Method and device for detecting faults in positioning system and electronic equipment

Abstract

The invention provides a method and a device for detecting a fault in a positioning system and electronic equipment, which are used for improving the efficiency of a method for positioning a fault point in the positioning system and avoiding the problem of low efficiency caused by analyzing a log file at present. The method comprises the following steps: acquiring vehicle information; wherein the vehicle information comprises a real-time road image of a road through which the vehicle passes, and a map corresponding to the road; first road information is extracted from the real-time road image, and second road information is extracted from the map; processing the first road information and the second road information based on a preset detection mode to obtain key information; wherein the correlation degree between the key information and the pose information output by the positioning system is greater than a preset threshold value; in response to the fact that the key information does not accord with a preset standard, determining that the key information is a fault point of the positioning system; wherein the key information corresponds to the preset standard.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device and electronic device for detecting faults in a positioning system. Background Art

[0002] As one of the core systems of intelligent driving cars, the accuracy of the high-precision positioning system built on the basis of multi-source sensors is related to vehicle driving safety and road traffic safety. Therefore, the analysis method and device used to ensure the stability and reliability of the positioning system and to guide the positioning algorithm in the high-precision positioning system are particularly important. Only when the analysis method can timely and accurately identify the problems in the algorithm can it be ensured that the problems in the algorithm can be correctly modified, thereby playing a role in protecting intelligent driving.

[0003] At present, the analysis method and device mainly rely on the output log file of the algorithm for analysis to achieve the purpose of locating the problem in the positioning algorithm. However, it generally takes a long time to analyze the log file, resulting in the problem that the fault in the positioning algorithm cannot be detected in time. Summary of the invention

[0004] The present application provides a method, device and electronic device for detecting faults in a positioning system, so as to improve the efficiency of the method for locating fault points in the positioning system and avoid the low efficiency problem currently caused by analyzing log files.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting a fault in a positioning system, comprising:

[0006] Acquiring vehicle information; wherein the vehicle information includes a real-time road image of a road that the vehicle passes through, and a map corresponding to the road;

[0007] Extracting first road information from the real-time road image, and extracting second road information from the map;

[0008] Processing the first road information and the second road information based on a preset detection mode to obtain key information; wherein the correlation between the key information and the position and posture information output by the positioning system is greater than a preset threshold;

[0009] In response to the key information not being in compliance with a preset standard, determining that the key information is a fault point of the positioning system; wherein the key information corresponds to the preset standard.

[0010] In a possible implementation manner, the preset detection mode includes a first detection mode, and the first detection mode is used to match the first road information with the road information of the same information type in the second road information to obtain a matching pair; and the key information includes the matching pair.

[0011] In a possible implementation manner, in response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes:

[0012] In response to a difference between the first road information and the second road information in the matching pair being greater than a first preset value, the matching pair is determined to be a fault point.

[0013] In a possible implementation manner, the first preset value is 0, and in response to the key information not meeting the preset standard, determining that the key information is a fault point of the positioning system includes:

[0014] In response to the first road information being different from the second road information in the matching pair, the matching pair is determined to be a fault point.

[0015] In a possible implementation, the preset detection mode includes a second detection mode, and the second detection mode is used to determine the first identifier in the real-time road image, and to mark the second identifier indicated by the first road information in the real-time road image; then the key information includes the first identifier and the second identifier; wherein the first identifier corresponds to the first road information.

[0016] In a possible implementation manner, in response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes:

[0017] In response to a difference between the first identifier and the second identifier being greater than a second preset value, the first road information is determined to be the fault point.

[0018] In a possible implementation manner, the second preset value is 0, and in response to the key information not meeting the preset standard, determining that the key information is a fault point of the positioning system includes:

[0019] In response to the first identifier being different from the second identifier, the first road information is determined to be the fault point.

[0020] In a possible implementation manner, the preset detection mode includes a third detection mode, and the third detection mode is used to mark a third identifier indicated by the second road information in the real-time road image according to the posture information; then the key information includes the third identifier.

[0021] In a possible implementation manner, in response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes:

[0022] In response to the difference between the first identifier and the second identifier being less than or equal to a second preset value, and the difference between the third identifier and the first identifier being greater than a third preset value, the second road information is determined to be the fault point.

[0023] In a possible implementation manner, the second preset value and the third preset value are both 0, and in response to the key information not meeting the preset standard, determining that the key information is a fault point of the positioning system includes:

[0024] In response to the difference between the first identifier and the second identifier being the same, and the third identifier being different from the first identifier, the second road information is determined to be the fault point.

[0025] In a possible implementation manner, in response to the key information not meeting a preset standard, determining that the node where the key information is located is a fault point of the positioning system includes:

[0026] Determine a first shortest distance between the vehicle and the road lane line based on the third identifier corresponding to the road lane line, and determine a second shortest distance between the vehicle and the road lane line based on the posture information;

[0027] In response to a difference between the first shortest distance and the second shortest distance being greater than a fourth preset value, determining that the position information and the second road information are possible fault points.

[0028] In a possible implementation manner, the fourth preset value is 0, and in response to the difference between the first shortest distance and the second shortest distance being greater than the fourth preset value, determining that the posture information and the second road information are possible fault points includes:

[0029] In response to the first shortest distance and the second shortest distance being unequal, determining the position information and the second road information as possible fault points.

[0030] In a possible implementation manner, the preset detection mode includes a fourth detection mode, and the fourth detection mode is used to determine a first relative distance between the vehicle and a specified reference object on the road based on the first road information, and to determine a second relative distance between the vehicle and the specified reference object based on the posture information; then the key information includes the first relative distance and the second relative distance.

[0031] In a possible implementation manner, in response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes:

[0032] In response to a difference between the first relative distance and the second relative distance being greater than a fifth preset value, determining that the posture information is the fault point.

[0033] In a possible implementation manner, the fifth preset value is 0, and in response to the difference between the first relative distance and the second relative distance being greater than the fifth preset value, determining that the posture information is the fault point includes:

[0034] In response to the first relative distance being unequal to the second relative distance, determining the position and posture information as the fault point.

[0035] In a second aspect, an embodiment of the present application provides a device for detecting a fault in a positioning system, including:

[0036] An information unit, used to obtain vehicle information; wherein the vehicle information includes a real-time road image of a road that the vehicle passes through, and a map corresponding to the road;

[0037] an extraction unit, configured to extract first road information from the real-time road image and second road information from the map;

[0038] A detection unit, configured to process the first road information and the second road information based on a preset detection mode to obtain key information; wherein a correlation between the key information and the position information output by the positioning system is greater than a preset threshold;

[0039] A fault unit is used to determine that the key information is a fault point of the positioning system in response to the key information not being consistent with a preset standard; wherein the key information corresponds to the preset standard.

[0040] In a possible implementation manner, the preset detection mode includes a first detection mode, and the first detection mode is used to match the first road information with the road information of the same information type in the second road information to obtain a matching pair; and the key information includes the matching pair.

[0041] In a possible implementation manner, the fault unit is specifically configured to determine that the matching pair is a fault point in response to a difference between the first road information and the second road information in the matching pair being greater than a first preset value.

[0042] In a possible implementation, the preset detection mode includes a second detection mode, and the second detection mode is used to determine the first identifier in the real-time road image, and to mark the second identifier indicated by the first road information in the real-time road image; then the key information includes the first identifier and the second identifier; wherein the first identifier corresponds to the first road information.

[0043] In a possible implementation manner, the fault unit is specifically configured to determine that the first road information is the fault point in response to a difference between the first identifier and the second identifier being greater than a second preset value.

[0044] In a possible implementation manner, the preset detection mode includes a third detection mode, and the third detection mode is used to mark a third identifier indicated by the second road information in the real-time road image according to the posture information; then the key information includes the third identifier.

[0045] In a possible implementation manner, the fault unit is specifically used to determine that the second road information is the fault point in response to the difference between the first identifier and the second identifier being less than or equal to a second preset value, and the difference between the third identifier and the first identifier being greater than a third preset value.

[0046] In a possible implementation manner, the fault unit is also used to determine a first shortest distance between the vehicle and the road lane line based on the third identifier corresponding to the road lane line, and to determine a second shortest distance between the vehicle and the road lane line based on the posture information; in response to a difference between the first shortest distance and the second shortest distance being greater than a fourth preset value, the posture information and the second road information are determined to be possible fault points.

[0047] In a possible implementation manner, the preset detection mode includes a fourth detection mode, and the fourth detection mode is used to determine a first relative distance between the vehicle and a specified reference object on the road based on the first road information, and to determine a second relative distance between the vehicle and the specified reference object based on the posture information; then the key information includes the first relative distance and the second relative distance.

[0048] In a possible implementation manner, the fault unit is specifically configured to determine that the posture information is the fault point in response to a difference between the first relative distance and the second relative distance being greater than a fifth preset value.

[0049] In a third aspect, an embodiment of the present application provides a readable storage medium, including:

[0050] Memory,

[0051] The memory is used to store a computer program. When the computer program is executed by the processor, the device including the readable storage medium performs the method as described in the first aspect and any possible implementation manner.

[0052] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0053] Memory, used to store computer programs;

[0054] The processor is used to execute the computer program stored in the memory to implement the method described in the first aspect and any possible implementation manner.

[0055] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects:

[0056] In the fault detection method provided in the embodiment of the present application, the first road information and the second road information are obtained by processing the vehicle information collected by the multi-source sensor. Then, the first road information and the second road information are processed using a preset detection mode to obtain key information with a high correlation with the core algorithm of the positioning system, that is, the position and posture information output by the positioning algorithm, and the accuracy of the key information is judged, thereby detecting the key information that affects the accuracy of the position and posture information output by the positioning system, and achieving the purpose of timely and efficient fault positioning.

[0057] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present application. The purposes and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. It should be understood that the above general description and the detailed description below are only exemplary and explanatory and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0059] Figure 1 A flowchart of a method for detecting a fault in a positioning system provided in an embodiment of the present application;

[0060] Figure 2 A schematic diagram of visualization of matching pairs in a partial schematic diagram of a road surface provided in an embodiment of the present application;

[0061] Figure 3 A schematic diagram of a method for visualizing key information to detect faults in a positioning system provided in an embodiment of the present application;

[0062] Figure 4 A schematic diagram of the structure of a device for detecting faults in a positioning system provided in an embodiment of the present application;

[0063] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In response to the problem that the current analysis device cannot timely locate faults in the positioning algorithm due to analyzing the positioning algorithm log, an embodiment of the present application provides a method for detecting faults in the positioning system. The first road information extracted from the real-time road image and the second road information extracted from the map are processed through a preset detection mode to obtain key information with a high correlation with the posture information output by the positioning system. The key information is compared with its corresponding preset standard. When the two do not match, it can be determined that the key information is the fault point that causes the inaccurate output of the positioning system.

[0065] Therefore, based on the core algorithm in the positioning system: the positioning algorithm, key nodes are determined around the output, input, and input information source of the positioning algorithm, and by determining the accuracy of key information on key nodes, fault points in the positioning system are detected, thereby achieving the purpose of accurately and timely locating faults in the positioning system.

[0066] In order to better understand the above technical scheme, the technical scheme of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0067] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0068] Please refer to Figure 1 The embodiment of the present application provides a method for detecting faults in a positioning system, which is used to timely locate the fault point in the system and improve the safety of intelligent driving. The method specifically includes the following implementation steps:

[0069] Step 101: Obtain vehicle information.

[0070] The vehicle information includes a real-time road image of the road that the vehicle passes through, that is, a road image collected in real time during the vehicle's driving process. The road image includes the road surface and landmarks such as signboards in front of the vehicle.

[0071] The vehicle information also includes a map corresponding to the aforementioned road, which is a map pre-stored in the vehicle or obtained from the cloud.

[0072] Specifically, the information contained in the above vehicle information is mainly the data collected by the multi-source sensors on the vehicle. For example, the above real-time road image can be obtained by the fisheye camera on the vehicle or other collection equipment that meets the requirements.

[0073] Therefore, the vehicle information also includes the vehicle's driving parameters, which include the vehicle's IMU (Inertial Measurement Unit) speed, wheel speed, and GNSS (Global Navigation Satellite System, GNSS).

[0074] Among them, the IMU includes at least three-axis acceleration and three-axis angular velocity.

[0075] Step 102: extracting first road information from the real-time road image, and extracting second road information from the map.

[0076] The first road information is any traffic sign information guiding driving in the real-time road image, including but not limited to traffic signs, road lane lines, obstacles, etc. in the real-time road image.

[0077] Similar to the first road information, the second road information is any traffic sign information in the map that guides driving, including but not limited to traffic signs, road lane lines, obstacles, etc. in the map.

[0078] Step 103: Process the first road information and the second road information based on a preset detection mode to obtain key information.

[0079] Among them, the correlation between the key information and the output of the positioning system, that is, the posture information output by the positioning algorithm, is greater than a preset threshold.

[0080] The preset detection mode includes a first detection mode. The first detection mode is used to match road information of the same information type in the first road information and the second road information to obtain a matching pair with the same information type. The key information includes a matching pair. Specifically, using the first detection mode, matching is performed based on the information type of the first road information and the information type of the second road information to obtain a matching pair.

[0081] For example, if the information type is white dashed line, the matching pair consists of the distance between the white dashed line and a reference object (eg, vehicle) in the first road information and the distance between the white dashed line and the same reference object (eg, vehicle) in the second road information at the same position.

[0082] In some embodiments, the matching pairs may be visualized to facilitate user verification / confirmation. Figure 2 This is a schematic diagram of visualization of matching pairs in a partial schematic diagram of a road surface provided in an embodiment of the present application. Figure 2 As shown, the black solid line corresponds to the white solid line in the real-time road image, and the black dotted line corresponds to the white dotted line in the real-time road image. The information at both end points constitutes a matching pair, that is, when the information type is a white dotted line, the matching pair is obtained by matching the first road information and the second road information: but The length of may represent the difference between the information in the matching pairs.

[0083] Further, the preset detection mode may include a second detection mode. The second detection mode is used to extract the first identifier in the real road image and mark the second identifier indicated by the first road information in the real-time road image.

[0084] The first identifier corresponds to the first road information. Specifically, the first identifier can be any original traffic information used to guide driving in the real-time road image. For example, it can be information such as a sign on the road surface, a speed limit on the road sign, etc. Figure 2 The lane line shown, etc. The first identifier can be obtained by a corresponding image processing algorithm.

[0085] Since the first road information is information extracted from the real-time road image for guiding driving, the second identifier is actually traffic information projected back into the real-time road image based on the first road information. Thus, the accuracy of one of the information sources used to obtain the matching pair can be determined by comparing the first identifier as the original traffic information with the second identifier obtained by obtaining the first road information. Then the key information includes the first identifier and the second identifier.

[0086] Furthermore, the preset detection mode may include a third detection mode. The third detection mode is used to mark the third identifier indicated by the second road information in the real-time road image according to the posture information output by the positioning system. That is, the second detection mode is used to project the road information of the corresponding position in the map into the corresponding real-time road image based on the posture information, so that the second road information can be accurately projected in the real-time road image according to the posture information and represented by the third identifier. Then the key information includes the third identifier.

[0087] Furthermore, the preset detection mode may also include a fourth detection mode, which may be used to calculate a first relative distance between the vehicle and a specified reference object on the road based on the first road information, and determine a second relative distance between the vehicle and the specified reference object based on the posture information. The first relative distance corresponds to time. Similarly, the second relative distance corresponds to time.

[0088] The key information also includes a first relative distance and a second relative distance.

[0089] The designated reference object may be, for example, a road surface traffic line at a designated location, or a designated traffic sign at a designated location.

[0090] Furthermore, the above-mentioned correlation degree can be determined according to the number of steps in the positioning system to obtain the posture information based on the key information. The higher the number of steps, the lower the correlation degree. Taking the matching pair and the first road information as an example, in the positioning detection system, since the first road information is obtained first, and then the matching pair is obtained based on the first road information, the number of steps from obtaining the matching pair to obtaining the posture information should be less than the number of steps from the first road information to obtaining the posture information.

[0091] Therefore, the correlation between the matching pair and the posture information is higher than the correlation between the first position information and the posture information. In the embodiment of the present application, there is no limitation on the method for determining the reference value of the correlation, and it only needs to be consistent with the aforementioned determination principle that is inversely proportional to the number of steps of outputting the posture information.

[0092] Step 104: In response to the key information not meeting the preset standard, determining that the key information is a fault point.

[0093] Among them, the preset standards correspond to the key information.

[0094] In some embodiments, the preset standard and the key information are in a one-to-one correspondence.

[0095] The preset standard can be pre-stored in the positioning system or other modules in the vehicle. The preset standard can also be stored in the cloud and obtained in advance before use.

[0096] For the matching pairs in the key information, it can be determined whether the specific content of the road information in the matching pairs matches. Since the matching pairs are composed of the first road information and the second road information of the same information type, it is actually determined whether the difference between the road information of the same information type in the matching pairs (the first road information and the second road information) is greater than the first preset value.

[0097] Specifically, in response to a difference between the first road information and the second road information in the matching pair being greater than a first preset value, the matching pair is determined to be a fault point.

[0098] Alternatively, in response to the difference between the first road information and the second road information in the matching pair being less than or equal to the first preset value, the matching pair is determined to be a non-fault point, and it can be determined that the extraction of the first road information and the map version and the extraction of the second road information are all correct.

[0099] Furthermore, for the first identifier and the second identifier in the key information, it can be determined whether the difference between the two is greater than a second preset value to determine whether the extraction of the first road information is incorrect.

[0100] Specifically, in response to the difference between the first identifier and the second identifier being greater than the second preset value, the first road information is determined to be a fault point, and then it is determined that the first road information is extracted incorrectly.

[0101] Alternatively, in response to the difference between the first identifier and the second identifier being less than or equal to a second preset value, the first road information non-fault point is determined.

[0102] For example, the first identifier and the second identifier correspond to a speed limit traffic sign in a real-time road image at a certain moment, and the first identifier and the second identifier each include: a first sub-identifier indicating that the type of the traffic sign is speed limit, a second sub-identifier indicating the speed limit type (minimum speed or maximum speed), and a third sub-identifier indicating the speed limit value.

[0103] Then compare the first identifier and the second identifier: in response to the difference between the first sub-identifiers being greater than the second preset value, the difference between the second sub-identifiers being greater than the second preset value, or the difference between the third sub-identifiers being greater than the second preset value, it is determined that the difference between the first identifier and the second identifier is greater than the second preset value, then the first road information can be determined to be a fault point.

[0104] Further, the third identifier in the key information can be used to determine whether the second road information is accurate. Specifically, in response to the difference between the third identifier and the first identifier being less than or equal to a third preset value, it is determined that the second road information is correct.

[0105] Alternatively, in response to a difference between the third identifier and the first identifier being greater than a third preset value, the second road information is determined to be a fault point.

[0106] In some embodiments, it is possible to first determine whether the first identifier is consistent with the second identifier to determine whether the first identifier is determined and whether the first road information is extracted correctly. On this basis, the difference between the aforementioned third identifier and the first identifier is determined to eliminate interference factors and locate the fault more accurately. That is, the second detection mode is used in conjunction with the third detection mode to determine the fault point. Specifically, in response to the difference between the first identifier and the second identifier being less than or equal to the second preset value, and the difference between the third identifier and the first identifier being greater than the third preset value, the second road information is determined to be the fault point.

[0107] Alternatively, in response to the difference between the first identifier and the second identifier being less than or equal to the second preset value, and the difference between the third identifier and the first identifier being less than or equal to the third preset value, it is determined that the second road information is correct.

[0108] Alternatively, in response to the difference between the first identifier and the second identifier being greater than the second preset value, and the difference between the third identifier and the first identifier being less than or equal to the third preset value, it can be determined that the second road information is correct, and if the first identifier is correct, then the first road information is incorrect.

[0109] Furthermore, the third identifier in the key information can also be used to assist in determining whether the output of the posture information is incorrect. Specifically, any third identifier corresponding to a road lane line can be first determined in the third identifier. Then, based on the third identifier corresponding to the road lane line, the shortest distance between the vehicle and the road lane line is determined and recorded as the first shortest distance.

[0110] Next, based on the posture information, the shortest distance between the vehicle and the road lane line at the corresponding moment is determined and recorded as the second shortest distance.

[0111] If the first shortest distance and the second shortest distance are consistent, the posture information can be verified to be correct. Otherwise, it can be preliminarily determined that at least one of the posture information and the map is a fault point. That is, in response to the difference between the first shortest distance and the second shortest distance being greater than the fourth preset value, the posture information and the second road information are determined to be possible fault points.

[0112] Alternatively, in response to the difference between the first shortest distance and the second shortest distance being less than or equal to a fourth preset value, it is determined that the posture information and the second road information are correct.

[0113] On this basis, if the map has been verified to be correct, the position information can be further verified.

[0114] Furthermore, the accuracy of the posture information can be further determined for the first relative distance and the second relative distance in the key information. Specifically, in response to the difference between the first relative distance and the second relative distance being greater than a fifth preset value, the posture information is determined to be a fault point.

[0115] Alternatively, in response to the difference between the first relative distance and the second relative distance being less than or equal to a fifth preset value, the posture information is determined to be a fault point.

[0116] Furthermore, when the fault point is determined, the vehicle information at the corresponding time is saved, and the vehicle information includes the driving parameters of the aforementioned vehicle, real-time road images, etc.

[0117] It should be noted that the first to fifth preset values ​​may be the same or different. Also, the aforementioned determination of the corresponding identifier from the real-time road image, or the determination of a certain distance, length, etc., may be obtained by processing the real-time road image using the image processing algorithm preset in the positioning system, combined with the corresponding multi-source sensor's magnification and other acquisition parameters, which will not be described in detail here.

[0118] Furthermore, the key information obtained by the aforementioned preset detection mode can be visualized, and on this basis, various difference data obtained based on the key information, as well as the relative size relationship between the difference data and the corresponding preset value can be marked in the screen obtained by the aforementioned visualization.

[0119] On this basis, the real-time road images, maps, etc. in the vehicle information can also be integrated into the aforementioned visualization interface in the form of small pictures, so that the driver can obtain the corresponding information at any time. The following is an example description combined with steps 101-104, please refer to Figure 3 .

[0120] like Figure 3 As shown, the core algorithm in the positioning system is the positioning algorithm, and the output of the positioning algorithm is the final result: posture information.

[0121] After obtaining the vehicle information collected by multi-source sensors, the wheel speed, IMU angular velocity, and GNSS data in the vehicle information are first visualized: while displaying the specific parameters of the wheel speed, IMU angular velocity, and GNSS data in the fitting screen, the abnormal thresholds corresponding to each speed can be obtained for comparison, and the comparison results can be displayed on the visual video interface. When any speed value exceeds its corresponding abnormal threshold, the driver can be reminded by marking it as a key point. All screens in the visual interface, including real-time road images and the aforementioned comparison information, are retained for use by technicians.

[0122] Compared with the real-time road image, the above-mentioned fitting picture has the characteristics of highlighting the traffic signs on the road, such as traffic signs, road surface markings, etc., and weakening the information irrelevant to driving (such as mountains on the roadside, etc.).

[0123] At the same time, the wheel speed, IMU angular velocity, and GNSS data in the aforementioned vehicle information are input into the positioning algorithm, so that the positioning algorithm can preliminarily calculate the posture information to be corrected based on this.

[0124] Secondly, the real-time road image in the vehicle information is transmitted to the visualization interface. In addition, the first road information in the real-time road image is matched with the second road information in the high-precision map on the same road using the first detection mode to obtain multiple matching pairs. The first detection mode can be set based on the image processing algorithm and the matching algorithm. The matching pair is composed of the specific first road information in the real-time road image and the specific second road information in the corresponding map. For example, the matching pair can be a traffic sign at a certain position in the real-time road image, and a traffic sign at the same position or in an area adjacent to the position in the map.

[0125] The above matching pairs are transmitted to the above fitting screen for visualization, and then the fitting screen displays almost overlapping signs. For example, almost overlapping traffic sign signs. According to the matching pairs in the visualization interface, it can be preliminarily determined whether the information in the matching pairs is incorrectly matched, so as to identify whether the matching is incorrect. At the same time, the difference between the first road information and the second road information in the matching pair can be calculated and compared with the corresponding first preset value. The above comparison result is marked in the matching pair in the fitting screen.

[0126] The actual matching pair is to process the real-time road image, correct the information therein, obtain the first road information, match the first road information with the second road information in the high-precision map, and obtain the matching pair. According to the matching pair, after determining the posture transformation matrix, the posture transformation matrix is ​​input into the positioning algorithm, so that the positioning algorithm can correct the aforementioned posture information to be corrected in real time through the posture transformation matrix, thereby inputting high-precision posture information. Therefore, by judging the relative size relationship between the difference between the road information in the matching pair and the first preset value, and visualizing the matching pair, the accuracy of the positioning algorithm's previous input to the matching algorithm can be judged.

[0127] Continue to refer Figure 3, in contrast to the aforementioned extraction of the first road information, based on the second detection mode, the first road information of the real-time road image is reversely projected back into the real-time road image. Moreover, based on the third detection mode and the posture information output by the aforementioned positioning algorithm, the second road information of the high-precision map is projected into the real-time road image in combination with the vehicle posture, and a projection image is obtained that includes the first identifier (i.e., the original identifier) ​​in the real-time road image, the second identifier corresponding to the first road information, and the third identifier corresponding to the second road information. The projection image is transmitted to the visualization interface for display.

[0128] By performing the following processing on the first to third identifiers in the projected image, it is determined whether the information source used to obtain the matching pair: the first road information and / or the second road information is incorrect. Specifically, it is possible to determine whether the extraction of the first road information is incorrect by comparing the relative size relationship between the difference between the first identifier and the second identifier and the second preset value. That is, if the aforementioned difference is greater than the second preset value, it means that the first road information is reversely projected back into the real-time road image and cannot be consistent with its original extraction source first identifier, then the first road information is incorrect and is a fault point.

[0129] At the same time, the third identifier can be compared with the first identifier in the fitting screen to see if they are consistent. Similarly, it can be determined by comparing whether the difference between the first identifier and the third identifier is less than the third preset value. If so, the second road information of the high-precision map can be determined to be a fault point. Further, the relative size relationship between the difference between the first identifier and the second identifier and the second preset value can be combined to determine whether the second road information is a fault point. That is, when the first identifier matches the second identifier, but the first identifier does not match the third identifier, the second road information can be determined to be a fault point.

[0130] Furthermore, the position information output by the positioning algorithm can also be judged. The position information includes the vehicle's driving trajectory and the detailed coordinate parameters of each trajectory point. Based on the fourth detection mode, the relative position parameters between the vehicle and the road edge can be determined according to the real-time road image to obtain the first relative distance.

[0131] And determine the relative position relationship between the moving track in the posture information and the road edge in the fitting picture to obtain a second relative distance. When the difference between the first relative distance and the second relative distance is greater than a second preset value, it can be directly determined that the posture information output is incorrect.

[0132] After the fault point is determined, the visual interface at the corresponding moment can be saved for technicians to view and analyze the fault point.

[0133] Based on the same inventive concept, an embodiment of the present application provides a device for detecting a fault in a positioning system. Figure 1The method for detecting faults in the positioning system shown in the figure corresponds to the method for detecting faults in the positioning system shown in the figure. The specific implementation of the device can refer to the description of the above method embodiment part, and the repeated parts will not be repeated. Figure 4 , the device comprises:

[0134] The information unit 401 is used to obtain vehicle information.

[0135] The vehicle information includes a real-time road image of the road the vehicle passes through and a map corresponding to the road.

[0136] The extraction unit 402 is used to extract first road information from the real-time road image and to extract second road information from the map.

[0137] The detection unit 403 is configured to process the first road information and the second road information based on a preset detection mode to obtain key information, wherein the correlation between the key information and the position and posture information output by the positioning system is greater than a preset threshold.

[0138] The fault unit 404 is configured to determine that the key information is a fault point of the positioning system in response to the key information not being consistent with a preset standard, wherein the key information corresponds to the preset standard.

[0139] The preset detection mode includes a first detection mode, and the first detection mode is used to match the first road information with the road information of the same information type in the second road information to obtain a matching pair; and the key information includes the matching pair.

[0140] The fault unit 404 is specifically configured to determine that the matching pair is a fault point in response to a difference between the first road information and the second road information in the matching pair being greater than a first preset value.

[0141] The preset detection mode includes a second detection mode, which is used to determine a first identifier in the real-time road image and to mark a second identifier indicated by the first road information in the real-time road image; the key information includes the first identifier and the second identifier; wherein the first identifier corresponds to the first road information.

[0142] The fault unit 404 is specifically configured to determine that the first road information is the fault point in response to a difference between the first identifier and the second identifier being greater than a second preset value.

[0143] The preset detection mode includes a third detection mode, and the third detection mode is used to mark a third identifier indicated by the second road information in the real-time road image according to the posture information; then the key information includes the third identifier.

[0144] The fault unit 404 is specifically configured to determine that the second road information is the fault point in response to the difference between the first identifier and the second identifier being less than or equal to a second preset value, and the difference between the third identifier and the first identifier being greater than a third preset value.

[0145] The fault unit 404 is also used to determine a first shortest distance between the vehicle and the road lane line based on the third identifier corresponding to the road lane line, and to determine a second shortest distance between the vehicle and the road lane line based on the posture information; in response to a difference between the first shortest distance and the second shortest distance being greater than a fourth preset value, determine that the posture information and the second road information are possible fault points.

[0146] The preset detection mode includes a fourth detection mode, and the fourth detection mode is used to determine a first relative distance between the vehicle and a specified reference object on the road based on the first road information, and to determine a second relative distance between the vehicle and the specified reference object based on the posture information; then the key information includes the first relative distance and the second relative distance.

[0147] The fault unit 404 is specifically configured to determine that the posture information is the fault point in response to a difference between the first relative distance and the second relative distance being greater than a fifth preset value.

[0148] Based on the same inventive concept, the embodiment of the present application further provides a readable storage medium, including:

[0149] Memory,

[0150] The memory is used to store a computer program. When the computer program is executed by the processor, the device including the readable storage medium performs the method for detecting a fault in a positioning system as described above.

[0151] Based on the same inventive concept as the above-mentioned method for detecting a fault in a positioning system, an electronic device is also provided in an embodiment of the present application, and the electronic device can implement the function of the above-mentioned method for detecting a fault in a positioning system. Please refer to Figure 5 , the electronic device comprises:

[0152] At least one processor 501, and a memory 502 connected to the at least one processor 501. The specific connection medium between the processor 501 and the memory 502 is not limited in the embodiment of the present application. Figure 5 In the example, the processor 501 and the memory 502 are connected via a bus 500. The bus 500 is Figure 5The connections between other components are shown in bold lines, and are not intended to be limiting. The bus 500 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 5 Only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 501 can also be called a controller, and there is no limitation on the name.

[0153] In the embodiment of the present application, the memory 502 stores instructions that can be executed by at least one processor 501. The at least one processor 501 can execute the method for detecting faults in the positioning system discussed above by executing the instructions stored in the memory 502. The processor 501 can implement Figure 4 The functions of each module in the device shown.

[0154] Among them, the processor 501 is the control center of the device, and can use various interfaces and lines to connect the various parts of the entire control device. By running or executing instructions stored in the memory 502 and calling data stored in the memory 502, the various functions of the device and processing data, the device can be monitored as a whole.

[0155] In one possible design, the processor 501 may include one or more processing units, and the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 501. In some embodiments, the processor 501 and the memory 502 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on separate chips.

[0156] Processor 501 can be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method for detecting faults in a positioning system disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0157] The memory 502 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 502 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 502 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 502 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0158] By programming the processor 501, the code corresponding to the method for detecting a fault in a positioning system described in the above embodiment can be fixed into the chip, so that the chip can execute the code when it is running. Figure 1 The steps of the method for detecting faults in the positioning system are shown. How to design and program the processor 501 is a technique known to those skilled in the art and will not be described in detail here.

[0159] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0160] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0161] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0162] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0163] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a universal serial bus flash disk (Universal Serial Bus flash disk), a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a disk or an optical disk, and other media that can store program codes.

[0164] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for detecting faults in a positioning system, It is characterized in that include: Acquiring vehicle information; wherein the vehicle information includes a real-time road image of a road that the vehicle passes through, and a map corresponding to the road; Extracting first road information from the real-time road image, and extracting second road information from the map; Processing the first road information and the second road information based on a preset detection mode to obtain key information; wherein the correlation between the key information and the position and posture information output by the positioning system is greater than a preset threshold; In response to the key information not being in compliance with a preset standard, determining that the key information is a fault point of the positioning system; wherein the key information corresponds to the preset standard.

2. The method according to claim 1, It is characterized in that The preset detection mode includes a first detection mode, and the first detection mode is used to match the first road information with the road information of the same information type in the second road information to obtain a matching pair; and the key information includes the matching pair.

3. The method according to claim 2, It is characterized in that In response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes: In response to a difference between the first road information and the second road information in the matching pair being greater than a first preset value, the matching pair is determined to be a fault point.

4. The method according to any one of claims 1 to 3, It is characterized in that The preset detection mode includes a second detection mode, which is used to determine a first identifier in the real-time road image and to mark a second identifier indicated by the first road information in the real-time road image; the key information includes the first identifier and the second identifier; wherein the first identifier corresponds to the first road information.

5. The method according to claim 4, It is characterized in that In response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes: In response to a difference between the first identifier and the second identifier being greater than a second preset value, the first road information is determined to be the fault point.

6. The method according to claim 4, It is characterized in that The preset detection mode includes a third detection mode, and the third detection mode is used to mark a third identifier indicated by the second road information in the real-time road image according to the posture information; then the key information includes the third identifier.

7. The method according to claim 6, It is characterized in that In response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes: In response to the difference between the first identifier and the second identifier being less than or equal to a second preset value, and the difference between the third identifier and the first identifier being greater than a third preset value, the second road information is determined to be the fault point.

8. The method according to claim 6, It is characterized in that In response to the key information not being in accordance with a preset standard, determining that a node where the key information is located is a fault point of the positioning system includes: Determine a first shortest distance between the vehicle and the road lane line based on the third identifier corresponding to the road lane line, and determine a second shortest distance between the vehicle and the road lane line based on the posture information; In response to a difference between the first shortest distance and the second shortest distance being greater than a fourth preset value, determining that the position information and the second road information are possible fault points.

9. The method according to any one of claims 1 to 3, 5 to 8, It is characterized in that The preset detection mode includes a fourth detection mode, and the fourth detection mode is used to determine a first relative distance between the vehicle and a specified reference object on the road based on the first road information, and to determine a second relative distance between the vehicle and the specified reference object based on the posture information; then the key information includes the first relative distance and the second relative distance.

10. The method according to claim 9, It is characterized in that In response to the key information not meeting a preset standard, determining that the key information is a fault point of the positioning system includes: In response to a difference between the first relative distance and the second relative distance being greater than a fifth preset value, determining that the posture information is the fault point.

11. A device for detecting faults in a positioning system, It is characterized in that include: An information unit, used to obtain vehicle information; wherein the vehicle information includes a real-time road image of a road that the vehicle passes through, and a map corresponding to the road; an extraction unit, configured to extract first road information from the real-time road image and second road information from the map; A detection unit, configured to process the first road information and the second road information based on a preset detection mode to obtain key information; wherein a correlation between the key information and the position information output by the positioning system is greater than a preset threshold; A fault unit is used to determine that the key information is a fault point of the positioning system in response to the key information not being consistent with a preset standard; wherein the key information corresponds to the preset standard.

12. A readable storage medium, It is characterized in that include, Memory, The memory is used to store a computer program. When the computer program is executed by a processor, the device including the readable storage medium implements the method according to any one of claims 1 to 10.

13. An electronic device, It is characterized in that include: Memory, used to store computer programs; A processor, configured to execute a computer program stored in the memory to implement a method as claimed in any one of claims 1 to 10.

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