Method, device, and storage medium for determining vehicle position and attitude

Abstract

A method, device, equipment, and storage medium for determining the position and attitude of a vehicle. The method includes acquiring a waiting area corresponding to a first actual positioning sign detected in a target scene by a vehicle at a previous time (S110), setting one desired positioning sign in the waiting area (S120), acquiring laser point cloud data that is included in the waiting area at a current time (S130), determining at least one second actual positioning sign according to the laser point cloud data (S140), determining a target positioning sign according to the at least one second actual positioning sign and the desired positioning sign (S150), and determining position and attitude information of the vehicle according to the target positioning sign (S160).

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application bearing application number 202310144454.5, filed with the China Patent Office on February 21, 2023, the entire contents of which are incorporated herein by reference.

[0002] The embodiments of the present disclosure relate to the technical field of automation control, and for example, to a method, an apparatus, a device, and a storage medium for determining the position and attitude of a vehicle. [Background technology]

[0003] Mobile construction machinery and equipment need to measure its own position and attitude in the process of working autonomously without human intervention. Outdoor operating scenes have good Global Positioning System (GPS) signals, so outdoor scenes usually adopt GPS-Real-time kinematic (RTK) technology for positioning, but indoor or semi-indoor operating scenes do not have good GPS signals, so laser-based simultaneous localization and mapping (SLAM) technology is usually adopted for positioning.

[0004] In laser SLAM technology, a point cloud map is first constructed offline, and real-time positioning based on the map is performed during operation. There are two methods for real-time positioning. The first method is the laser SLAM position estimation method based on the point cloud of the scene, which inversely estimates the position and attitude of the vehicle by aligning the real-time laser point cloud of the driving scene with the map point cloud. This simple point cloud alignment method has poor positioning stability of the entire SLAM system and is difficult to land on, so the second real-time positioning method, the laser SLAM position estimation method based on landmarks, has emerged, which places several high-brightness light reflectors for laser radar, called landmarks or positioning signs, at multiple key points in the scene, and inversely estimates the position and attitude of the vehicle based on the positions of the multiple positioning signs detected by the real-time laser point cloud of the driving scene.

[0005] The adoption of the positioning marker detection mode has two drawbacks:

[0006] (1) When the structure of the operating scene is very complex, a situation may occur in which multiple positioning signs are close to each other in order to adapt to the ability to detect landmarks from different directions at an intersection. At this time, there is a phenomenon in which target positioning signs and non-target positioning signs coexist within one Region of Interest (ROI). As a result, a problem may occur in which the detected non-target positioning signs are mistaken for target positioning signs, resulting in large positioning deviations.

[0007] (2) If other planes that are highly reflective to the laser point appear next to a positioning marker, for example if a loader bucket is lifted and appears in the laser radar's field of view and approaches a nearby positioning marker, these highly reflective planes may be mistakenly detected and incorrectly identified as target positioning markers, resulting in large positioning deviations. Summary of the Invention

[0008] The embodiments of the present disclosure provide a method, device, apparatus, and storage medium for determining the position and attitude of a vehicle, which can improve the detection accuracy of positioning signs and improve the detection accuracy of the position and attitude of the vehicle.

[0009] An embodiment of the present disclosure provides a method for determining a position and attitude of a vehicle, including: acquiring a waiting area corresponding to a first actual positioning sign detected by a vehicle in a target scene at a previous time; setting one desired positioning sign in the waiting area; acquiring laser point cloud data entered in the waiting area at a current time; determining at least one second actual positioning sign according to the laser point cloud data; determining a target positioning sign according to the at least one second actual positioning sign and the desired positioning sign; and determining position and attitude information of the vehicle according to the target positioning sign.

[0010] An embodiment of the present disclosure further provides a vehicle position and attitude determination device, comprising: a waiting area acquisition module configured to acquire a waiting area corresponding to a first actual positioning sign detected by a vehicle in a target scene at a previous time; a desired positioning sign setting module configured to set one desired positioning sign in the waiting area; a laser point cloud data acquisition module configured to acquire laser point cloud data entered in the waiting area at a current time; a second actual positioning sign determination module configured to determine at least one second actual positioning sign according to the laser point cloud data; a target positioning sign determination module configured to determine a target positioning sign according to the at least one second actual positioning sign and the desired positioning sign; and a position and attitude information determination module configured to determine position and attitude information of the vehicle according to the target positioning sign.

[0011] The embodiment of the present disclosure includes: At least one processor; a storage device configured to store at least one program; The present invention further provides an electronic device, which, when the at least one program is executed by the at least one processor, causes the at least one processor to realize the vehicle position and attitude determination method described in the embodiments of the present disclosure.

[0012] An embodiment of the present disclosure further provides a storage medium comprising computer-executable instructions that, when executed by a processor of a computer, are used to perform the method for determining the vehicle position and attitude described in the embodiment of the present disclosure. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic diagram illustrating a flow of a method for determining the position and attitude of a vehicle according to an embodiment of the present disclosure. [Diagram 2] FIG. 13 is a schematic diagram of multiple approaching second actual positioning markers according to an embodiment of the present disclosure. [Diagram 3] 10A and 10B are schematic diagrams illustrating the detection effect of target positioning markers according to an embodiment of the present disclosure. [Figure 4] FIG. 13 is a schematic diagram showing a partial plane of a bucket appearing in a waiting area according to an embodiment of the present disclosure. [Diagram 5] 13 is a schematic diagram of the detection effect of another target positioning marker according to an embodiment of the present disclosure. FIG. [Figure 6] FIG. 4 is a flow diagram of another vehicle position and attitude determination method according to an embodiment of the present disclosure. [Figure 7] 1 is a structural schematic diagram of a vehicle position and attitude determination device according to an embodiment of the present disclosure; [Figure 8] FIG. 1 is a structural schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments of the present disclosure will be described in more detail with reference to the drawings. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the protection scope of the present disclosure.

[0015] It should be understood that the steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. Also, the method embodiments may include additional steps and / or omit the performance of steps shown. The scope of the present disclosure is not limited in this respect. As used herein, the term "including" and variations thereof are open inclusive, i.e., "including, but not limited to." The term "based on" means "based at least in part on." The term "one embodiment" refers to "at least one embodiment," the term "another embodiment" refers to "at least one other embodiment," and the term "some embodiments" refers to "at least some embodiments." Relevant definitions of other terms are provided in the following description.

[0016] It should be noted that concepts such as "first" and "second" referred to in this disclosure are merely intended to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of functions performed by these devices, modules or units.

[0017] It should be understood that the modifications "one" and "multiple" referred to in the present disclosure are exemplary and not limiting, and that a person of ordinary skill in the art should understand "one or more" unless otherwise specified in the present specification.

[0018] It is understood that data relating to the present technical aspects (including, but not limited to, the data itself, acquisition or use of the data) should comply with the requirements of applicable laws, regulations and related provisions.

[0019] This embodiment may be widely applied to a series of unmanned loader products, and may also be widely applied to unmanned excavators and other unmanned construction vehicles.

[0020] FIG. 1 is a schematic diagram of a flow of a method for determining a position and attitude of a vehicle according to an embodiment of the present disclosure, which is suitable for determining the position and attitude of a vehicle, and the method can be executed by a vehicle position and attitude determination device, which can be realized in the form of software and / or hardware, and is preferably realized by electronic equipment, which may be a mobile terminal, a personal computer (PC) or a server, etc.

[0021] As shown in FIG. 1, the method includes:

[0022] In S110, a waiting area corresponding to a first actual positioning sign detected in the target scene by the vehicle at the immediately previous time is obtained.

[0023] The target scene can be understood as an operating scene in which the construction machinery works autonomously without human intervention. The positioning marker can be understood as a high-intensity light reflector arranged for the laser radar at a key point in the actual operating scene, and the first actual positioning marker can be considered as a positioning marker detected by the vehicle at the previous time in the actual application.

[0024] Preferably, acquiring the waiting area corresponding to the first actual positioning sign detected by the vehicle in the target scene at the previous time includes acquiring vehicle positioning information and set scanning parameters of the laser radar at the previous time, acquiring the first actual positioning sign from the target scene map according to the vehicle positioning information and the set scanning parameters, and determining a waiting area whose area is larger than the area of ​​the plane on which the first actual positioning sign is located according to the first actual positioning sign.

[0025] The vehicle positioning information may include position information and heading angle information of the vehicle in the target scene. The set scanning parameters may include a set scanning distance and a set scanning angle. The target scene map may be a 3D point cloud map pre-constructed by simultaneous localization and mapping (SLAM). The target scene map includes positioning sign positioning information. The pending region may be understood as a Region of Interest (ROI).

[0026] In this embodiment, the SLAM system can acquire a plurality of first actual positioning signs in the target scene map by acquiring the vehicle positioning information and the set scanning parameters at the previous time. A corresponding waiting area is generated for each first actual positioning sign, and the area of ​​the waiting area is set to be larger than the area of ​​the plane on which the first actual positioning sign is located, so as to ensure that the laser point cloud data acquired at the current time can be entered into the waiting area. Illustratively, the area of ​​the waiting area is a set multiple of the area of ​​the plane on which the first actual positioning sign is located, for example, 3 times, 5 times, etc.

[0027] In S120, one desired positioning indicator is set in the processing waiting area.

[0028] In this embodiment, the SLAM system determines the attributes of the plane where the desired positioning marker is located in each waiting area while determining the waiting area. In this embodiment, the setting of the desired positioning marker in the waiting area can be determined by the engineer according to the actual situation and experience, and this embodiment does not limit this. For example, the desired positioning marker may be set in the waiting area according to the engineer's past experience information, or the desired positioning marker may be set at any position in the waiting area. Preferably, the attributes of the plane where the positioning marker is located include a normal vector and a size. Among them, the normal vector is the normal vector of the plane where the positioning marker is located, that is, a vector represented by a straight line perpendicular to the plane. The size is the length and width of the plane where the positioning marker is located. By introducing the normal vector and the size, this embodiment can effectively improve the accuracy, reliability and robustness of the inspection of the target positioning marker when there are one or more second actual positioning markers in a single waiting area.

[0029] In S130, the laser point cloud data that is currently in the processing waiting area is acquired.

[0030] For example, all laser point cloud data at the current time is acquired by the vehicle's laser radar, the laser point cloud data acquired by the laser radar is trimmed according to the area waiting to be processed, and the laser point cloud data that falls within the area waiting to be processed (a portion of the laser point cloud data) is obtained.

[0031] In S140, at least one second actual positioning mark in the waiting area is determined according to the laser point cloud data entered in the waiting area.

[0032] The first actual positioning marker and the second actual positioning marker are both configured from a plurality of laser point cloud data.

[0033] In this embodiment, a dynamic brightness threshold division method can be used to determine the laser point cloud data corresponding to one or more second actual positioning markers from the laser point cloud data.

[0034] Preferably, the method for determining at least one second actual positioning sign according to the laser point cloud data may be to set a brightness threshold of the point cloud data, extract foreground point cloud data from the laser point cloud data based on the brightness threshold, and determine at least one second actual positioning sign according to the foreground point cloud data.

[0035] In this embodiment, the brightness threshold can be understood as a dividing line of the laser point cloud data, and is used to distinguish the point cloud with relatively bright brightness from the point cloud with relatively dark brightness, that is, to divide the laser point cloud data into two kinds of foreground point cloud data and background point cloud data. The brightness threshold can be dynamically set according to the actual situation, and this embodiment is not limited thereto. For example, the brightness threshold can be used to divide 1000 laser point cloud data into 200 foreground point cloud data and 800 background point cloud data, or 700 laser point cloud data into 100 foreground point cloud data and 600 background point cloud data. In this embodiment, the brightness threshold of the point cloud data can be set to divide the laser point cloud data into foreground point cloud data and background point cloud data, and one or more second actual positioning markers can be determined according to the foreground point cloud data.

[0036] Preferably, the manner of determining at least one second actual positioning sign according to the foreground point cloud data may be to perform clustering on the foreground point cloud data according to spatial distance to obtain at least one second actual positioning sign.

[0037] In this embodiment, a data clustering method, such as the k-means method, can be used to perform clustering on the foreground point cloud data according to the spatial distance between the point cloud data, and the laser point cloud data that is close in distance can be classified into one type, so that the foreground point cloud data can be classified into one or more types, that is, one or more second actual positioning signs (one type corresponds to one second actual positioning sign) can be obtained. There is a certain spatial distance between every two second actual positioning signs, and each second actual positioning sign has an independent spatial position (not overlapping).

[0038] In this embodiment, by performing clustering on the foreground point cloud data according to spatial distance, when multiple second actual positioning markers exist in the processing area, the multiple second actual positioning markers can be determined by separating the foreground point cloud data into multiple independent types of point cloud data, thereby solving the problem of erroneous detection when multiple positioning markers coexist in the processing area due to the complex structure of the target scene.

[0039] In S150, a target positioning indicator is determined according to at least one second actual positioning indicator and the desired positioning indicator.

[0040] Exemplarily, at least one second actual positioning indicator is compared with each desired positioning indicator to obtain multiple comparison (error) results, and a minimum comparison result is determined from the multiple comparison results, and the second actual positioning indicator corresponding to the minimum comparison result is determined as the target positioning indicator.

[0041] Preferably, the method for determining the target positioning sign according to at least one second actual positioning sign and the desired positioning sign may be to perform plane fitting on the laser point cloud data of each second actual positioning sign to obtain at least one second actual positioning sign plane, respectively determine the attributes of each second actual positioning sign plane and the attributes of the plane where the desired positioning sign is located, compare the attributes of each second actual positioning sign plane with the attributes of the plane where the desired positioning sign is located to obtain at least one comparison result, and determine the target positioning sign from the at least one second actual positioning sign according to the at least one comparison result.

[0042] In this embodiment, plane fitting is performed on the laser point cloud data of the second actual positioning sign to obtain the second actual positioning sign plane, and the normal vector and size of the second actual positioning sign plane are calculated, and the normal vector and size of the plane where the desired positioning sign is located can be determined. In terms of normal vector and size, a number of second actual positioning signs are compared with the desired positioning sign respectively, and the comparison result is obtained, so that the second actual positioning sign with a relatively small error with the desired positioning sign can be determined as the target positioning sign.

[0043] Preferably, the manner of comparing the attributes of each second actual positioning sign plane with the attributes of the plane where the desired positioning sign is located and obtaining at least one comparison result may be: comparing the normal vector of each second actual positioning sign plane with the normal vector of the plane where the desired positioning sign is located to obtain at least one first error result; comparing the size of each second actual positioning sign plane with the size of the plane where the desired positioning sign is located to obtain at least one second error result; and taking the minimum value of the at least one first error result as the first minimum error result and the minimum value of the at least one second error result as the second minimum error result. Correspondingly, determining a target positioning sign from the at least one second actual positioning sign according to the at least one comparison result includes determining the second actual positioning sign corresponding to the first minimum error result and / or the second actual positioning sign corresponding to the second minimum error result as the target positioning sign.

[0044] For example, in terms of normal vector, the normal vector of one or more second actual positioning sign planes can be respectively compared with the normal vector of the plane where the desired positioning sign is located to obtain one or more first error results, and the minimum error of the one or more first error results can be the first minimum error result. In terms of size, the size of one or more second actual positioning sign planes can be respectively compared with the size of the plane where the desired positioning sign is located to obtain one or more second error results, and the minimum error of the one or more second error results can be the second minimum error result. The second actual positioning sign corresponding to the first minimum error result and / or the second actual positioning sign corresponding to the second minimum error result is determined as the target positioning sign.

[0045] In this embodiment, plane fitting is performed on the laser point cloud data of each independent second actual positioning sign to obtain a second actual positioning sign plane, the attributes of the second actual positioning sign plane are calculated, and the attributes of the second actual positioning sign plane are compared with the attributes of the plane where the desired positioning sign is located, and the second actual positioning sign with the smallest error result is taken as the target positioning sign, and other non-target positioning signs or other similar interference planes are not output as the result, so that the non-target positioning signs or other high light reflectivity interference planes can be effectively suppressed and eliminated, and the target positioning sign can be accurately detected, and the problem of false detection caused by other dynamic high light reflectivity planes being close to the target positioning sign can be effectively solved, and when multiple approaching positioning signs are placed in a single waiting area in a complex scene, the target positioning sign can be accurately detected. As shown in FIG. 2, FIG. 2 is a schematic diagram of multiple approaching second actual positioning signs according to an embodiment of the present disclosure. Only two second actual positioning signs are shown in FIG. 2. FIG. 3 is a schematic diagram of the detection effect of the target positioning sign according to the embodiment of the present disclosure. As shown in FIG. 3, by adopting the technical aspect of the embodiment of the present disclosure, the desired target positioning sign (laser point cloud in a rectangular frame area) can be effectively and accurately detected. FIG. 4 is a schematic diagram of a partial plane of a bucket appearing in a waiting area according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram of the detection effect of another target positioning sign according to the embodiment of the present disclosure. As shown in FIG. 5, by adopting the technical aspect of the embodiment of the present disclosure, the interference can be effectively eliminated and the target positioning sign (rectangular frame area) can be accurately detected.

[0046] In S160, the vehicle position and attitude information is determined according to the target positioning sign.

[0047] For example, the center point coordinate of the target positioning sign can be determined according to the method of accumulating and averaging, and the center point coordinate can be the spatial position of the target positioning sign. The vehicle position information and attitude information are calculated according to the vehicle positioning information of the previous time, the set scanning parameters of the laser radar, and the spatial position of the target positioning sign. For example, when the target positioning sign has three laser point cloud data, the three laser point cloud data can be expressed as x1, y1, z1, x2, y2, z2, and x3, y3, z3, respectively, and in this case, the center point coordinate (x, y, z) is x=(x1+x2+x3) / 3, y=(y1+y2+y3) / 3, and z=(z1+z2+z3) / 3.

[0048] The technical aspect of the embodiment of the present disclosure is to obtain a waiting area corresponding to a first actual positioning sign detected by a vehicle in a target scene at a previous time, set one desired positioning sign in the waiting area, obtain laser point cloud data entered in the waiting area at the current time, determine at least one second actual positioning sign according to the laser point cloud data, determine a target positioning sign according to at least one second actual positioning sign and the desired positioning sign, and determine the position and attitude information of the vehicle according to the target positioning sign. The embodiment of the present disclosure improves the detection effect of the positioning sign by determining at least one second actual positioning sign by the laser point cloud data entered in the waiting area, and determines the target positioning sign according to at least one second actual positioning sign and the desired positioning sign, thereby improving the positioning stability when the vehicle moves in the target scene, and at the same time, does not affect the structure of the original SLAM system, does not affect the cost of the original SLAM system, and does not increase the display operation, and all are automatically completed by the algorithm program, so that the detection efficiency can be improved.

[0049] FIG. 6 is a flow chart of another vehicle position and attitude determination method according to an embodiment of the present disclosure, the steps of which are as follows:

[0050] In S210, the SLAM system acquires a first actual positioning marker in the target scene map according to the vehicle positioning information at the previous time and the set scanning parameters of the laser radar, determines a waiting area according to the first actual positioning marker, and sets one desired positioning marker in the waiting area.

[0051] In S220, the laser point cloud data that is currently in the processing waiting area is acquired.

[0052] In S230, a brightness threshold for the point cloud data is set, and foreground point cloud data is extracted from the laser point cloud data that has entered the processing waiting area at the current time based on the brightness threshold.

[0053] In S240, the foreground point cloud data is clustered according to spatial distance to obtain at least one second actual positioning marker.

[0054] In S250, plane fitting is performed on the laser point cloud data of each second actual positioning sign to obtain at least one second actual positioning sign plane, and attributes of each second actual positioning sign plane and attributes of the plane where the desired positioning sign is located are respectively determined.

[0055] In S260, the attributes of each second actual positioning sign plane are compared with the attributes of the plane in which the desired positioning sign is located to obtain at least one comparison result, and a target positioning sign is determined from the at least one second actual positioning sign according to the at least one comparison result.

[0056] In S270, the vehicle position and attitude information is determined according to the target positioning sign.

[0057] FIG. 7 is a structural schematic diagram of a vehicle position and attitude determination device according to an embodiment of the present disclosure. As shown in FIG. 7, the device includes a waiting area acquisition module 310, a desired positioning marker setting module 320, a laser point cloud data acquisition module 330, a second actual positioning marker determination module 340, a target positioning marker determination module 350 and a position and attitude information determination module 360.

[0058] The waiting area acquisition module 310 is configured to acquire a waiting area corresponding to a first actual positioning sign detected by the vehicle in the target scene at the previous time, the desired positioning sign setting module 320 is configured to set one desired positioning sign in the waiting area, the laser point cloud data acquisition module 330 is configured to acquire laser point cloud data entered in the waiting area at the current time, the second actual positioning sign determination module 340 is configured to determine at least one second actual positioning sign according to the laser point cloud data, the target positioning sign determination module 350 is configured to determine a target positioning sign according to the at least one second actual positioning sign and the desired positioning sign, and the position and attitude information determination module 360 ​​is configured to determine position and attitude information of the vehicle according to the target positioning sign.

[0059] The technical aspect of the embodiment of the present disclosure is to obtain a waiting area corresponding to a first actual positioning sign detected by a vehicle in a target scene at a previous time by a waiting area acquisition module, set one desired positioning sign in the waiting area by a desired positioning sign setting module, obtain laser point cloud data that has entered the waiting area at a current time by a laser point cloud data acquisition module, determine at least one second actual positioning sign according to the laser point cloud data by a second actual positioning sign determination module, determine a target positioning sign according to at least one second actual positioning sign and the desired positioning sign by a target positioning sign determination module, and determine the position and attitude information of the vehicle according to the target positioning sign by a position and attitude information determination module. The embodiment of the present disclosure can improve the detection effect of the positioning sign and improve the positioning stability when the vehicle moves in the target scene by determining at least one second actual positioning sign according to the laser point cloud data that has entered the waiting area and determining the target positioning sign according to at least one second actual positioning sign and the desired positioning sign.

[0060] Preferably, the waiting area acquisition module 310 is configured to acquire vehicle positioning information and laser radar setting scanning parameters at the previous time, acquire a first actual positioning sign from the target scene map according to the vehicle positioning information and the setting scanning parameters, and determine a waiting area whose area is greater than the area of ​​the plane where the first actual positioning sign is located according to the first actual positioning sign.

[0061] Preferably, the second actual positioning sign determination module 340 is configured to set a brightness threshold of the point cloud data, extract foreground point cloud data from the laser point cloud data based on the brightness threshold, and determine at least one second actual positioning sign according to the foreground point cloud data.

[0062] Preferably, the second actual positioning sign determination module 340 is configured to determine at least one second actual positioning sign according to the foreground point cloud data by clustering the foreground point cloud data according to spatial distance to obtain at least one second actual positioning sign.

[0063] Preferably, the target positioning sign determination module 350 is configured to perform plane fitting on the laser point cloud data of each second actual positioning sign, obtain at least one second actual positioning sign plane, respectively determine the attributes of each second actual positioning sign plane and the attributes of the plane where the desired positioning sign is located, compare the attributes of each second actual positioning sign plane with the attributes of the plane where the desired positioning sign is located, obtain at least one comparison result, and determine a target positioning sign from the at least one second actual positioning sign according to the at least one comparison result.

[0064] Preferably, the attributes of the second actual positioning marker plane and the plane on which the desired positioning marker is located include a normal vector and a size.

[0065] Preferably, the target positioning sign determination module 350 is configured to obtain at least one comparison result by comparing the normal vector of each second actual positioning sign plane with the normal vector of the plane in which the desired positioning sign is located to obtain at least one first error result, comparing the size of each second actual positioning sign plane with the size of the plane in which the desired positioning sign is located to obtain at least one second error result, and taking the minimum value of the at least one first error result as the first minimum error result and the minimum value of the at least one second error result as the second minimum error result.

[0066] Preferably, the target positioning indicator determination module 350 is configured to determine a target positioning indicator from the at least one second actual positioning indicator according to the at least one comparison result in the manner of determining a second actual positioning indicator corresponding to the first minimum error result and / or a second actual positioning indicator corresponding to the second minimum error result as a target positioning indicator.

[0067] The vehicle position and attitude determination device according to the embodiments of the present disclosure can execute the vehicle position and attitude determination method according to any embodiment of the present disclosure, and has functional modules and effects corresponding to the execution of the method.

[0068] It should be noted that the units and modules provided in the above-mentioned device are merely divided according to functional logic, but are not limited to the above divisions as long as they can realize the corresponding functions, and the specific names of the functional units are merely intended to make it easier to distinguish them from one another, and are not intended to limit the scope of protection of the embodiments of the present disclosure.

[0069] FIG. 8 is a structural schematic diagram of an electronic device according to an embodiment of the present disclosure. Hereinafter, referring to FIG. 8, a structural schematic diagram of an electronic device (e.g., a terminal device or a server) 500 suitable for implementing an embodiment of the present disclosure is shown. The terminal device in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, personal digital assistants (PDA), PADs (tablet computers), portable media players (PMP), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital televisions (TV), desktop computers, and the like. The electronic device 500 shown in FIG. 8 is merely an example and should not impose any limitations on the functions and scope of use of the embodiment of the present disclosure.

[0070] 8, the electronic device 500 may include a processing unit (e.g., a central processing unit, a graphic processor, etc.) 501, which can execute various appropriate operations and processes based on a program stored in a read-only memory (ROM) 502 or loaded from a storage device 508 into a random access memory (RAM) 503. The RAM 503 further stores programs and data required for the operation of the electronic device 500. The processing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0071] Typically, the I / O interface 505 can be connected to an input device 506 including, for example, a touch panel, a touch pad, a keyboard, a mouse, a camera head, a microphone, an accelerometer, a gyroscope, etc., an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc., a storage device 508 including, for example, a magnetic tape, a hard disk, etc., and a communication device 509. The communication device 509 enables the electronic device 500 to communicate wirelessly or via wires with other devices to exchange data.

[0072] According to an embodiment of the present disclosure, the process described with reference to the above flowcharts can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product including a computer program carried on a non-transitory computer-readable medium, the computer program including program code for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded from a network via the communication device 509 and installed, or may be installed from the storage device 508, or may be installed from the ROM 502. When the computer program is executed by the processing device 501, it performs the above-mentioned functions defined in the method of the embodiment of the present disclosure.

[0073] The names of messages or information interacted between multiple devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0074] The electronic device 500 according to the embodiment of the present disclosure and the method for determining the position and attitude of a vehicle according to the above embodiment belong to the same disclosure idea, and the technical details not described in detail in this embodiment may be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0075] An embodiment of the present disclosure provides a computer storage medium having stored thereon a computer program that, when executed by a processor, realizes the method for determining the position and attitude of a vehicle according to the embodiment.

[0076] It should be noted that the above-mentioned computer-readable medium of the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the above. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. The computer-readable storage medium may include, but is not limited to, an electrical connection having one or more leads, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or flash memory (FLASH), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable program code is carried. Such propagated data signals may take various forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may transmit, propagate, or transmit a program for use in or in conjunction with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, electrical wire, optical cable, radio frequency (RF), and the like, or any suitable combination of the above.

[0077] In some embodiments, the clients and servers may communicate using any now known or later developed network protocol, such as Hyper Text Transfer Protocol (HTTP), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communications networks include a Local Area Network (LAN), a Wide Area Network (WAN), a network off a network (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), and any now known or later developed network.

[0078] The computer readable medium may be included in the electronic device 500 or may exist separately and not attached to the electronic device 500 .

[0079] The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device 500, the electronic device 500 acquires a processing waiting area corresponding to a first actual positioning sign detected by the vehicle in the target scene at the previous time, sets one desired positioning sign in the processing waiting area, acquires laser point cloud data entered in the processing waiting area at the current time, determines at least one second actual positioning sign according to the laser point cloud data, determines a target positioning sign according to the at least one second actual positioning sign and the desired positioning sign, and determines position and attitude information of the vehicle according to the target positioning sign.

[0080] Computer program code for carrying out the operations of the present disclosure can be written in one or more programming languages, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and also including conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a single, separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet Service Provider).

[0081] The flowcharts and block diagrams in the drawings illustrate possible architectures, functions, and operations of the systems, methods, and computer program products according to the embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a certain logical function. It should be noted that in some alternative implementations, the functions depicted in the blocks may occur in a different order than the order depicted in the drawings. For example, two consecutively shown blocks may actually be executed in parallel depending on such functions, and they may be executed in the reverse order. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts may be implemented in a system based on dedicated hardware that performs a certain function or operation, or in a combination of dedicated hardware and computer instructions.

[0082] The units described in the embodiments of the present disclosure may be implemented in a software manner or a hardware manner, and the names of the units may not be limited to the units themselves in some cases, for example, the first acquiring unit may be described as "a unit for acquiring at least two Internet Protocol addresses".

[0083] The above-described functions of the present invention may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), System on Chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

[0084] In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use in or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. A machine-readable storage medium may include an electrical connection by one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only disk (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

Claims

1. Obtaining a waiting area corresponding to a first actual positioning sign detected by the vehicle in the target scene at a previous time; Setting one desired positioning indicator in the waiting area; Acquiring laser point cloud data that has entered the waiting area at the current time; determining at least one second actual positioning marker according to the laser point cloud data; determining a target navigation indicator according to the at least one second actual navigation indicator and the desired navigation indicator; determining position and attitude information of the vehicle according to the target positioning sign; determining a target navigation indicator according to the at least one second actual navigation indicator and the desired navigation indicator, Perform plane fitting on the laser point cloud data of each second actual positioning sign to obtain at least one second actual positioning sign plane; determining attributes of each second actual positioning marker plane and attributes of the plane in which the desired positioning marker is located; Comparing the attributes of each second actual positioning marker plane with the attributes of a plane in which the desired positioning marker is located to obtain at least one comparison result; determining a target positioning indicator from among the at least one second actual positioning indicator according to the at least one comparison result; A method for determining the vehicle position and attitude.

2. Obtaining a waiting area corresponding to a first actual positioning sign detected by the vehicle in the target scene at a previous time includes: Acquiring vehicle positioning information and laser radar setting scan parameters at a time immediately preceding the current time; Obtaining a first actual positioning indicator from a target scene map according to the vehicle positioning information and the set scanning parameters; determining a waiting area, the area of ​​which is greater than an area of ​​a plane on which the first actual positioning marker is located, according to the first actual positioning marker; The method of claim 1.

3. Determining at least one second actual positioning marker according to the laser point cloud data includes: Setting a brightness threshold for the point cloud data; extracting foreground point cloud data from the laser point cloud data based on the brightness threshold; determining at least one second actual positioning marker according to the foreground point cloud data; The method of claim 1.

4. determining at least one second actual positioning marker according to the foreground point cloud data; clustering the foreground point cloud data according to spatial distance to obtain at least one second actual positioning marker; The method according to claim 3.

5. The attributes of the second actual positioning marker plane and the plane where the desired positioning marker is located include a normal vector and a size; The method according to claim 4.

6. Comparing the attributes of each second actual positioning marker plane with the attributes of the plane in which the desired positioning marker is located to obtain at least one comparison result; Comparing the normal vector of each second actual positioning marker plane with the normal vector of the plane in which the desired positioning marker is located to obtain at least one first error result; Comparing the size of each second actual positioning marker plane with the size of the plane in which the desired positioning marker is located to obtain at least one second error result; determining a first minimum error result as a minimum value of the at least one first error result; determining a second minimum error result as a minimum value of the at least one second error result; determining a target positioning indicator from among the at least one second actual positioning indicator according to the at least one comparison result; determining at least one of a second actual positioning indicator corresponding to the first minimum error result and a second actual positioning indicator corresponding to the second minimum error result as a target positioning indicator; The method of claim 1.

7. a waiting area acquisition module configured to acquire a waiting area corresponding to a first actual positioning sign detected by the vehicle in the target scene at a previous time; a desired positioning indicator setting module configured to set one desired positioning indicator in the waiting area; a laser point cloud data acquisition module configured to acquire laser point cloud data that has entered the waiting area at a current time; a second actual positioning marker determining module configured to determine at least one second actual positioning marker according to the laser point cloud data; a target navigation indicator determining module configured to determine a target navigation indicator according to the at least one second actual navigation indicator and the desired navigation indicator; a position and attitude information determination module configured to determine position and attitude information of the vehicle according to the target positioning sign; The target positioning indicator determination module includes: Perform plane fitting on the laser point cloud data of each second actual positioning sign to obtain at least one second actual positioning sign plane; Determine the attributes of each second actual positioning marker plane and the attributes of the plane in which the desired positioning marker is located respectively; Compare the attributes of each second actual positioning marker plane with the attributes of the plane in which the desired positioning marker is located to obtain at least one comparison result; configured to determine a target positioning indicator from among the at least one second actual positioning indicator depending on the at least one comparison result; A device for determining the vehicle position and attitude.

8. At least one processor; a storage device configured to store at least one program; When the at least one program is executed by the at least one processor, the at least one processor realizes the method for determining the position and attitude of a vehicle according to any one of claims 1 to 6. electronic equipment.

9. The method comprises computer executable instructions, which, when executed by a processor of a computer, are used to carry out the method for determining the position and attitude of a vehicle according to any one of claims 1 to 6. storage medium.

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