differential correction information to obtain the RTK positioning result, the INS algorithm module is used to perform INS solution according to all the obtained information to obtain the INS navigation positioning result, and the RTK algorithm module and the inertial navigation system INS algorithm module are directly embedded in the first GNSS positioning module of the intelligent driving domain controller, thereby reducing the implementation cost and the difficulty of cabin layout on the basis of achieving high-precision positioning for intelligent driving.

[0096] This application also provides a high-precision positioning method for intelligent driving, such as Figure 3 As shown, the method includes steps S301, S302, S303, S304, S305, S306 and S307, wherein:

[0097] In step S301, an Inertial Measurement Unit (IMU) chip is used to send IMU raw information to an Inertial Navigation System (INS) algorithm module.

[0098] IMU raw information includes acceleration and angular velocity.

[0099] In step S302, a first Global Navigation Satellite System (GNSS) positioning module is used to send a pulse per second signal to the IMU chip to synchronize the time of the first GNSS positioning module and the IMU chip.

[0100] In step S303, the Real Time Kinematic real-time dynamic measurement RTK software module is used to obtain the approximate position and the vehicle unique identification VIN code from the first GNSS positioning module, and the approximate position and VIN code are uploaded to the third-party RTK differential service platform through the network communication module of the telematics control unit T-Box, so that the third-party RTK differential service platform returns the RTK differential correction information after successful authentication based on the VIN code.

[0101] In step S304, the RTK differential correction information is forwarded to the RTK algorithm module using the telematics control unit T-Box and the RTK software module.

[0102] In step S305, the RTK algorithm module is used to perform RTK solution according to the approximate position and the RTK differential correction information to obtain the RTK positioning result.

[0103] In step S306, the vehicle body controller is used to send the vehicle body information to the first GNSS positioning module.

[0104] Vehicle body information includes four-wheel speed, direction, steering wheel angle and gear position.

[0105] In step S307, the INS algorithm module is used to perform INS solution according to the RTK positioning result, the IMU original information, and the vehicle body information to obtain the INS navigation positioning result.

[0106] The first GNSS positioning module is set in the intelligent driving domain controller.

[0107] In some optional embodiments, the telematics control unit T-BOX is set in the cockpit domain controller, and the RTK software module is also set in the intelligent driving domain controller.

[0108] In some optional embodiments, the IMU chip is also provided in the intelligent driving domain controller.

[0109] In some optional embodiments, the IMU chip is placed in an IMU cavity, the IMU cavity is configured to be connected to the housing of the intelligent driving domain controller using a floating connector, and the IMU chip is electrically connected to the intelligent driving domain controller.

[0110] In some optional embodiments, the intelligent driving domain controller further includes a fusion positioning module, a visual sensor, and a high-precision map module, and the method further includes:

[0111] The fusion positioning module is used to receive the INS navigation and positioning results.

[0112] The fusion positioning module is used to receive auxiliary data sent by the visual sensor and high-precision map module.

[0113] The fusion positioning module is used to perform local path planning based on the INS navigation positioning results and auxiliary data to guide the vehicle to perform intelligent driving.

[0114] In some optional embodiments, the high-precision positioning system for intelligent driving also includes a GNSS antenna, the telematics control unit T-BOX also includes a second GNSS positioning module, the first GNSS positioning module and the second GNSS positioning module share a GNSS antenna, and the telematics control unit T-BOX is not provided with a GNSS antenna. The positioning accuracy of the first GNSS positioning module is higher than that of the second GNSS positioning module.

[0115] In some optional embodiments, the generation frequency of the approximate position is 1 Hz, the generation frequency of the RTK positioning result is 10 Hz, and the generation frequency of the INS navigation positioning result is 100 Hz.

[0116] The high-precision positioning method for intelligent driving provided in the present application is adopted, the IMU chip is used to send the IMU original information to the INS algorithm module, the RTK software module is used to obtain the approximate position from the first GNSS positioning module and upload it to the third-party RTK differential service platform, so that the third-party RTK differential service platform returns the RTK differential correction information, and the RTK algorithm module is used to perform RTK solution according to the approximate position and the RTK differential correction information to obtain the RTK positioning result, and the INS algorithm module is used to perform INS solution according to all the obtained information to obtain the INS navigation positioning result, and the RTK algorithm module and the inertial navigation system INS algorithm module are directly embedded in the first GNSS positioning module of the intelligent driving domain controller, thereby reducing the implementation cost and the difficulty of cabin layout on the basis of achieving high-precision positioning for intelligent driving.

[0117] The present application also provides a computer-readable storage medium, such as a memory including a program code, and the program code can be executed by a processor of a high-precision positioning system for intelligent driving to complete the high-precision positioning method for intelligent driving in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0118] A person skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be accomplished by hardware or by hardware associated with a program code, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0119] In the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0120] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0121] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0122] The above description is only for the purpose of facilitating those skilled in the art to understand the technical solution of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high-precision positioning system for intelligent driving, characterized in that: The system includes a telematics control unit T-BOX, a Real Time Kinematic (RTK) software module, a first Global Navigation Satellite System (GNSS) positioning module, an Inertial Measurement Unit (IMU) chip, and a vehicle body controller. The first GNSS positioning module is embedded with an RTK algorithm module and an Inertial Navigation System (INS) algorithm module. The system is configured as follows: Using the IMU chip to send IMU raw information to the INS algorithm module, the IMU raw information includes acceleration and angular velocity; Using the first GNSS positioning module to send a pulse per second signal to the IMU chip, so as to synchronize the time of the first GNSS positioning module and the IMU chip; The RTK software module is used to obtain the approximate position and the vehicle unique identification VIN code from the first GNSS positioning module, and the approximate position and the VIN code are uploaded to the third-party RTK differential service platform through the network communication module of the telematics control unit T-Box, so that the third-party RTK differential service platform returns RTK differential correction information after successful authentication according to the VIN code; forwarding the RTK differential correction information to the RTK algorithm module using the telematics control unit T-Box and the RTK software module; Using the RTK algorithm module to perform RTK solution according to the approximate position and the RTK differential correction information to obtain an RTK positioning result; Using the vehicle body controller to send body information to the first GNSS positioning module, the body information including four-wheel speed, direction, steering wheel angle and gear position; The INS algorithm module is used to perform INS calculation according to the RTK positioning result, the IMU original information, and the vehicle body information to obtain the INS navigation positioning result. The first GNSS positioning module is set in the intelligent driving domain controller.

2. The high-precision positioning system for intelligent driving according to claim 1, characterized in that: The telematics control unit T-BOX is arranged in the cockpit domain controller, and the RTK software module is also arranged in the intelligent driving domain controller.

3. The high-precision positioning system for intelligent driving according to claim 2, characterized in that: The IMU chip is also set in the intelligent driving domain controller.

4. The high-precision positioning system for intelligent driving according to claim 2, characterized in that: The IMU chip is placed in an IMU cavity, and the IMU cavity is configured to be connected to the shell of the intelligent driving domain controller using a floating connector, and the IMU chip is electrically connected to the intelligent driving domain controller.

5. The high-precision positioning system for intelligent driving according to claim 2, characterized in that: The intelligent driving domain controller also includes a fusion positioning module, a visual sensor and a high-precision map module. The system is also configured as follows: Utilizing the fusion positioning module to receive the INS navigation positioning result; Using the fusion positioning module to receive the auxiliary data sent by the visual sensor and the high-precision map module; The fusion positioning module is used to perform local path planning according to the INS navigation positioning result and the auxiliary data to guide the vehicle to perform intelligent driving.

6. The high-precision positioning system for intelligent driving according to claim 1, characterized in that: The high-precision positioning system for intelligent driving also includes a GNSS antenna. The telematics control unit T-BOX also includes a second GNSS positioning module. The first GNSS positioning module and the second GNSS positioning module share the one GNSS antenna. The telematics control unit T-BOX does not include a GNSS antenna. The positioning accuracy of the first GNSS positioning module is higher than that of the second GNSS positioning module.

7. The high-precision positioning system for intelligent driving according to claim 1, characterized in that: The generation frequency of the approximate position is 1HZ, the generation frequency of the RTK positioning result is 10HZ, and the generation frequency of the INS navigation positioning result is 100HZ.

8. A high-precision positioning method for intelligent driving, characterized in that: The method comprises: Use the Inertial Measurement Unit (IMU) chip to send IMU raw information to the Inertial Navigation System (INS) algorithm module, where the IMU raw information includes acceleration and angular velocity. Using a first Global Navigation Satellite System (GNSS) positioning module to send a pulse per second signal to the IMU chip, so as to synchronize the time of the first GNSS positioning module and the IMU chip; Using the Real Time Kinematic real-time dynamic measurement RTK software module to obtain the approximate position and the vehicle unique identification VIN code from the first GNSS positioning module, and uploading the approximate position and the VIN code to the third-party RTK differential service platform through the network communication module of the telematics control unit T-Box, so that the third-party RTK differential service platform returns RTK differential correction information after successful authentication according to the VIN code; forwarding the RTK differential correction information to the RTK algorithm module using the telematics control unit T-Box and the RTK software module; Using the RTK algorithm module to perform RTK solution according to the approximate position and the RTK differential correction information to obtain an RTK positioning result; Using the vehicle body controller to send body information to the first GNSS positioning module, the body information including four-wheel speed, direction, steering wheel angle and gear position; The INS algorithm module is used to perform INS calculation according to the RTK positioning result, the IMU original information, and the vehicle body information to obtain the INS navigation positioning result. The first GNSS positioning module is set in the intelligent driving domain controller.

9. The high-precision positioning method for intelligent driving according to claim 8, characterized in that: The telematics control unit T-BOX is arranged in the cockpit domain controller, and the RTK software module is also arranged in the intelligent driving domain controller.

10. The high-precision positioning method for intelligent driving according to claim 9, characterized in that: The IMU chip is also set in the intelligent driving domain controller.

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