CN115056801B - Multipath identification method and device for autopilot, electronic equipment and storage medium - Google Patents
Multipath identification method and device for autopilot, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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Abstract
The application discloses a multipath identification method and device for automatic driving, electronic equipment and storage medium, wherein the method comprises the following steps: when the differential state of the satellite positioning data at the current moment is a fixed solution, determining the current height difference according to the satellite positioning data at the current moment; acquiring the current running speed of the automatic driving vehicle, and determining a first multipath identifier according to the current running speed and the current height difference; determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by inertial navigation equipment; acquiring the current satellite number, and determining a third multipath identifier according to the current satellite number; and determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification. The application defines three different multipath recognition strategies to redundantly recognize multipath effects, thereby greatly improving the accuracy of multipath effect recognition and the positioning robustness and safety of the automatic driving vehicle.
Description
Technical Field
The present application relates to the field of autopilot technologies, and in particular, to a multipath recognition method and apparatus for autopilot, an electronic device, and a storage medium.
Background
The satellite positioning device based on RTK (Real-TIME KINEMATIC Real-time dynamic differential) can give differential state according to the quality of satellite positioning signals, for example, single-point positioning is 1, dead reckoning is 3, fixed solution is 4, floating solution is 5, and theoretical positioning precision of the fixed solution can be controlled in centimeter level, so that the differential state with highest positioning precision is obtained. However, when the autonomous vehicle runs in some specific scenes, such as urban canyons, the differential state given by the positioning device based on the RTK is a fixed solution, but the actual positioning error may reach the meter level, for example, when the satellite positioning device has multipath effect, and the positioning accuracy and safety of the autonomous vehicle are seriously affected.
In satellite positioning measurements such as GNSS (Global Navigation SATELLITE SYSTEM ), if a satellite signal (reflected wave) reflected by a reflector near a station under test enters a receiver antenna, it interferes with a signal (direct wave) directly from the satellite, so that an observed value deviates from a true value, and a so-called "multipath error" is generated, and an interference time delay effect caused by multipath signal propagation is called a "multipath effect".
When the satellite positioning equipment has multipath effect, the introduction of multipath error affects the positioning accuracy of the automatic driving vehicle, the correction of the positioning error under the multipath scene is mainly focused in the prior art, namely, the influence of the positioning error caused by the multipath effect is reduced after the multipath effect occurs, a scheme for accurately identifying the multipath effect is lacking, and the accurate identification of the multipath effect is particularly important for positioning when the positioning strategy under the multipath scene is adopted, so that the positioning robustness and the positioning safety of the automatic driving vehicle are ensured as much as possible.
Disclosure of Invention
The embodiment of the application provides an automatic driving multipath identification method and device, electronic equipment and storage medium, so as to accurately identify multipath effects and improve the positioning robustness and safety of an automatic driving vehicle.
The embodiment of the application adopts the following technical scheme:
In a first aspect, an embodiment of the present application provides a method for identifying multiple paths in autopilot, where the method includes:
under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determining the current height difference according to the satellite positioning data at the current moment;
Acquiring the current running speed of an automatic driving vehicle, and determining a first multipath identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by inertial navigation equipment;
Acquiring the current satellite number, and determining a third multipath identification according to the current satellite number;
And determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.
Optionally, the satellite positioning data of the current time includes a satellite positioning altitude of the current time, and determining the current altitude difference according to the current satellite positioning data includes:
acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises satellite positioning height of the previous moment;
And determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
Optionally, the determining the first multipath identifier according to the current running speed and the current altitude difference includes:
determining the maximum height difference according to the current running speed and the pitch angle;
and determining the first multipath identification according to the current running speed, the maximum height difference and the current height difference.
Optionally, the determining the first multipath identifier according to the current running speed, the maximum height difference and the current height difference includes:
Comparing the current running speed with a preset running speed threshold value, and comparing the current height difference with the maximum height difference;
If the current running speed is greater than the preset running speed threshold and the current height difference is greater than the maximum height difference, determining that the first multipath mark is an entering multipath mark;
Otherwise, determining that the first multipath identification is not the multipath identification.
Optionally, the determining the second multipath identification according to the first antenna speed and the second antenna speed output by the inertial navigation device includes:
Determining a difference between the first antenna speed and the second antenna speed;
If the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multipath mark is an entering multipath mark;
Otherwise, determining the second multipath identification as the non-entering multipath identification.
Optionally, the determining the third multipath identifier according to the current satellite number includes:
comparing the current satellite number with a preset satellite number threshold;
If the current satellite number is smaller than the preset satellite number threshold, determining that the third multipath identifier is an entering multipath identifier;
Otherwise, determining that the third multipath identification is not the multipath identification.
Optionally, the determining the multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification includes:
Determining whether an incoming multi-path identifier exists in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier;
If yes, determining that the multi-path identification result is that a multi-path scene is entered;
Otherwise, determining that the multi-path identification result does not enter a multi-path scene.
Optionally, after determining a multi-path recognition result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier, the method further includes:
Determining whether an entering multi-path identifier does not exist in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier under the condition that the multi-path scene is already entered;
if yes, the multi-path scene is exited after a preset time period.
In a second aspect, an embodiment of the present application further provides an autopilot multipath identification apparatus, where the apparatus includes:
The first determining unit is used for determining the current height difference according to the satellite positioning data at the current moment when the differential state corresponding to the satellite positioning data at the current moment is in a fixed solution state;
the second determining unit is used for obtaining the current running speed of the automatic driving vehicle and determining a first multipath identifier according to the current running speed and the current height difference;
The third determining unit is used for determining a first antenna speed according to the current altitude difference and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device;
A fourth determining unit, configured to obtain a current satellite number, and determine a third multipath identifier according to the current satellite number;
and a fifth determining unit, configured to determine a multi-path recognition result according to the first multi-path identifier, the second multi-path identifier, and the third multi-path identifier.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
A processor; and
A memory arranged to store computer executable instructions which, when executed, cause the processor to perform any of the methods described hereinbefore.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the methods described above.
The above at least one technical scheme adopted by the embodiment of the application can achieve the following beneficial effects: according to the multipath identification method for automatic driving, under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, the current height difference is determined according to the satellite positioning data at the current moment; acquiring the current running speed of the automatic driving vehicle, and determining a first multipath identifier according to the current running speed and the current altitude difference; determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by inertial navigation equipment; acquiring the current satellite number, and determining a third multipath identifier according to the current satellite number; and determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification. According to the multipath identification method for the automatic driving, three different multipath identification strategies are defined to redundantly identify multipath effects in the current scene, so that the accuracy of multipath effect identification is greatly improved, and the positioning robustness and safety of the automatic driving vehicle are further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a flow chart of a multi-path recognition method for automatic driving according to an embodiment of the application;
Fig. 2 is a schematic structural diagram of an automatic driving multi-path recognition device according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1, a flow chart of an automatic driving multi-path recognition method in an embodiment of the present application is provided, where the method at least includes steps S110 to S150 as follows:
Step S110, when the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determining the current altitude difference according to the satellite positioning data at the current moment.
When the embodiment of the application is used for identifying the multipath effect in the automatic driving scene, the differential state of the satellite positioning data received at the current moment needs to be determined, and when the differential state is a fixed solution, although the theoretical positioning accuracy of the satellite positioning data is higher, if the satellite positioning equipment has the multipath effect, the actual positioning error is greatly increased, so that whether the multipath effect exists needs to be further identified. For the differential state being the non-fixed solution state, the satellite positioning data can be explained to have insufficient precision, and the actual need of identifying the multipath effect is avoided.
When multi-path identification is performed, the current altitude difference needs to be determined based on satellite positioning data received at the current moment, wherein the satellite positioning data refers to positioning signals output by the satellite positioning equipment based on RTK. When the multipath effect occurs, the altitude difference obtained based on the satellite positioning data has a larger deviation, so that the altitude difference can be used as a basis for identifying the multipath effect.
Step S120, obtaining a current running speed of the autonomous vehicle, and determining a first multipath identifier according to the current running speed and the current altitude difference.
In identifying the multipath effect based on the current altitude difference, the driving speed of the autonomous vehicle also affects the identification result, so that the first multipath identification can be determined together with the current driving speed and the current altitude difference, and the first multipath identification is taken as one of the strategies for identifying the multipath effect.
Step S130, determining a first antenna speed according to the current altitude difference, and determining a second multipath identification according to the first antenna speed and a second antenna speed output by the inertial navigation device.
The antenna speed at the current moment, i.e. the first antenna speed, can be calculated by means of differentiation on the basis of the current altitude difference, which characterizes the antenna speed calculated on the basis of the data of the satellite positioning device. Inertial navigation devices such as IMUs (Inertial measurement unit, inertial measurement units) on autonomous vehicles can also output one antenna speed, i.e., a second antenna speed, based on raw data measured by themselves.
Because the data output by the inertial navigation device is not affected by the outside, that is, the problem of multipath effect does not exist, the second multipath identification can be determined by combining the first antenna speed corresponding to the satellite positioning device and the second antenna speed corresponding to the inertial navigation device and is used as a second strategy for identifying the multipath effect.
Step S140, the current satellite number is obtained, and a third multipath identification is determined according to the current satellite number.
The number of satellites also affects the quality of satellite positioning signals to a certain extent, the more the number of satellites is, the better the quality of satellite positioning signals is, and the overall positioning accuracy is improved, so that when the multipath effect is identified, a third multipath identifier can be determined according to the current number of satellites, and can be used as a third strategy for identifying the multipath effect.
Step S150, determining a multi-path recognition result according to the first multi-path identifier, the second multi-path identifier and the third multi-path identifier.
Because the first multipath identifier, the second multipath identifier, the third multipath identifier and the third multipath identifier in the steps are different in change sensitivity, fluctuation characteristics and the like, in order to avoid frequent switching of multipath scenes and improve accuracy of multipath effect identification, a final multipath identification result can be jointly determined through mutual constraint among three multipath identifiers, namely whether the current positioning scene needs to be switched to a positioning strategy of a multipath scene or not is determined, so that positioning robustness and safety of an automatic driving vehicle are ensured.
According to the multipath identification method for the automatic driving, three different multipath identification strategies are defined to redundantly identify multipath effects in the current scene, so that the accuracy of multipath effect identification is greatly improved, and the positioning robustness and safety of the automatic driving vehicle are further improved.
In some embodiments of the present application, the satellite positioning data at the current time includes a satellite positioning altitude at the current time, and determining the current altitude difference according to the current satellite positioning data includes: acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises satellite positioning height of the previous moment; and determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
The current altitude difference in the embodiment of the present application may be understood as a difference between the current satellite positioning altitude and the previous satellite positioning altitude, so that the previous satellite positioning data (pre_ utm _x_cal, pre_ utm _y_cal, pre_ utm _z_cal) may be acquired first, then the previous satellite positioning altitude is pre_ utm _z_cal, and the current satellite positioning altitude is utm _z_cal in the current satellite positioning data (utm _x_cal, utm _y_cal, utm _z_cal), so that the current altitude difference dh may be expressed as:
dh＝abs(utm_z_cal-pre_utm_z_cal)；
abs () is an absolute function, and the coordinates are all represented by UTM (Universal Transverse Mercator GRID SYSTEM, universal transverse ink card grid system) coordinate system.
In some embodiments of the application, the determining the first multipath identification from the current travel speed and the current altitude difference comprises: determining the maximum height difference according to the current running speed and the pitch angle; and determining the first multipath identification according to the current running speed, the maximum height difference and the current height difference.
As previously mentioned, when there is a multipath effect, the altitude difference of the satellite positioning will have large fluctuation and deviation, so that a theoretical maximum altitude difference can be determined first, and the fluctuation condition or deviation degree of the current altitude difference can be measured by the maximum altitude difference.
The maximum height difference max_dh of the embodiment of the application can be determined according to the current running speed and the pitch angle, the pitch angle reflects the change condition of the positioning height along with the fluctuation of the road, and the pitch angle is changed greatly under the condition of climbing or descending, so that the change of the height difference is also great.
max_dh＝abs(vb*sin(abs(pitch+a)*DEG_TO_RAD))；
Where abs () is an absolute function, vb is the current running speed, pitch is the pitch angle, a is the noise value introduced for the pitch angle, DEG_TO_RAD represents the angle TO radian conversion.
In addition, it should be noted that, the current running speed vb refers to a speed in a vehicle body coordinate system, and since the current running speed directly output by the positioning device is typically a speed (vx, vy) in a navigation coordinate system, for example, if a northeast coordinate system is adopted as the navigation coordinate system, vx represents an eastern speed, vy represents a northbound speed, so the embodiment of the present application may convert the speed in the navigation coordinate system into the vehicle body coordinate system before being used for subsequent processing. Specifically, the method can be expressed as:
vb＝sqrt(vx^2+vy^2)；
Where sqrt () is a square root function.
In some embodiments of the present application, the determining the first multipath identification according to the current travel speed, the maximum height difference, and the current height difference includes: comparing the current running speed with a preset running speed threshold value, and comparing the current height difference with the maximum height difference; if the current running speed is greater than the preset running speed threshold and the current height difference is greater than the maximum height difference, determining that the first multipath mark is an entering multipath mark; otherwise, determining that the first multipath identification is not the multipath identification.
In the embodiment of the application, when the first road sign is determined, on one hand, the current speed can be compared with the preset running speed threshold value, on the other hand, the current height difference can be compared with the theoretical maximum height difference, and the comparison on the former aspect is mainly used for limiting the specific situation suitable for multi-path identification, for example, when an automatic driving vehicle enters or is in a parking state, a corresponding positioning strategy under the parking state is usually adopted at the moment, a multi-path scene is not needed to be entered and the positioning strategy of the multi-path scene is adopted, so that if the current running speed is not greater than the preset running speed threshold value, the automatic driving vehicle is indicated to be likely to enter the parking state, and the first multi-path sign can be directly determined not to enter the multi-path sign.
With respect to the second aspect, the determination may be made after determining whether the current running speed meets the preset running speed threshold, or may be performed simultaneously with the previous aspect. The maximum height difference reflects the maximum value of the height difference that the vehicle may cause to fluctuate in case of road fluctuation, and the height difference generated in a relatively flat road scene is generally smaller than the maximum height difference, so if the current height difference is greater than the maximum height difference, the first multipath identification can be determined to be the entering multipath identification, that is, multipath effect is considered to be likely to occur currently, whereas the first multipath identification is determined to be not the entering multipath identification, that is, multipath effect is considered to be likely not to occur currently.
For ease of understanding, the determination of the first path identification flag_dh may be expressed, for example, in the form:
if vb >0.5 and (dh-max_dh) >0.0, then flag_dh=1;
Otherwise, flag_dh is not equal to 1;
wherein flag_dh=1 indicates that the first path identifier is an entering multipath identifier, and 0.5 is an empirical value of a preset running speed threshold, and a person skilled in the art can flexibly adjust the size according to actual situations.
In some embodiments of the application, the determining the second multipath identification from the first antenna speed and the second antenna speed output by the inertial navigation device comprises: determining a difference between the first antenna speed and the second antenna speed; if the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multipath mark is an entering multipath mark; otherwise, determining the second multipath identification as the non-entering multipath identification.
When determining the second multipath identifier, the embodiment of the application can calculate the difference value between the first antenna speed vh1 and the second antenna speed vh0, and then compare the difference value between the first antenna speed and the second antenna speed with the preset antenna speed difference value threshold. Normally, the deviation between the first antenna speed calculated by the satellite positioning device and the second antenna speed output by the inertial navigation device should be smaller, and when the multipath effect occurs, the deviation between the first antenna speed calculated based on the altitude difference and the second antenna speed output by the inertial navigation device becomes larger due to larger fluctuation of the altitude difference, so if the difference between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference threshold value, the second multipath mark can be determined to be the multipath mark, and the multipath effect is considered to be possible at present, otherwise, the second multipath mark is determined to be the multipath mark not to be entered, and the multipath effect is considered to be not possible at present.
For ease of understanding, the determination of the second path identification flag_vel may be expressed, for example, in the form of:
If abs ((abs (vh 1) -abs (vh 0)) >0.2, flag_vel=1;
Otherwise, flag_vel is not equal to 1;
Wherein abs () is an absolute function, flag_vel=1 indicates that the second path identifier is an incoming multipath identifier, and 0.2 is an empirical value of a preset antenna speed difference threshold, and a person skilled in the art can flexibly adjust the size according to actual situations.
In some embodiments of the application, the determining a third multipath identification based on the current number of satellites comprises: comparing the current satellite number with a preset satellite number threshold; if the current satellite number is smaller than the preset satellite number threshold, determining that the third multipath identifier is an entering multipath identifier; otherwise, determining that the third multipath identification is not the multipath identification.
In the embodiment of the application, when the third multipath identifier is determined, the current satellite number GPS num can be compared with the preset satellite number threshold, if the current satellite number is smaller than the preset satellite number threshold, the third multipath identifier can be determined to be the multipath identifier, namely, the multipath effect is considered to be possible to occur at present, otherwise, the third multipath identifier is determined to be the multipath identifier not to be entered, namely, the multipath effect is considered to be possible to be absent at present.
For ease of understanding, the determination of the third path identification flag_num may be expressed, for example, in the form of:
if GPS num <12, flag_num=1;
otherwise, flag_num is not equal to 1;
Wherein, flag_num=1 indicates that the third path identifier is the incoming multipath identifier, 12 is a preset satellite number threshold, which is mainly determined according to the number of satellite positioning systems, for example, there are currently three satellite positioning systems of GPS, beidou and gnonas, each satellite positioning system has at least 4 satellites, where the preset satellite number threshold can be set to 12, and of course, those skilled in the art can flexibly adjust the size according to the actual situation.
In some embodiments of the present application, the determining the multipath recognition result according to the first multipath identification, the second multipath identification and the third multipath identification includes: determining whether an incoming multi-path identifier exists in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier; if yes, determining that the multi-path identification result is that a multi-path scene is entered; otherwise, determining that the multi-path identification result does not enter a multi-path scene.
In the embodiment of the application, when the final multi-path identification result is determined, the three multi-path identifications determined in the previous embodiment can be combined for redundant identification, so as to ensure the accuracy of multi-path identification, on one hand, relatively loose judgment conditions are set when the multi-path identification is determined, namely, when only one of the three multi-path identifications enters the multi-path identification, the multi-path identification can be directly entered into the multi-path identification, and the positioning strategy of the multi-path identification is adopted for positioning, so that the positioning accuracy is ensured.
On the other hand, a relatively strict judgment condition is set when it is determined not to enter or exit the multipath scene because there are differences in the sensitivity of variation, fluctuation conditions, and the like between three different multipath identifications. For example, for a first multipath identification, it is mainly determined directly from the change of the current altitude difference, so the change is more sensitive, while for a second multipath identification, it is required to determine the first antenna speed according to the change of the current altitude difference, and then determine the second multipath identification according to the first antenna speed and the second antenna speed output by the inertial navigation device, so the change is less sensitive to the first multipath identification, while for a third multipath identification, it is determined directly based on the number of satellites, and the change sensitivity is generally higher relative to the first multipath identification and the second multipath identification, so the change can be perceived most quickly. If any one or two of the three multi-path identifiers are non-entering multi-path identifiers, if it is directly determined that the multi-path identifiers are not entering the multi-path scene or the multi-path identifiers are exiting the multi-path scene, the multi-path identifiers may be unstable, and frequent exiting of the multi-path identifiers may be caused, so that the positioning stability of the automatic driving vehicle is affected. Therefore, when the embodiment of the application decides not to enter the multi-path scene or exit the multi-path scene, the embodiment of the application can be executed again under the condition that all three multi-path identifications are not entering the multi-path identifications.
According to the embodiment of the application, through the wide-in and wide-out multi-path identification strategy, on one hand, the accuracy of multi-path identification can be improved, and on the other hand, frequent switching between a multi-path scene and a normal scene can be avoided, so that the positioning robustness and safety of an automatic driving vehicle are ensured.
In some embodiments of the application, after determining a multi-path recognition result from the first multi-path identity, the second multi-path identity, and the third multi-path identity, the method further comprises: determining whether an entering multi-path identifier does not exist in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier under the condition that the multi-path scene is already entered; if yes, the multi-path scene is exited after a preset time period.
The embodiment of the application designs an exit mechanism of a multi-path scene, when the entering multi-path mark does not exist in the current first multi-path mark, the second multi-path mark and the third multi-path mark, for example, the flag_dh, the flag_vel and the flag_num are not equal to 1, so that all three multi-path recognition strategies can not recognize the multi-path effect, and the multi-path scene can be exited.
In order to avoid large fluctuation of the positioning of the automatic driving vehicle caused by directly exiting the multipath scene, the embodiment of the application can delay the exiting of the multipath scene after a preset time period, thereby ensuring the positioning stability of the automatic driving vehicle. The length of the preset time period can be flexibly set according to actual requirements, for example, can be set to 3 seconds, and is not particularly limited herein.
The embodiment of the present application further provides an autopilot multipath recognition device 200, as shown in fig. 2, and a schematic structural diagram of the autopilot multipath recognition device in the embodiment of the present application is provided, where the device 200 includes: a first determination unit 210, a second determination unit 220, a third determination unit 230, a fourth determination unit 240, and a fifth determination unit 250, wherein:
A first determining unit 210, configured to determine, when a differential state corresponding to satellite positioning data at a current time is a fixed solution state, a current altitude difference according to the satellite positioning data at the current time;
a second determining unit 220, configured to obtain a current running speed of an autonomous vehicle, and determine a first multipath identifier according to the current running speed and the current altitude difference;
a third determining unit 230, configured to determine a first antenna speed according to the current altitude difference, and determine a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device;
A fourth determining unit 240, configured to obtain a current number of satellites, and determine a third multipath identifier according to the current number of satellites;
a fifth determining unit 250, configured to determine a multi-path recognition result according to the first multi-path identifier, the second multi-path identifier, and the third multi-path identifier.
In some embodiments of the present application, the satellite positioning data of the current time includes a satellite positioning altitude of the current time, and the first determining unit 210 is specifically configured to: acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises satellite positioning height of the previous moment; and determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
In some embodiments of the present application, the second determining unit 220 is specifically configured to: determining the maximum height difference according to the current running speed and the pitch angle; and determining the first multipath identification according to the current running speed, the maximum height difference and the current height difference.
In some embodiments of the present application, the second determining unit 220 is specifically configured to: comparing the current running speed with a preset running speed threshold value, and comparing the current height difference with the maximum height difference; if the current running speed is greater than the preset running speed threshold and the current height difference is greater than the maximum height difference, determining that the first multipath mark is an entering multipath mark; otherwise, determining that the first multipath identification is not the multipath identification.
In some embodiments of the present application, the third determining unit 230 is specifically configured to: determining a difference between the first antenna speed and the second antenna speed; if the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multipath mark is an entering multipath mark; otherwise, determining the second multipath identification as the non-entering multipath identification.
In some embodiments of the present application, the fourth determining unit 240 is specifically configured to: comparing the current satellite number with a preset satellite number threshold; if the current satellite number is smaller than the preset satellite number threshold, determining that the third multipath identifier is an entering multipath identifier; otherwise, determining that the third multipath identification is not the multipath identification.
In some embodiments of the present application, the fifth determining unit 250 is specifically configured to: determining whether an incoming multi-path identifier exists in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier; if yes, determining that the multi-path identification result is that a multi-path scene is entered; otherwise, determining that the multi-path identification result does not enter a multi-path scene.
In some embodiments of the application, the apparatus further comprises: a fifth determining unit, configured to determine, in a case where a multipath scene has been entered, whether an entering multipath identifier does not exist in the first multipath identifier, the second multipath identifier, and the third multipath identifier; and the exit unit is used for exiting the multi-path scene after a preset time period if yes.
It can be understood that the foregoing automatic driving multi-path recognition device can implement each step of the automatic driving multi-path recognition method provided in the foregoing embodiment, and the relevant explanation about the automatic driving multi-path recognition method is applicable to the automatic driving multi-path recognition device, which is not repeated herein.
Fig. 3 is a schematic structural view of an electronic device according to an embodiment of the present application. Referring to fig. 3, at the hardware level, the electronic device includes a processor, and optionally an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 3, but not only one bus or type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the automatic driving multi-path recognition device on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:
under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determining the current height difference according to the satellite positioning data at the current moment;
Acquiring the current running speed of an automatic driving vehicle, and determining a first multipath identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by inertial navigation equipment;
Acquiring the current satellite number, and determining a third multipath identification according to the current satellite number;
And determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.
The method performed by the automatic driving multi-path recognition apparatus disclosed in the embodiment of fig. 1 of the present application may be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic device may also execute the method executed by the autopilot multipath recognition device in fig. 1, and implement the functions of the autopilot multipath recognition device in the embodiment shown in fig. 1, which is not described herein.
The embodiment of the present application also proposes a computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device that includes a plurality of application programs, enable the electronic device to perform a method performed by the automatic driving multi-path recognition apparatus in the embodiment shown in fig. 1, and specifically configured to perform:
under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determining the current height difference according to the satellite positioning data at the current moment;
Acquiring the current running speed of an automatic driving vehicle, and determining a first multipath identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by inertial navigation equipment;
Acquiring the current satellite number, and determining a third multipath identification according to the current satellite number;
And determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (11)
1. A method of multipath identification for autopilot, wherein the method comprises:
under the condition that the differential state corresponding to the satellite positioning data at the current moment is a fixed solution state, determining the current height difference according to the satellite positioning data at the current moment;
Acquiring the current running speed of an automatic driving vehicle, and determining a first multipath identifier according to the current running speed and the current height difference;
determining a first antenna speed according to the current altitude difference, and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by inertial navigation equipment;
Acquiring the current satellite number, and determining a third multipath identification according to the current satellite number;
And determining a multi-path identification result according to the first multi-path identification, the second multi-path identification and the third multi-path identification.
2. The method of claim 1, wherein the satellite positioning data at the current time comprises a satellite positioning altitude at the current time, and wherein determining the current altitude difference from the current satellite positioning data comprises:
acquiring satellite positioning data of a previous moment, wherein the satellite positioning data of the previous moment comprises satellite positioning height of the previous moment;
And determining the current altitude difference according to the satellite positioning altitude at the current moment and the satellite positioning altitude at the previous moment.
3. The method of claim 1, wherein the determining a first multipath identification from the current travel speed and the current altitude difference comprises:
determining the maximum height difference according to the current running speed and the pitch angle;
and determining the first multipath identification according to the current running speed, the maximum height difference and the current height difference.
4. The method of claim 3, wherein said determining said first multipath identification based on said current travel speed, said maximum height difference and said current height difference comprises:
Comparing the current running speed with a preset running speed threshold value, and comparing the current height difference with the maximum height difference;
If the current running speed is greater than the preset running speed threshold and the current height difference is greater than the maximum height difference, determining that the first multipath mark is an entering multipath mark;
Otherwise, determining that the first multipath identification is not the multipath identification.
5. The method of claim 1, wherein the determining a second multipath identification from the first antenna speed and a second antenna speed output by an inertial navigation device comprises:
Determining a difference between the first antenna speed and the second antenna speed;
If the difference value between the first antenna speed and the second antenna speed is larger than a preset antenna speed difference value threshold, determining that the second multipath mark is an entering multipath mark;
Otherwise, determining the second multipath identification as the non-entering multipath identification.
6. The method of claim 1, wherein the determining a third multipath identification from the current number of satellites comprises:
comparing the current satellite number with a preset satellite number threshold;
If the current satellite number is smaller than the preset satellite number threshold, determining that the third multipath identifier is an entering multipath identifier;
Otherwise, determining that the third multipath identification is not the multipath identification.
7. The method of claim 1, wherein the determining a multi-path recognition result from the first multi-path identity, the second multi-path identity, and the third multi-path identity comprises:
Determining whether an incoming multi-path identifier exists in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier;
If yes, determining that the multi-path identification result is that a multi-path scene is entered;
Otherwise, determining that the multi-path identification result does not enter a multi-path scene.
8. The method of any of claims 1-7, wherein after determining a multi-path recognition result from the first multi-path identity, the second multi-path identity, and the third multi-path identity, the method further comprises:
Determining whether an entering multi-path identifier does not exist in the first multi-path identifier, the second multi-path identifier and the third multi-path identifier under the condition that the multi-path scene is already entered;
if yes, the multi-path scene is exited after a preset time period.
9. A multipath identification device for autopilot, wherein the device comprises:
The first determining unit is used for determining the current height difference according to the satellite positioning data at the current moment when the differential state corresponding to the satellite positioning data at the current moment is in a fixed solution state;
the second determining unit is used for obtaining the current running speed of the automatic driving vehicle and determining a first multipath identifier according to the current running speed and the current height difference;
The third determining unit is used for determining a first antenna speed according to the current altitude difference and determining a second multipath identifier according to the first antenna speed and a second antenna speed output by the inertial navigation device;
A fourth determining unit, configured to obtain a current satellite number, and determine a third multipath identifier according to the current satellite number;
and a fifth determining unit, configured to determine a multi-path recognition result according to the first multi-path identifier, the second multi-path identifier, and the third multi-path identifier.
10. An electronic device, comprising:
A processor; and
A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 8.
11. A computer readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-8.
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| CN115856976B (en) * | 2023-02-27 | 2023-06-02 | 智道网联科技(北京)有限公司 | Fusion positioning method and device for automatic driving vehicle and electronic equipment |
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