CN110517531B - A multi-storey parking lot location method based on high-precision map data - Google Patents
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Abstract
本发明涉及一种基于高精度地图数据的多层停车场定位方法及装置，本发明首先接收GPS坐标信号，并根据GPS坐标信号从高精度地图数据中获取车辆周边地图数据，生成LocationMap；然后获取外部传感器数据，并将所述外部传感器数据与LocationMap融合，定位车辆的层级信息，利用所述层级信息对LocationMap进行去噪处理；最后利用去噪后的LocationMap修正GPS经纬度信息和海拔信息，得到车辆当前位置及层级。本发明将外部传感器数据、GPS数据、高精度地图数据进行融合处理，避免了由于单一方式感知而导致的定位精度不足的问题，提高了自动驾驶中车辆定位精度。
The invention relates to a multi-storey parking lot positioning method and device based on high-precision map data. The invention firstly receives GPS coordinate signals, and obtains map data around the vehicle from the high-precision map data according to the GPS coordinate signals to generate a LocationMap; External sensor data, fuse the external sensor data with the LocationMap, locate the level information of the vehicle, and use the level information to denoise the LocationMap; finally, use the denoised LocationMap to correct the GPS latitude and longitude information and altitude information to obtain the vehicle. Current location and level. The present invention fuses external sensor data, GPS data and high-precision map data, avoids the problem of insufficient positioning accuracy caused by a single way of perception, and improves vehicle positioning accuracy in automatic driving.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a multilayer parking lot positioning method based on high-precision map data.
Background
With the advent of automatic driving technology, safe driving maps based on lane level have come into view of people and are receiving more and more attention. Thus, the safety of automatic driving is promised, how to decide to reach the destination, collision avoidance, etc. if an obstacle is encountered. However, hardware perception in the automatic driving system, such as an ultrasonic radar, a binocular camera and the like, is conditional and limited in perception range, and a map can well make up for the deficiency of the hardware perception, so that the map is reasonable and economical as a sensor of the automatic driving system.
At present, a high-precision map can make up for the deficiency of hardware perception, but whether the information of a high-precision map sensor can be accurately output depends on whether the position of a vehicle can be correctly matched on the map, errors often occur on position information (particularly altitude) transmitted by hardware such as an external sensor in a shielded multilayer parking lot area under the environment, once the errors occur, the position information of the vehicle cannot be guaranteed, and the output map information around the vehicle is also incorrect.
Disclosure of Invention
The invention provides a multilayer positioning method based on high-precision map data, aiming at the technical problems in the prior art, and the method provides a multilayer positioning model, carries out algorithm fusion on GPS signals (longitude, latitude and altitude) and sensed barrier information based on external sensors and positioning layer information in a map engine, and corrects and confirms the longitude and latitude, altitude and level information of a vehicle.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the invention provides a multilayer parking lot positioning method based on high-precision map data, which comprises the following steps:
s1, receiving the GPS coordinate signal, acquiring map data around the vehicle from the high-precision map data according to the GPS coordinate signal, and generating a LocationMap; the location map at least comprises all parking space information and lane sideline information within a preset range around the GPS coordinate position;
s2, acquiring external sensor data, fusing the external sensor data with a LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information;
and S3, correcting the longitude and latitude information and the altitude information of the GPS by using the denoised locationMap to obtain the current position and the hierarchy of the vehicle.
Further, the step S1 includes the following sub-steps:
s101, acquiring a GPS signal, and loading map data around the vehicle from a high-precision map database according to a GPS coordinate;
s102, carrying out scene recognition according to map data around the vehicle, judging whether the position of the current vehicle is a multilayer parking lot or not, and if so, executing a step S103;
s103, identifying and storing key map elements in the surrounding map data, and generating a LocationMap.
Further, the step 2 comprises the following sub-steps:
s201, obtaining key map elements around the position of the vehicle according to data of an external sensor;
s202, matching key map elements around the position of the vehicle identified according to the external sensor data with key map elements in a LocationMap;
and S203, determining the hierarchy information of the current vehicle according to the matching result, and denoising the locationMap.
Further, the denoising processing comprises deleting key map elements around the position of the vehicle, which is not matched with the current vehicle in the hierarchy of the LocationMap.
Further, the step 3 comprises the following substeps:
correcting the GPS altitude information by utilizing the hierarchy information;
performing GPS lateral deviation constraint by using the lane boundary in the denoised LocationMap;
carrying out GPS transverse and longitudinal deviation constraint by using the denoised corner coordinates of other parking spaces around the vehicle in the LocationMap;
and outputting the corrected GPS coordinate signal to obtain the positioning information of the current vehicle.
In a second aspect, the present invention provides a multi-floor parking lot location system based on high-precision map data, comprising:
the location map generation module is used for receiving the GPS coordinate signal, acquiring map data around the vehicle from the high-precision map data according to the GPS coordinate signal and generating a location map; the location map at least comprises all parking space information and lane sideline information within a preset range around the GPS coordinate position;
the data fusion processing module is used for acquiring external sensor data, fusing the external sensor data with the LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information;
and the GPS correction and positioning module corrects the GPS longitude and latitude information and the altitude information by using the denoised locationMap to obtain the current position and the level of the vehicle.
Further, the LocationMap generation module comprises the following sub-modules:
the data loading module is used for acquiring GPS signals and loading map data around the vehicle from the high-precision map database according to GPS coordinates;
the scene judging module is used for carrying out scene recognition according to map data around the vehicle and judging whether the position of the current vehicle is a multilayer parking lot;
and the generation module is used for identifying and storing key map elements in the peripheral map data to generate the LocationMap.
Further, the data fusion processing module includes:
the external data acquisition module is used for acquiring key map elements around the position where the vehicle is located according to the data of the external sensor;
the matching module is used for matching the key map elements around the position of the vehicle identified according to the external sensor data with the key map elements in the LocationMap;
and the processing module is used for determining the hierarchy information of the current vehicle according to the matching result and carrying out denoising processing on the LocationMap.
Further, the GPS correction and positioning module includes:
the GPS correction module corrects the GPS altitude information by utilizing the hierarchy information; performing GPS lateral deviation constraint by using the lane boundary in the denoised LocationMap; carrying out GPS transverse and longitudinal deviation constraint by using the denoised corner coordinates of other parking spaces around the vehicle in the LocationMap;
and the positioning output module is used for outputting the corrected GPS coordinate signal to obtain the positioning information of the current vehicle.
In a third aspect, the invention further provides a multilayer parking lot positioning device based on high-precision map data, which comprises a processor and a memory;
the memory is a non-transitory computer readable storage medium for storing a computer software program;
the processor is used for reading and executing the computer software program stored in the memory, and the multilayer parking lot positioning method based on the high-precision map data is realized.
The invention has the beneficial effects that: hardware perception in the automatic driving system, such as an ultrasonic radar, a binocular camera and the like, is limited in perception condition and perception range, and a high-precision map can make up for the deficiency of the hardware perception. However, whether the information of the high-precision map sensor can be accurately output depends on whether the vehicle position can be correctly matched with a map, and for the situation that the position of the vehicle is blocked, the position of the vehicle is as follows: in areas such as elevated parking lots and multi-storey parking lots, position information (particularly, altitude) transmitted by hardware such as external sensors in the environment often has errors, and once the errors occur, the position information of a vehicle cannot be guaranteed, and output map information around the vehicle is incorrect. According to the method, firstly, the GPS data and the high-precision map data are utilized to generate the LocationMap, then the LocationMap is filtered by utilizing the external sensor data to obtain the relative position of the vehicle, and then the GPS data is corrected by utilizing the LocationMap to obtain the precise position of the vehicle. According to the invention, the external sensor data, the GPS data and the high-precision map data are subjected to fusion processing, so that the problem of insufficient positioning precision caused by single-mode sensing is avoided, and the positioning precision of the vehicle in automatic driving is improved.
Drawings
Fig. 1 is a flowchart of a method for positioning a multi-layer parking lot based on high-precision map data according to an embodiment of the present invention;
fig. 2 is a flowchart of LocationMap generation according to an embodiment of the present invention;
FIG. 3 is a flow chart of a data fusion process provided by an embodiment of the present invention;
FIG. 4 is a flowchart of a GPS correction and positioning process according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a multi-layer parking lot positioning system based on high-precision map data according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example one
As shown in fig. 1, an embodiment of the present invention provides a method for positioning a multi-layer parking lot based on high-precision map data, including the following steps:
s1, receiving the GPS coordinate signal, acquiring map data around the vehicle from the high-precision map data according to the GPS coordinate signal, and generating a LocationMap; the LocationMap at least comprises all parking space information and lane sideline information in a preset range (such as 100 meters, 50 meters and 30 meters by taking the GPS coordinate position as a center) around the GPS coordinate position;
s2, acquiring external sensor data, fusing the external sensor data with a LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information;
and S3, correcting the longitude and latitude information and the altitude information of the GPS by using the denoised locationMap to obtain the current position and the hierarchy of the vehicle.
Hardware perception in the automatic driving system, such as an ultrasonic radar, a binocular camera and the like, is limited in perception condition and perception range, and a high-precision map can make up for the deficiency of the hardware perception. However, whether the information of the high-precision map sensor can be accurately output depends on whether the vehicle position can be correctly matched with a map, and for the situation that the position of the vehicle is blocked, the position of the vehicle is as follows: in areas such as elevated parking lots and multi-storey parking lots, position information (particularly, altitude) transmitted by hardware such as external sensors in the environment often has errors, and once the errors occur, the position information of a vehicle cannot be guaranteed, and output map information around the vehicle is incorrect. According to the method, firstly, the GPS data and the high-precision map data are utilized to generate the LocationMap, then the LocationMap is filtered by utilizing the external sensor data to obtain the relative position of the vehicle, and then the GPS data is corrected by utilizing the LocationMap to obtain the precise position of the vehicle. According to the invention, the external sensor data, the GPS data and the high-precision map data are subjected to fusion processing, so that the problem of insufficient positioning precision caused by single-mode sensing is avoided, and the positioning precision of the vehicle in automatic driving is improved.
Further, the step S1, as shown in fig. 2, includes the following sub-steps:
s101, acquiring a GPS signal, and loading map data around the vehicle from a high-precision map database according to a GPS coordinate;
s102, carrying out scene recognition according to map data around the vehicle, judging whether the position of the current vehicle is a multilayer parking lot or not, and if so, executing a step S103;
s103, identifying and storing key map elements in the surrounding map data, and generating a LocationMap.
After the GPS signal is acquired, a high-precision map is loaded, scene recognition is carried out according to map data around the vehicle in the high-precision map, and if the vehicle is located in a multilayer parking lot, the problems described in the background technology of the application may occur. At the moment, according to the longitude and latitude data information of the GPS, all map elements in a certain range near the longitude and latitude of the GPS in the high-precision map are extracted in a layered mode, and key map elements such as parking space information, walls, pillars, lane lines and the like are reserved.
Further, the step S2, as shown in fig. 3, includes the following sub-steps:
s201, obtaining key map elements around the position of the vehicle according to data of an external sensor;
s202, matching key map elements around the position of the vehicle identified according to the external sensor data with key map elements in a LocationMap;
and S203, determining the hierarchy information of the current vehicle according to the matching result, and denoising the locationMap.
The denoising process described herein includes deleting key map elements around the position of the vehicle in the LocationMap that do not match the current vehicle hierarchy.
And by denoising, the data processing amount is reduced, and the operation processing speed is increased.
Further, the step S3, as shown in fig. 4, includes the following sub-steps:
correcting the GPS altitude information by utilizing the hierarchy information;
performing GPS lateral deviation constraint by using the lane boundary in the denoised LocationMap;
carrying out GPS transverse and longitudinal deviation constraint by using the denoised corner coordinates of other parking spaces around the vehicle in the LocationMap;
and outputting the corrected GPS coordinate signal to obtain the positioning information of the current vehicle.
Example two
As shown in fig. 5, an embodiment of the present invention provides a multi-layer parking lot location system based on high-precision map data, including:
the location map generation module is used for receiving the GPS coordinate signal, acquiring map data around the vehicle from the high-precision map data according to the GPS coordinate signal and generating a location map; the location map at least comprises all parking space information and lane sideline information within a preset range around the GPS coordinate position;
the data fusion processing module is used for acquiring external sensor data, fusing the external sensor data with the LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information;
and the GPS correction and positioning module corrects the GPS longitude and latitude information and the altitude information by using the denoised locationMap to obtain the current position and the level of the vehicle.
Further, the LocationMap generation module comprises the following sub-modules:
the data loading module is used for acquiring GPS signals and loading map data around the vehicle from the high-precision map database according to GPS coordinates;
the scene judging module is used for carrying out scene recognition according to map data around the vehicle and judging whether the position of the current vehicle is a multilayer parking lot;
and the generation module is used for identifying and storing key map elements in the peripheral map data to generate the LocationMap.
Further, the data fusion processing module includes:
the external data acquisition module is used for acquiring key map elements around the position where the vehicle is located according to the data of the external sensor;
the matching module is used for matching the key map elements around the position of the vehicle identified according to the external sensor data with the key map elements in the LocationMap;
and the processing module is used for determining the hierarchy information of the current vehicle according to the matching result and carrying out denoising processing on the LocationMap.
Further, the GPS correction and positioning module includes:
the GPS correction module corrects the GPS altitude information by utilizing the hierarchy information; performing GPS lateral deviation constraint by using the lane boundary in the denoised LocationMap; carrying out GPS transverse and longitudinal deviation constraint by using the denoised corner coordinates of other parking spaces around the vehicle in the LocationMap;
and the positioning output module is used for outputting the corrected GPS coordinate signal to obtain the positioning information of the current vehicle.
EXAMPLE III
The embodiment of the invention provides a multilayer parking lot positioning device based on high-precision map data, which comprises a processor and a memory, wherein the processor is used for processing the map data;
the memory is a non-transitory computer readable storage medium for storing a computer software program;
the processor is used for reading and executing the computer software program stored in the memory, and the multilayer parking lot positioning method based on the high-precision map data is realized.
It should be noted that the logic instructions in the memory may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A multilayer parking lot positioning method based on high-precision map data is characterized by comprising the following steps:
s1, receiving the GPS coordinate signal, acquiring map data around the vehicle from the high-precision map data according to the GPS coordinate signal, and generating a LocationMap; the location map at least comprises all parking space information and lane sideline information within a preset range around the GPS coordinate position;
s2, acquiring external sensor data, fusing the external sensor data with a LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information;
s3, correcting the longitude and latitude information and the altitude information of the GPS by using the denoised locationMap to obtain the current position and the hierarchy of the vehicle;
the step 2 comprises the following substeps:
s201, obtaining key map elements around the position of the vehicle according to data of an external sensor;
s202, matching key map elements around the position of the vehicle identified according to the external sensor data with key map elements in a LocationMap;
and S203, determining the hierarchy information of the current vehicle according to the matching result, and denoising the locationMap.
2. The method according to claim 1, wherein the step S1 includes the sub-steps of:
s101, acquiring a GPS signal, and loading map data around the vehicle from a high-precision map database according to a GPS coordinate;
s102, carrying out scene recognition according to map data around the vehicle, judging whether the position of the current vehicle is a multilayer parking lot or not, and if so, executing a step S103;
s103, identifying and storing key map elements in the surrounding map data, and generating a LocationMap.
3. The method of claim 1, wherein the de-noising process comprises removing key map elements around the location of the vehicle in the LocationMap that do not match the current vehicle's hierarchy.
4. The method according to claim 1, characterized in that said step 3 comprises the following sub-steps:
correcting the GPS altitude information by utilizing the hierarchy information;
performing GPS lateral deviation constraint by using the lane boundary in the denoised LocationMap;
carrying out GPS transverse and longitudinal deviation constraint by using the denoised corner coordinates of other parking spaces around the vehicle in the LocationMap;
and outputting the corrected GPS coordinate signal to obtain the positioning information of the current vehicle.
5. A multi-floor parking lot positioning system based on high-precision map data is characterized by comprising:
the location map generation module is used for receiving the GPS coordinate signal, acquiring map data around the vehicle from the high-precision map data according to the GPS coordinate signal and generating a location map; the location map at least comprises all parking space information and lane sideline information within a preset range around the GPS coordinate position;
the data fusion processing module is used for acquiring external sensor data, fusing the external sensor data with the LocationMap, positioning hierarchy information of the vehicle, and denoising the LocationMap by using the hierarchy information;
the GPS correction and positioning module corrects the longitude and latitude information and the altitude information of the GPS by using the denoised LocationMap to obtain the current position and the level of the vehicle;
the data fusion processing module comprises:
the external data acquisition module is used for acquiring key map elements around the position where the vehicle is located according to the data of the external sensor;
the matching module is used for matching the key map elements around the position of the vehicle identified according to the external sensor data with the key map elements in the LocationMap;
and the processing module is used for determining the hierarchy information of the current vehicle according to the matching result and carrying out denoising processing on the LocationMap.
6. The system of claim 5, wherein the LocationMap generation module comprises the following sub-modules:
the data loading module is used for acquiring GPS signals and loading map data around the vehicle from the high-precision map database according to GPS coordinates;
the scene judging module is used for carrying out scene recognition according to map data around the vehicle and judging whether the position of the current vehicle is a multilayer parking lot;
and the generation module is used for identifying and storing key map elements in the peripheral map data to generate the LocationMap.
7. The system of claim 5, wherein the GPS fix and location module comprises:
the GPS correction module corrects the GPS altitude information by utilizing the hierarchy information; performing GPS lateral deviation constraint by using the lane boundary in the denoised LocationMap; carrying out GPS transverse and longitudinal deviation constraint by using the denoised corner coordinates of other parking spaces around the vehicle in the LocationMap;
and the positioning output module is used for outputting the corrected GPS coordinate signal to obtain the positioning information of the current vehicle.
8. A multilayer parking lot positioning device based on high-precision map data is characterized by comprising a processor and a memory;
the memory is a non-transitory computer readable storage medium for storing a computer software program;
the processor is used for reading and executing the computer software program stored in the memory to realize the multi-layer parking lot positioning method based on the high-precision map data as claimed in claims 1-4.
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| CN113763744A (en) | 2020-06-02 | 2021-12-07 | 荷兰移动驱动器公司 | Parking position reminder method and vehicle-mounted device |
| CN112229411B (en) * | 2020-10-15 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN114049691A (en) * | 2021-11-05 | 2022-02-15 | 深圳市神州路路通网络科技有限公司 | Parking charge query method, system, device and computer-readable storage medium |
| CN114114369B (en) * | 2022-01-27 | 2022-07-15 | 智道网联科技(北京)有限公司 | Autonomous vehicle positioning method and apparatus, electronic device, and storage medium |
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Denomination of invention: A multi-layer parking lot positioning method based on high-precision map data Granted publication date: 20210817 Pledgee: Wuhan Jiangxia sub branch of Bank of Communications Co.,Ltd. Pledgor: WUHHAN KOTEL BIG DATE Corp. Registration number: Y2025980026798 |