CN115416675A - Positioning data processing method and system based on vehicle motion parameters - Google Patents
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Abstract
The embodiment of the application provides a positioning data processing method and system based on vehicle motion parameters, and relates to the technical field of vehicle positioning. The method comprises the following steps: obtaining a current period credible vehicle motion parameter; judging whether the vehicle motion parameters meet first detection conditions, if so, processing the vehicle motion parameters according to first preset conditions; if not, acquiring the current period combination positioning data output by the preset positioner; judging whether the updating of the combined positioning data meets a second detection condition, if so, processing the combined positioning data according to a second preset condition; if not, generating safety range data of the current data cycle according to the vehicle motion parameters; judging whether the combined positioning data meet a third detection condition, if so, processing the combined positioning data according to a third preset condition; if not, outputting the combined positioning data and the safety range data to a preset terminal. The method can achieve the technical effect of carrying out effectiveness detection on the combined positioning data.
Description
Technical Field
The present application relates to the field of vehicle-mounted positioning technologies, and in particular, to a method and a system for processing positioning data based on vehicle motion parameters, an electronic device, and a computer-readable storage medium.
Background
At present, a positioning system formed by combining satellite positioning and an inertial sensor is widely applied to the field of intelligent vehicle driving, provides high-precision positioning information for an intelligent driving system, and is an indispensable positioning sensor for the intelligent driving system, wherein the high-precision positioning information comprises a position (longitude, latitude and altitude), an attitude angle (course angle, pitch angle and roll angle), a speed (east speed, north speed and ground speed), is used for calculating track planning and control of an intelligent driving vehicle, and is used for judgment, functional mode switching and the like of an Operation Design Domain (ODD). In general, a combined positioning system is generally composed of several parts: the system comprises a satellite data receiving device, a deviation correcting data (based on network real-time dynamic positioning N-RTK or precise single-point real-time dynamic positioning PPP-RTK) receiving device, an Inertial sensor (IMU), a processor for running RTK algorithm and combined algorithm and function control, a CAN or Ethernet communication transceiver supporting vehicle information input and high-precision positioning data output and the like.
In the prior art, the combined positioning system is used as a high-precision positioning sensor of the intelligent driving system, and the output positioning data can be used as the input of a downstream planning control algorithm and the judgment condition of the ODD, so that the correctness of the output positioning data can influence the correctness of the downstream calculation and control of the intelligent driving system, and the running safety of the whole intelligent driving function is influenced. The correctness problem of the output of the combined positioning data refers to the correctness problem that the calculation result of the algorithm is wrong due to input information errors such as the faults of the input satellite data, the faults of the correction data, the faults of the IMU, the communication transmission faults and the like, or the calculation result is wrong due to the faults of the algorithm.
Disclosure of Invention
The embodiment of the application aims to provide a positioning data processing method and system based on vehicle motion parameters, an electronic device and a computer readable storage medium, which can be realized.
In a first aspect, an embodiment of the present application provides a method for processing location data based on a vehicle motion parameter, including:
obtaining a current period credible vehicle motion parameter;
judging whether the vehicle motion parameters meet first detection conditions, if so, processing the vehicle motion parameters according to first preset conditions;
if not, acquiring the current period combination positioning data output by the preset positioner;
judging whether the updating of the combined positioning data meets a second preset condition, if so, processing the combined positioning data according to the second preset condition;
if not, generating safety range data of the current data cycle according to the vehicle motion parameters;
judging whether the combined positioning data is in a third detection condition or not, if so, processing the combined positioning data according to a third preset condition;
and if not, outputting the combined positioning data and the safety range data to a preset terminal.
In the implementation process, the positioning data processing method based on the vehicle motion parameters realizes the multiple judgment of detecting whether the vehicle motion parameters are in failure, whether the updating of the combined positioning data is overtime and whether the combined positioning data exceeds the safety range data, realizes the safety range of the combined positioning data based on the input of the vehicle motion parameters and the real-time range check of the combined positioning data, and realizes the technical effect of carrying out validity detection on the combined positioning data.
Further, the step of determining whether the vehicle motion parameter satisfies a first detection condition includes:
and judging whether the vehicle motion parameters are in fault.
Further, the step of processing the vehicle motion parameter according to the first preset condition includes:
adding one to the data failure counter;
judging whether the data failure counter is larger than or equal to a first threshold value, if not, returning to the step of acquiring the motion parameters of the credible vehicle in the current period; and if so, outputting the preset feedback template to a preset terminal.
In the implementation process, the data failure counter is accumulated from zero, and when the vehicle motion parameter fails, the data failure counter is accumulated and added by one, so that the failure frequency of the vehicle motion parameter is accumulated and calculated; if the number of times of the vehicle motion parameter faults exceeds a first threshold value, the obtained vehicle motion parameter is indicated to be possibly problematic, and a preset feedback template is output to a preset terminal for reminding.
Further, the step of determining whether the combined positioning data update satisfies a second detection condition includes:
and judging whether the combined positioning data is updated overtime.
Further, the step of processing the combined positioning data according to a second preset condition includes:
adding one to the overtime fault counter;
judging whether the overtime fault counter is larger than or equal to a second threshold value, if not, returning to the step of acquiring the current period credible vehicle motion parameters; and if so, outputting the preset feedback template to a preset terminal.
In the implementation process, the overtime fault counter starts to accumulate from zero, and when the combined positioning data is overtime, the overtime fault counter accumulates and adds one, so that the overtime times of the combined positioning data are accumulated and calculated; if the overtime times of the combined positioning data exceed the second threshold, the obtained combined positioning data are possibly in a problem, and a preset feedback template is output to a preset terminal for reminding.
Further, the step of judging whether the combined positioning data meets a third detection condition includes:
and judging whether the combined positioning data exceeds the safety range data.
Further, the step of processing the combined positioning data according to a third preset condition includes:
adding one to the accumulated data out-of-range fault counter;
judging whether the data out-of-range fault counter is larger than or equal to a third threshold value, if not, returning to the step of acquiring the credible vehicle motion parameters in the current period; and if so, outputting the preset feedback template to a preset terminal.
In the implementation process, the data out-of-range fault counter is accumulated from zero, and when the combined positioning data is out of range, the data out-of-range fault counter is accumulated by one, so that the number of times of out-of-range occurrence of the combined positioning data is accumulated and calculated; and if the number of times of the combined positioning data exceeding the range exceeds a third threshold value, indicating that the obtained combined positioning data possibly has problems, and outputting a preset feedback template to a preset terminal for reminding.
Further, the preset feedback template is empty, or the preset feedback template includes the combined positioning data, the safety range data, and an invalid flag.
In the implementation process, outputting an invalid mark, namely giving a downstream controller in order to warn that the output corresponding data is unavailable; outputting safety range data, namely, in order to verify the consistency of the data, the invalid mark and the range; alternatively, the position data includes longitude, latitude, and altitude, and the safety range data is allowable range data of each of the longitude, latitude, and altitude.
Further, the vehicle motion parameter is one or more of IMU sensor input data, wheel speed sensor input data.
Further, the vehicle motion parameter includes data flag information, the data flag information includes a data valid bit flag and a communication fault valid flag, the determination of whether the vehicle motion parameter has a fault is determined by reading the data flag information, and if the data valid flag or the communication fault valid flag indicates that the vehicle motion parameter has a fault, the determination of the vehicle motion parameter has a fault; and if the data effective mark and the communication fault effective mark indicate that no fault exists, judging that the vehicle motion parameters have no fault.
Further, the combined positioning data comprises one or more of position data, attitude angle data, velocity data.
Further, the step of generating safety range data of the current data cycle according to the vehicle motion parameters includes:
and calculating to obtain the combined positioning data of the current period according to the vehicle motion parameters of the current period and the trusted combined positioning data of the previous period, and calculating to obtain the safety range data according to the trusted combined positioning data of the previous period and the combined positioning data of the current period.
In a second aspect, an embodiment of the present application provides a positioning data processing system based on vehicle motion parameters, including:
the acquisition module is used for acquiring the credible vehicle motion parameters in the current period;
the motion parameter judging module is used for judging whether the vehicle motion parameters meet first detection conditions or not, and if so, processing the vehicle motion parameters according to first preset conditions; if not, acquiring the current period combination positioning data output by the preset positioner;
the overtime judging module is used for judging whether the updating of the combined positioning data meets a second preset condition or not, and if so, processing the combined positioning data according to the second preset condition; if not, generating safety range data of the current data cycle according to the vehicle motion parameters;
the over-range judging module is used for judging whether the combined positioning data meets a third detection condition or not, and if so, processing the combined positioning data according to a third preset condition;
and the safety output module is used for outputting the combined positioning data and the safety range data to a preset terminal if the combined positioning data and the safety range data are not received.
Furthermore, the motion parameter judgment module is also used for adding one to the accumulation of the data failure counter; judging whether the data failure counter is larger than or equal to a first threshold value, if not, returning to the step of acquiring the credible vehicle motion parameters in the current period; and if so, outputting the preset feedback template to a preset terminal.
Furthermore, the overtime judging module is also used for adding one to the overtime fault counter in an accumulated way; judging whether the overtime fault counter is larger than or equal to a second threshold value, if not, returning to the step of acquiring the motion parameters of the credible vehicle in the current period; and if so, outputting the preset feedback template to a preset terminal.
Furthermore, the over-range judgment module is also used for adding one to the accumulation of the data over-range fault counter; judging whether the data out-of-range fault counter is larger than or equal to a third threshold value, if not, returning to the step of acquiring the credible vehicle motion parameters in the current period; and if so, outputting the preset feedback template to a preset terminal.
In a third aspect, an embodiment of the present application provides an electronic device, including: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having instructions stored thereon, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer, causes the computer to perform the method according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a positioning data processing method based on vehicle motion parameters according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of another positioning data processing method based on vehicle motion parameters according to an embodiment of the present application;
FIG. 3 is a block diagram of a positioning data processing system based on vehicle motion parameters according to an embodiment of the present application;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides a positioning data processing method, a positioning data processing system, electronic equipment and a computer readable storage medium based on vehicle motion parameters, which can be applied to monitoring positioning data of a vehicle place; the positioning data processing method based on the vehicle motion parameters realizes the real-time calculation of the safety range of the combined positioning data based on the input of the vehicle motion parameters through multiple types of judgment of detecting whether the vehicle motion parameters are in failure, whether the combined positioning data is updated overtime and whether the combined positioning data exceeds the safety range data, and carries out real-time range check on the combined positioning data, thereby realizing the technical effect of carrying out effectiveness detection on the combined positioning data.
Referring to fig. 1, fig. 1 is a schematic flow chart of a positioning data processing method based on vehicle motion parameters according to an embodiment of the present application, where the positioning data processing method based on vehicle motion parameters includes the following steps:
s100: and acquiring the credible vehicle motion parameters in the current period.
For example, the vehicle motion parameter may be a vehicle relative motion parameter, including vehicle acceleration, angular velocity, four wheel speed, etc. data; alternatively, the vehicle motion parameters may be acquired by an IMU sensor, a wheel speed sensor, or the like, which is not limited herein.
S200: judging whether the vehicle motion parameters meet first detection conditions or not;
if yes, S210: processing the vehicle motion parameters according to a first preset condition;
if not, S220: and acquiring the current period combination positioning data output by the preset positioner.
Exemplarily, S200: the step of judging whether the vehicle motion parameters meet first detection conditions comprises the following steps: and judging whether the vehicle motion parameters are in fault.
For example, when the credible vehicle motion parameters in the current period are acquired, the flag information of the vehicle motion parameters can be synchronously acquired, and the flag information comprises a data valid flag and a communication fault valid flag, so that whether the vehicle motion parameters are in fault or not can be judged according to the data valid flag and/or the communication fault valid flag.
S300: judging whether the combined positioning data update meets a second detection condition;
if yes, S310: processing the combined positioning data according to a second preset condition;
if not, S320: and generating safety range data of the current data cycle according to the vehicle motion parameters.
Exemplarily, S300: the step of determining whether the combined positioning data update satisfies a second detection condition comprises: judging whether the updating of the combined positioning data is overtime; whether the updating of the combined positioning data is overtime or not is judged, the combined positioning data is guaranteed to be in an available state, the condition that the combined positioning data exceeding the preset time is used is avoided, and the data effectiveness is improved.
For example, whether the update of the combined positioning data is overtime is judged, and a time difference is obtained by subtracting the timestamp output by the combined positioning data of the last period from the timestamp output by the combined positioning data of the current period, and whether the update of the combined positioning data exceeds a preset time is judged according to the time difference.
S400: judging whether the combined positioning data meets a third detection condition;
if yes, S410: processing the combined positioning data according to a third preset condition;
if not, S420: and outputting the combined positioning data and the safety range data to a preset terminal.
Exemplarily, S400: the step of judging whether the combined positioning data meets the third detection condition comprises the following steps: and judging whether the combined positioning data exceeds the safety range data.
For example, the safety range data of the current data cycle is generated by the vehicle motion parameter, and the safety range data of the current cycle may be calculated based on the vehicle motion parameter of the previous cycle.
In some embodiments, the preset terminal may be a front-end display device of a vehicle, a vehicle controller, or a vehicle automatic driving processor, which are only examples and not limited herein.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating another positioning data processing method based on vehicle motion parameters according to an embodiment of the present disclosure.
Exemplarily, S210: the method comprises the following steps of processing vehicle motion parameters according to a first preset condition, wherein the steps comprise:
s211: adding one to the data failure counter;
s212: judging whether the data failure counter is larger than or equal to a first threshold value or not;
if not, returning to execute S100: acquiring a current period credible vehicle motion parameter;
if yes, S500: and outputting the preset feedback template to a preset terminal.
Illustratively, the data failure counter accumulates from zero, and when the vehicle motion parameter fails, the data failure counter accumulates and adds one, so as to accumulate and calculate the number of times that the vehicle motion parameter fails; if the number of times of the vehicle motion parameter faults exceeds a first threshold value, the obtained vehicle motion parameter is indicated to be possibly problematic, and a preset feedback template is output to a preset terminal for reminding.
Exemplarily, S310: the step of processing the combined positioning data according to a second preset condition comprises the following steps:
s311: adding one to the overtime fault counter;
s312: judging whether the overtime fault counter is larger than or equal to a second threshold value or not;
if not, returning to execute S100: acquiring a current period credible vehicle motion parameter;
if yes, S500: and outputting the preset feedback template to a preset terminal.
Illustratively, the overtime fault counter starts to accumulate from zero, and when the combined positioning data is overtime, the overtime fault counter accumulates and adds one, so that the times of overtime occurrence of the combined positioning data are accumulated and calculated; if the overtime times of the combined positioning data exceed a second threshold, it is indicated that the obtained combined positioning data may have problems, and the preset feedback template is output to the preset terminal for reminding.
Exemplarily, S410: the step of processing the combined positioning data according to a third preset condition comprises the following steps:
s411: adding one to the data out-of-range fault counter;
s412: judging whether the data out-of-range fault counter is larger than or equal to a third threshold value or not;
if not, returning to execute S100: acquiring the motion parameters of the credible vehicle in the current period;
if yes, S500: and outputting the preset feedback template to a preset terminal.
Illustratively, the data out-of-range fault counter accumulates from zero, and when the combined positioning data is out of range, the data out-of-range fault counter accumulates to increase by one, so that the number of times of out-of-range occurrence of the combined positioning data is accumulated and calculated; and if the number of times of the combined positioning data exceeding the range exceeds a third threshold value, indicating that the obtained combined positioning data possibly has problems, and outputting a preset feedback template to a preset terminal for reminding.
Illustratively, the preset feedback template is empty, or the preset feedback template includes combined positioning data, safety range data, and an invalid flag.
In some embodiments, the preset feedback template is output to the preset terminal in a form of not outputting any data, or outputting combined positioning data, a data invalid flag and safety range data.
Illustratively, an invalid flag is output to the downstream controller in order to alert the downstream controller that the corresponding data being output is not available; outputting safety range data, namely, in order to verify the consistency of the data, the invalid mark and the range; alternatively, taking the position data as an example, the position data includes longitude, latitude, and altitude, and the safety range data is allowable range data of each of the longitude, latitude, and altitude.
Illustratively, the vehicle motion parameter is one or more of IMU sensor input data, wheel speed sensor input data.
Illustratively, the vehicle motion parameter includes data flag information, the data flag information includes a data valid bit flag and a communication fault valid flag, whether the vehicle motion parameter has a fault is judged by reading the data flag information, and if the data valid flag or the communication fault valid flag indicates that the vehicle motion parameter has a fault, the vehicle motion parameter is judged to have a fault; and if the data effective mark and the communication fault effective mark indicate that no fault exists, judging that the vehicle motion parameters have no fault.
Illustratively, the wheel speed sensor refers to a four-wheel vehicle speed sensor of the vehicle.
In some embodiments, the vehicle motion parameter is a trusted input; the credible input information refers to IMU sensor input data and fault information meeting the ISO26262 functional safety standard; or wheel speed sensor input data and fault information meeting ISO26262 functional safety standards.
For example, acceleration, angular velocity provided by IMU sensor input data, and wheel speed data provided by wheel speed sensors are relative amounts of motion, which may be used to calculate safety range data for absolute quantities such as position data, attitude angle data, speed data, and the like.
Illustratively, the theoretical position, the theoretical attitude angle and the theoretical speed of the current cycle are calculated according to the trusted position, the attitude angle and the speed of the previous cycle, the safe range is calculated according to the theoretical position, the theoretical attitude angle and the theoretical speed of the current cycle by taking the trusted position, the attitude angle and the speed of the previous cycle as a reference, and the position, the attitude angle, the speed and the safe range output by the current cycle are compared to judge whether the range is exceeded.
In some embodiments, combining positioning data with attitude angle data, for example, current cycle theoretical attitude angle calculations and safe range calculations are performed based on current cycle vehicle motion parameters (e.g., acceleration a, angular rate ω in IMU sensor input data) and previous cycle trusted attitude angle data. The calculation formula of the theoretical attitude angle data of the current period is exemplified as follows:
and taking the trusted attitude angle data of the previous period as the attitude angle data of the initial t0 moment of the current period, and recording as phi (t 0). The theoretical attitude angle phi (t) at the time of the current period t can be determined simply by integrating the angular rate omega for the current period:
the safe range data phi(s) of the attitude angle data is calculated in the following mode: taking phi (t 0) as a reference and taking (phi (t) -phi (t 0)) (1 + x%) as a positive and negative direction range of the error;
wherein, the range of X% is 20% -40%, preferably 30%.
Optionally, with a certain margin X as the safety range and X as the custom, consider a proportional limit that verifies that the data is too distributed, such as a limit X ° (degrees) corresponding to 3 Sigma.
In some embodiments, the combined positioning data is exemplified by velocity data, and the current cycle theoretical velocity calculation and the safe range calculation are performed based on the current cycle vehicle motion parameters (e.g., acceleration a, angular velocity ω in the IMU sensor input data) and the previous cycle trusted velocity data. An example of the current period theoretical velocity data calculation formula is as follows (before velocity data calculation and updating, the coordinate system conversion is needed to be performed on the acceleration data a and attitude angle data phi updating results of the data input by the IMU sensor, and the IMU carrier coordinate system is converted into a position-velocity solution coordinate system):
the previous period credible speed data is taken as the speed at the initial t0 moment of the current period and is recorded as mu (t 0). The theoretical velocity μ (t) at the instant of the current cycle t can be determined simply by integrating the acceleration a of the current cycle:
the safety range data μ(s) of the velocity data is calculated in the following manner: a circle with a radius of (μ (t) - μ (t 0)) (1 + x%) based on μ (t 0);
wherein, the range of X% is 20% -40%, preferably 30%.
Optionally, a certain margin X is taken as a safety range, and X is a custom, considering a limit of the scale for which the verification data is just too distributed, such as a limit Xm/s (meters/second) corresponding to 3 Sigma.
In some embodiments, combining positioning data, for example, position data, a current cycle theoretical position calculation and a safe range calculation are performed based on current cycle vehicle motion parameters (e.g., acceleration a, angular velocity ω in IMU sensor input data) and previous cycle trusted position data. The calculation formula of the theoretical position data of the current cycle is exemplified as follows:
and taking the credible position data of the previous period as the position at the initial t0 moment of the current period, and recording the position as gamma (t 0). The theoretical position γ (t) at the instant of the current period t can be determined simply by integrating the velocity μ of the current period:
the safety range data γ(s) of the position data is calculated in the following manner: a circle with γ (t 0) as a reference and (γ (t) - γ (t 0)) (1 + x%) as a radius;
wherein, the range of X% is 20% -40%, preferably 30%.
Optionally, a certain margin X is taken as a safety range, X is a custom, and a proportional limit is considered for verifying that the data is just too distributed, such as a limit xm (meters) corresponding to 3 Sigma.
Illustratively, the combined positioning data includes one or more of position data, attitude angle data, velocity data.
Illustratively, the position data includes longitude, latitude, altitude, the attitude angle data includes heading angle, pitch angle, roll angle, and the speed data includes east speed, north speed, and ground speed.
For example, the positioning data processing method based on the vehicle motion parameter provided in the embodiment of the present application can calculate and obtain the theoretical position, the theoretical attitude angle, and the theoretical speed of the current cycle according to the trusted position, the attitude angle, and the speed of the previous cycle, calculate the safety range according to the theoretical position, the theoretical attitude angle, and the theoretical speed of the current cycle with the trusted position, the attitude angle, and the speed of the previous cycle as references, compare the position, the attitude angle, and the speed output in the current cycle with the safety range, and determine whether the position, the attitude angle, the speed, and the safety range exceed the range. If the output data of the current period combination algorithm is judged to be in the corresponding safety range, outputting the corresponding data and the effective zone bit and the protection range data thereof; if the output data of the current period combination algorithm is judged to be out of the corresponding safety range, outputting the corresponding data and the invalid flag bit and the protection range data thereof, counting a plurality of periods, if the data of the plurality of periods is invalid, judging that the driving period has a continuous fault, and permanently outputting a data invalid flag in the driving period. Based on the logic, the positioning data processing method based on the vehicle motion parameters can effectively cover real-time input faults/real-time algorithm faults/continuous input faults/continuous algorithm faults; and the consistency of the corresponding data, the valid flag bit and the protection range data can be verified by reading finally output data including position/attitude angle/speed data, valid flags thereof and corresponding protection range data in a test, and the action effect of the positioning data processing method based on the vehicle motion parameters can also be verified in a fault injection mode.
In some implementation scenarios, the embodiments of the present application provide a protection method for calculating, in real time, a safety range of current periodic combined positioning data output by a high-precision combined positioning system based on a trusted vehicle motion parameter input, and performing real-time range check. The method can overcome the failure that the positioning output quantity exceeds the range caused by the faults of the input data and the communication link thereof, algorithm faults and the like in the prior art. The corresponding software calculation and range check are realized in a relatively independent safety protection module and are deployed at the output back end of the combined algorithm.
In some implementation scenarios, the combined positioning data is exemplified by position data, the vehicle motion parameters are exemplified by data input by an IMU sensor, and a specific flow example of the positioning data processing method based on the vehicle motion parameters is as follows:
step 1: acquiring IMU sensor input data, and corresponding data valid flag bits and communication fault valid flag bits;
step 2: judging whether the input data of the IMU sensor has faults or not, if the effective data zone bit or the effective communication fault zone bit indicates that the fault exists, judging that the input data of the IMU sensor has faults, and executing the step 3; if the data effective flag bit and the communication fault effective flag indicate that no fault exists, judging that the data input by the IMU sensor has no fault, and executing the step 5;
and 3, step 3: the data failure counter increments count 1 (increments from 1);
and 4, step 4: judging whether the data failure counter reaches a first threshold value or not, and executing the step 1 if the data failure counter does not reach the first threshold value; if yes, executing step 14;
and 5: reading position data output by a combined positioning algorithm;
and 6: judging whether the position data update output by the combined positioning is overtime, namely whether the output timestamp of the current period position subtracts the output timestamp of the previous period and exceeds the preset time or not; if the preset time is exceeded, executing the step 7; if the preset time is not exceeded, executing the step 9;
and 7: the timeout fault counter increments count 1 (increments from 1);
and 8: judging whether the position data updating overtime fault counter output by the combined positioning reaches a second threshold value or not, and executing the step 1 if the position data updating overtime fault counter does not reach the second threshold value; if yes, executing step 14;
and step 9: calculating the safety range of the position data of the current period based on the position data of the previous credible period, namely the initial position value, and the corresponding axial acceleration/angular rate data read in the period;
illustratively, the axial acceleration/angular velocity refers to the XYZ axes of the vehicle, typically the vehicle head-tail axial direction is the X axis, the vehicle left and right axial directions are the Y axis, and the vehicle bottom and roof axial directions are the Z axis.
Step 10: judging whether the current period position data exceeds a position safety range, if the current period position data exceeds the safety range of the corresponding axial direction in each axial direction, judging that the position data exceeds the safety range, and executing a step 12; if all the axial directions do not exceed the safety ranges of the corresponding axial directions, judging that the position data do not exceed the safety ranges, and executing the step 11;
step 11: the safety protection module outputs position data, a data valid flag and safety range data;
step 12: the safety protection module does not output any data or output position data, data invalid marks and safety range data, and meanwhile, the data out-of-range fault counter accumulates count 1 (accumulation is started from 1);
step 13: judging whether the data out-of-range fault counter reaches a threshold value or not, and executing the step 1 if the data out-of-range fault counter does not reach the threshold value; if yes, executing step 14;
step 14: the safety module does not output any data or position data, data invalid marks and safety range data in the driving period.
In some implementation scenarios, the positioning data is combined by using attitude angle data as an example, the vehicle motion parameters are input by using IMU sensor as an example, and a specific flow of the positioning data processing method based on the vehicle motion parameters is as follows:
step 1: acquiring IMU sensor input data, and corresponding data valid flag bits and communication fault valid flag bits;
step 2: judging whether the input data of the IMU sensor has faults or not, if the effective data zone bit or the effective communication fault zone bit indicates that the fault exists, judging that the input data of the IMU sensor has faults, and executing the step 3; if the data effective zone bit and the communication fault effective mark indicate that no fault exists, judging that the IMU sensor input data has no fault, and executing the step 5;
and step 3: the data failure counter increments count 1 (increments from 1);
and 4, step 4: judging whether the data failure counter reaches a first threshold value or not, and executing the step 1 if the data failure counter does not reach the first threshold value; if yes, executing step 14;
and 5: reading attitude angle data output by a combined positioning algorithm;
and 6: judging whether the attitude angle data output by the combined positioning is updated overtime, namely whether the current period attitude angle output timestamp minus the last period output timestamp exceeds the preset time; if the preset time is exceeded, executing the step 7; if the preset time is not exceeded, executing the step 9;
and 7: the timeout fault counter increments count 1 (increments from 1);
and 8: judging whether the attitude angle data updating overtime fault counter output by combined positioning reaches a second threshold value or not, and executing the step 1 if the attitude angle data updating overtime fault counter does not reach the second threshold value; if yes, executing step 14;
and step 9: calculating the safety range of the attitude angle data of the current period based on the attitude angle data of the previous credible period, namely the initial attitude angle value, and the corresponding axial acceleration/angular rate data read in the period;
step 10: judging whether the attitude angle data of the current period exceeds an attitude angle safety range, if so, judging that the attitude angle data exceeds the safety range of the corresponding axial direction, and executing the step 12; if all the axial directions do not exceed the safety ranges of the corresponding axial directions, judging that the attitude angle data do not exceed the safety ranges, and executing the step 11;
step 11: the safety protection module outputs attitude angle data, a data effective mark and safety range data;
step 12: the safety protection module does not output any data or outputs attitude angle data, data invalid marks and safety range data, and meanwhile, the data out-of-range fault counter accumulates count 1 (accumulation is started from 1);
step 13: judging whether the data out-of-range fault counter reaches a threshold value or not, and executing the step 1 if the data out-of-range fault counter does not reach the threshold value; if yes, executing step 14;
step 14: the safety module does not output any data or attitude angle data, data invalid marks and safety range data in the driving period.
In some implementation scenarios, the combined positioning data is exemplified by speed data, the vehicle motion parameter is exemplified by IMU sensor input data, and a specific flow of the positioning data processing method based on the vehicle motion parameter is as follows:
step 1: acquiring IMU sensor input data, and corresponding data valid flag bits and communication fault valid flag bits;
step 2: judging whether the input data of the IMU sensor has faults or not, if the effective data zone bit or the effective communication fault zone bit indicates that the fault exists, judging that the input data of the IMU sensor has faults, and executing the step 3; if the data effective zone bit and the communication fault effective mark indicate that no fault exists, judging that the IMU sensor input data has no fault, and executing the step 5;
and step 3: the data failure counter increments count 1 (increments from 1);
and 4, step 4: judging whether the data failure counter reaches a first threshold value or not, and executing the step 1 if the data failure counter does not reach the first threshold value; if yes, executing step 14;
and 5: reading speed data output by a combined positioning algorithm;
step 6: judging whether the updating of the speed data output by the combined positioning is overtime, namely whether the current period speed output timestamp minus the last period output timestamp exceeds the preset time; if the preset time is exceeded, executing the step 7; if the preset time is not exceeded, executing the step 9;
and 7: the timeout fault counter increments count 1 (increments from 1);
and 8: judging whether the speed data updating overtime fault counter output by the combined positioning reaches a second threshold value or not, and executing the step 1 if the speed data updating overtime fault counter does not reach the second threshold value; if yes, executing step 14;
and step 9: calculating the safety range of the speed data of the current period based on the speed data of the previous credible period, namely the initial speed value, and the corresponding axial acceleration/angular rate data read in the period;
step 10: judging whether the speed data in the current period exceeds a speed safety range, if the speed data in each axial direction exceeds the safety range of the corresponding axial direction, judging that the speed data exceeds the safety range, and executing a step 12; if all the axial directions do not exceed the safety ranges of the corresponding axial directions, judging that the speed data do not exceed the safety ranges, and executing the step 11;
step 11: the safety protection module outputs speed data, a data valid flag and safety range data;
step 12: the safety protection module does not output any data or speed data, data invalid marks and safety range data, and meanwhile, the data out-of-range fault counter accumulates count 1 (accumulates from 1);
step 13: judging whether the data out-of-range fault counter reaches a threshold value or not, and executing the step 1 if the data out-of-range fault counter does not reach the threshold value; if yes, executing step 14;
step 14: the safety module does not output any data or speed data, data invalid marks and safety range data in the driving period.
Referring to fig. 3, fig. 3 is a block diagram of a positioning data processing system based on vehicle motion parameters according to an embodiment of the present application, where the positioning data processing system based on vehicle motion parameters includes:
the acquiring module 100 is used for acquiring the motion parameters of the credible vehicle in the current period;
the motion parameter judging module 200 is used for judging whether the vehicle motion parameters are in failure or not, and if yes, processing the vehicle motion parameters according to a first preset condition; if not, acquiring the current period combination positioning data output by the preset positioner;
the timeout judging module 300 is configured to judge whether updating of the combined positioning data is timeout, and if yes, process the combined positioning data according to a second preset condition; if not, generating safety range data of the current data cycle according to the vehicle motion parameters;
the out-of-range judging module 400 is configured to judge whether the combined positioning data exceeds the safety range data, and if so, process the combined positioning data according to a third preset condition;
and the safety output module 500 is used for outputting the combined positioning data and the safety range data to a preset terminal if the combined positioning data and the safety range data are not received.
Illustratively, the motion parameter determining module 200 is further configured to add one to the data failure counter; judging whether the data failure counter is larger than or equal to a first threshold value, if not, returning to the step of acquiring the motion parameters of the credible vehicle in the current period; and if so, outputting the preset feedback template to a preset terminal.
Illustratively, the timeout determining module 300 is further configured to add one to the timeout failure counter; judging whether the overtime fault counter is larger than or equal to a second threshold value, if not, returning to the step of acquiring the motion parameters of the credible vehicle in the current period; and if so, outputting the preset feedback template to a preset terminal.
Illustratively, the out-of-range determination module 400 is further configured to add one to the data out-of-range fault counter; judging whether the data out-of-range fault counter is larger than or equal to a third threshold value, if not, returning to the step of acquiring the motion parameters of the credible vehicle in the current period; and if so, outputting the preset feedback template to a preset terminal.
Fig. 4 is a schematic view of an electronic device, and fig. 4 is a block diagram of the electronic device according to an embodiment of the present disclosure. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Wherein the communication bus 540 is used for realizing direct connection communication of the components. In this embodiment, the communication interface 520 of the electronic device is used for performing signaling or data communication with other node devices. Processor 510 may be an integrated circuit chip having signal processing capabilities.
The Processor 510 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.
The Memory 530 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory 530 stores computer readable instructions, which when executed by the processor 510, enable the electronic device to perform the steps involved in the method embodiments of fig. 1-2 described above.
Optionally, the electronic device may further include a memory controller, an input output unit.
The memory 530, the memory controller, the processor 510, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, these components may be electrically coupled to each other via one or more communication buses 540. The processor 510 is used to execute executable modules stored in the memory 530, such as software functional modules or computer programs included in the electronic device.
The input and output unit is used for providing a task for a user and starting an optional time interval or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 4 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 4 or may have a different configuration than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof.
The embodiments of the present application further provide a storage medium, where instructions are stored in the storage medium, and when the instructions are run on a computer, when the computer program is executed by a processor, the method described in the method embodiments is implemented, and for avoiding repetition, details are not repeated here.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative and, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several 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 application. 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 an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (18)
1. A positioning data processing method based on vehicle motion parameters is characterized by comprising the following steps:
obtaining a current period credible vehicle motion parameter;
judging whether the vehicle motion parameters meet first detection conditions, if so, processing the vehicle motion parameters according to first preset conditions;
if not, acquiring the current period combination positioning data output by the preset positioner;
judging whether the updating of the combined positioning data meets a second detection condition, and if so, processing the combined positioning data according to a second preset condition;
if not, generating safety range data of the current data cycle according to the vehicle motion parameters;
judging whether the combined positioning data meets a third detection condition, if so, processing the combined positioning data according to a third preset condition;
and if not, outputting the combined positioning data and the safety range data to a preset terminal.
2. The method for processing the positional data based on the vehicle motion parameter according to claim 1, wherein the step of determining whether the vehicle motion parameter satisfies a first detection condition includes:
and judging whether the vehicle motion parameters are in fault or not.
3. The method for processing the positioning data based on the vehicle motion parameter according to claim 2, wherein the step of processing the vehicle motion parameter according to the first preset condition comprises:
adding one to the data failure counter;
judging whether the data failure counter is larger than or equal to a first threshold value, if not, returning to the step of acquiring the credible vehicle motion parameters in the current period; and if so, outputting the preset feedback template to a preset terminal.
4. The method for processing the positioning data based on the vehicle motion parameter according to claim 1, wherein the step of judging whether or not the combined positioning data update satisfies a second detection condition includes:
and judging whether the combined positioning data is updated overtime.
5. The method for processing positioning data based on vehicle motion parameters according to claim 4, wherein the step of processing the combined positioning data according to a second preset condition comprises:
adding one to the overtime fault counter;
judging whether the overtime fault counter is larger than or equal to a second threshold value, if not, returning to the step of acquiring the motion parameters of the credible vehicle in the current period; and if so, outputting the preset feedback template to a preset terminal.
6. A method for processing positional data based on vehicle motion parameters according to claim 1, wherein said step of determining whether or not said combined positional data satisfies a third detection condition comprises:
and judging whether the combined positioning data exceeds the safety range data or not.
7. The method for processing positioning data based on vehicle motion parameters according to claim 6, wherein the step of processing the combined positioning data according to a third preset condition comprises:
adding one to the data out-of-range fault counter;
judging whether the data out-of-range fault counter is larger than or equal to a third threshold value, if not, returning to the step of acquiring the current period credible vehicle motion parameters; and if so, outputting the preset feedback template to a preset terminal.
8. A method for processing positioning data based on vehicle motion parameters according to any of claims 1-7, characterized in that a preset feedback template is empty or comprises the combined positioning data, the safety range data and an invalid flag.
9. The method of claim 1, wherein the vehicle motion parameter is one or more of IMU sensor input data, wheel speed sensor input data.
10. The method for processing the positioning data based on the vehicle motion parameter according to claim 2, wherein the vehicle motion parameter includes data flag information, the data flag information includes a data valid bit flag and a communication fault valid flag, the determining whether the vehicle motion parameter is faulty is determined by reading the data flag information, and if the data valid flag or the communication fault valid flag indicates that there is a fault, the vehicle motion parameter is determined to be faulty; and if the data effective mark and the communication fault effective mark indicate that no fault exists, judging that the vehicle motion parameters have no fault.
11. A method for processing positional data based on vehicle motion parameters according to claim 1, characterized in that the combined positional data comprises one or more of position data, attitude angle data, speed data.
12. The method for processing the positioning data based on the vehicle motion parameter according to claim 1, wherein the step of generating the safety range data of the current data cycle according to the vehicle motion parameter comprises:
and calculating to obtain the combined positioning data of the current period according to the vehicle motion parameters of the current period and the trusted combined positioning data of the previous period, and calculating to obtain the safety range data according to the trusted combined positioning data of the previous period and the combined positioning data of the current period.
13. The method for processing positioning data based on vehicle motion parameters according to claim 1, wherein the combined positioning data is attitude angle data, and safety range data of a current data cycle is generated according to the vehicle motion parameters, and the method comprises:
and calculating to obtain theoretical attitude angle data and safety range data of the current period based on the vehicle motion parameters of the current period and the credible attitude angle data of the previous period.
14. The method for processing positioning data based on vehicle motion parameters according to claim 1, wherein the combined positioning data is speed data, and safety range data of a current data cycle is generated according to the vehicle motion parameters, comprising:
and calculating to obtain theoretical speed data and safety range data of the current period based on the vehicle motion parameters of the current period and the credible speed data of the previous period.
15. The method for processing positioning data based on vehicle motion parameters according to claim 1, wherein the combined positioning data is position data, and safety range data of a current data cycle is generated according to the vehicle motion parameters, and the method comprises:
and calculating to obtain theoretical position data and safety range data of the current period based on the vehicle motion parameters of the current period and the credible position data of the previous period.
16. A system for processing positional data based on vehicle motion parameters, comprising:
the acquisition module is used for acquiring the motion parameters of the credible vehicle in the current period;
the motion parameter judging module is used for judging whether the vehicle motion parameters meet first detection conditions or not, and if so, processing the vehicle motion parameters according to first preset conditions; if not, acquiring the current period combination positioning data output by the preset positioner;
the overtime judging module is used for judging whether the updating of the combined positioning data meets a second detection condition or not, and if so, processing the combined positioning data according to a second preset condition; if not, generating safety range data of the current data cycle according to the vehicle motion parameters;
the over-range judging module is used for judging whether the combined positioning data is in a third detection condition or not, and if so, processing the combined positioning data according to a third preset condition;
and the safety output module is used for outputting the combined positioning data and the safety range data to a preset terminal if the combined positioning data and the safety range data are not received.
17. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for processing positioning data based on vehicle movement parameters according to any of claims 1 to 16 when executing the computer program.
18. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to execute the method for processing positioning data based on vehicle motion parameters according to any one of claims 1 to 16.
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| JP5263260B2 (en) * | 2010-10-27 | 2013-08-14 | 株式会社デンソー | Positioning device for moving body and car navigation device |
| US9529092B2 (en) * | 2013-06-25 | 2016-12-27 | Caterpillar Inc. | Positioning error detection and mitigation system and method |
| IL250382B (en) * | 2017-01-31 | 2021-01-31 | Arbe Robotics Ltd | A radar-based system and method for real-time simultaneous localization and mapping |
| CN109212572B (en) * | 2018-08-31 | 2021-05-04 | 百度在线网络技术（北京）有限公司 | Positioning drift detection method, device and equipment and computer readable storage medium |
| US11181383B2 (en) * | 2018-09-15 | 2021-11-23 | Toyota Research Institute, Inc. | Systems and methods for vehicular navigation and localization |
| DE102019216104A1 (en) * | 2019-10-18 | 2021-04-22 | Zf Friedrichshafen Ag | Method for processing GPS position signals in a vehicle |
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