CN116539048A - Method, system, medium and equipment for obtaining absolute coordinates of vehicle positioning in cockpit domain - Google Patents

Abstract

The invention discloses a method, a system, a medium and equipment for acquiring vehicle positioning absolute coordinates in a cabin area, wherein the method comprises the following steps: acquiring high-precision road map data and lane attribute information of a target vehicle; defining a first point of a lane center line where a target vehicle is located as a reference point, and acquiring an offset of the target vehicle based on the reference point; searching the longitude and latitude absolute coordinates of the datum point in the high-precision road map data according to the lane attribute information of the target vehicle; calculating the longitude and latitude absolute coordinates of the target vehicle according to the longitude and latitude absolute coordinates of the reference point and the offset of the target vehicle based on the reference point; the intelligent driving method solves the problems that in auxiliary intelligent driving of the vehicle, the intelligent driving domain and the cabin domain interact to send absolute coordinates of vehicle positioning, and lane-level navigation rendered by the cabin domain can not display real-time positions of the vehicle.

Description

Method, system, medium and equipment for obtaining absolute coordinates of vehicle positioning in cockpit domain

technical field

The present invention relates to the technical field of mutual interaction between the intelligent driving domain and the cockpit domain, and in particular to a method, system, medium and equipment for obtaining absolute coordinates of vehicle positioning in the cockpit domain.

Background technique

The cockpit domain is mainly used to render lane-level navigation information and human-computer interaction. The intelligent driving domain is mainly used to control the vehicle with specific instructions for assisting intelligent driving. When the rendering engine in the cockpit domain renders the lane-level navigation, it needs to render the specific position of the vehicle. The map data of the rendered lane-level navigation is the absolute latitude and longitude coordinates with offset, which requires the vehicle positioning information input by the intelligent driving domain to be the absolute latitude and longitude coordinates. The positioning information transmitted from the smart driving domain to the cockpit domain is used to display the position of the vehicle on the map, so the positioning information input by the smart driving domain must be consistent with the coordinate system of the map data. When the smart driving domain is sending the location information of the vehicle, according to the regulations of the National Bureau of Testing, it is not possible to directly send absolute coordinates between different domains, which involves information security issues. It is illegal to directly send absolute coordinates of latitude and longitude, which leads to automatic If the car does not receive absolute coordinates, it cannot display the real-time location of the car on the map, but the location information of the car can only be transmitted from the smart driving domain to the cockpit domain.

Therefore, it is necessary to provide a solution to solve the problem that the smart driving domain cannot send the absolute coordinates of latitude and longitude to the cockpit domain, which causes the cockpit domain rendering engine to be unable to render the position of the vehicle to match the map data.

Contents of the invention

The present invention provides a method, system, medium and equipment for obtaining absolute coordinates of vehicle positioning in the cockpit domain, which solves the problem that the vehicle cannot send the absolute coordinates of vehicle positioning when the interaction between the intelligent driving domain and the cockpit domain interacts with the cockpit domain, and the lane rendered by the cockpit domain The problem that the advanced navigation cannot display the real-time position of the vehicle.

In the first aspect, a method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain includes the following steps:

Obtain high-precision road map data and obtain the attribute information of the lane where the target vehicle is located;

Define the first point of the centerline of the lane where the target vehicle is located as a reference point, and obtain the offset of the target vehicle based on the reference point;

According to the attribute information of the lane where the target vehicle is located, look up the latitude and longitude absolute coordinates of the reference point in the high-precision road map data;

The absolute latitude and longitude coordinates of the target vehicle are calculated according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point.

According to the first aspect, in the first possible implementation manner of the first aspect, the "calculate the absolute latitude and longitude coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point" Steps, specifically include the following steps:

Calculate the ECEF coordinates of the target vehicle according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point;

The absolute latitude and longitude coordinates of the target vehicle are calculated according to the ECEF coordinates of the target vehicle.

According to the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the "according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point, Calculate the ECEF coordinates of the target vehicle" step, specifically comprising the following steps:

According to the absolute latitude and longitude coordinates (longti, lati) of the reference point, and the offset (dx, dy, dz) of the target vehicle based on the reference point;

Calculate the ECEF coordinates (x, y, z) of the target vehicle as follows:

In the formula, dz=0.

According to the first possible implementation of the first aspect, in the third possible implementation of the first aspect, the step of "calculating the absolute latitude and longitude coordinates of the target vehicle based on the ECEF coordinates of the target vehicle" specifically Include the following steps:

According to the ECEF coordinates (x, y, z) of the target vehicle;

Calculate the latitude and longitude absolute coordinates (lon, lat, alt) of the target vehicle as follows:

in,

In the formula, alt=0; e is the eccentricity; N is the radius of curvature of the reference ellipsoid.

According to the first aspect, in the fourth possible implementation of the first aspect, after the step of "obtaining high-precision road map data", the following steps are specifically included:

Converting the high-precision road map data into NDS data, and rendering the NDS data into lane-level navigation map data;

Rendering the absolute latitude and longitude coordinates of the target vehicle onto the lane-level navigation map data.

In the second aspect, an absolute coordinate system for obtaining vehicle positioning in the cockpit domain is provided, including:

The data acquisition module is used to acquire high-precision road map data and acquire the attribute information of the lane where the target vehicle is located;

The vehicle offset module is connected in communication with the data acquisition module, and is used to define the first point of the centerline of the lane where the target vehicle is located as a reference point, and obtain the offset of the target vehicle based on the reference point;

The reference point absolute coordinate module is communicatively connected with the data acquisition module and the vehicle offset module, and is used to search the latitude and longitude of the reference point in the high-precision road map data according to the attribute information of the lane where the target vehicle is located absolute coordinates;

The vehicle absolute coordinate module is communicatively connected with the vehicle offset module and the reference point absolute coordinate module, and is used to calculate the latitude and longitude of the target vehicle according to the latitude and longitude absolute coordinates of the reference point and the offset of the target vehicle based on the reference point absolute coordinates.

In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, wherein, when the computer program is executed by a processor, the method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain as described above is implemented.

In a fourth aspect, an electronic device is provided, including a storage medium, a processor, and a computer program stored in the storage medium and operable on the processor, wherein the processor runs the computer The program realizes the method of obtaining the absolute coordinates of vehicle positioning in the cockpit domain as described above.

Compared with the prior art, the present invention has the following advantages: the cockpit domain and the smart driving domain use the same high-precision map data, and the data ID attribute information remains the same. The attribute information and offset of the lane id are input to the cockpit domain, and the cockpit domain can find the latitude and longitude absolute coordinates of the reference point through the lane id. This reference point is usually the first point of the centerline data point of the lane where the vehicle is currently located. datum point. With the reference point, the absolute coordinates of the vehicle's location can be calculated through the offset, so that the vehicle's positioning can be obtained in the same coordinate system as the map engine data, and can be matched with the high-precision data rendering of the rendering engine. Therefore, the present invention solves the problem that when the vehicle assists intelligent driving, the interaction between the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of vehicle positioning, and the lane-level navigation rendered by the cockpit domain cannot display the real-time position of the vehicle.

Description of drawings

FIG. 1 is a schematic flow diagram of an embodiment of a method for obtaining absolute vehicle positioning coordinates in the cockpit domain of the present invention;

Fig. 2 is the ENU coordinate schematic diagram of the target vehicle of the present invention;

Fig. 3 is a schematic structural diagram of a vehicle positioning absolute coordinate system acquired in the cockpit domain of the present invention.

Detailed ways

Reference will now be made in detail to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. On the contrary, it is intended to cover alterations, modifications and equivalents as included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described here can all be realized by any functional block or functional arrangement, and any functional block or functional arrangement can be realized as a physical entity or a logical entity, or a combination of both.

In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Note: the example to be introduced next is only a specific example, and is not intended to limit the embodiment of the present invention to the following specific steps, values, conditions, data, sequence and so on. Those skilled in the art can use the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

Referring to FIG. 1 , an embodiment of the present invention provides a method for obtaining absolute vehicle positioning coordinates in the cockpit domain, including the following steps:

S100, obtain high-precision road map data, and obtain the attribute information of the lane where the target vehicle is located; obtain Class-A surveying and mapping qualifications, and collect high-precision map data of national roads through map data collection vehicles.

S200, defining the first point of the centerline of the lane where the target vehicle is located as a reference point, and obtaining the offset of the target vehicle based on the reference point;

S300, according to the attribute information of the lane where the target vehicle is located, search the absolute latitude and longitude coordinates of the reference point in the high-precision road map data;

S400. Calculate the absolute latitude and longitude coordinates of the target vehicle according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point.

Specifically, in this embodiment, the cockpit domain and the intelligent driving domain use the same high-precision map data, and the data ID attribute information remains the same. and the offset are input to the cockpit domain, and the cockpit domain can find the latitude and longitude absolute coordinates of the reference point through the lane id. This reference point is usually the first point of the centerline data point of the vehicle's current lane as the reference point. With the reference point, the absolute coordinates of the vehicle's location can be calculated through the offset, so that the vehicle's positioning can be obtained in the same coordinate system as the map engine data, and can be matched with the high-precision data rendering of the rendering engine.

Therefore, the present invention solves the problem that when the vehicle assists intelligent driving, the interaction between the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of vehicle positioning, and the lane-level navigation rendered by the cockpit domain cannot display the real-time position of the vehicle.

Preferably, in another embodiment of the present application, the step of "S400, calculate the absolute latitude and longitude coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point" specifically includes the following step:

S410. Calculate the ECEF coordinates of the target vehicle according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point;

S420. Calculate the absolute latitude and longitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle.

Preferably, in another embodiment of the present application, the "S410, calculate the ECEF coordinates of the target vehicle based on the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point" step specifically includes the following steps :

According to the absolute latitude and longitude coordinates (longti, lati) of the reference point, and the offset (dx, dy, dz) of the target vehicle based on the reference point;

Calculate the ECEF coordinates (x, y, z) of the target vehicle as follows:

In the formula, dz=0.

Specifically, in this embodiment, the northeast sky coordinate system ENU, the coordinate system is defined as: X-axis: pointing to the east, Y-axis: pointing to the north, Z-axis: pointing to the zenith; ECEF coordinate system, also called the earth-centered earth-fixed rectangular coordinate system . Its origin is the Earth's center of mass, and the x-axis extends through the intersection of the prime meridian (0 degrees longitude) and the equator (0 degrees longitude). The north pole through which the z-axis extends (i.e., coincides with the Earth's axis of rotation). The y-axis completes the right-handed coordinate system, passing through the equator and 90 degrees longitude.

Also referring to shown in Figure 2, the offset (dx, dy, dz) of the target vehicle based on the reference point is respectively expressed as follows: x_east is the offset dx, y_north is the offset dy, and dz=0; lati is the reference point is the latitude of the reference point, and longti is the longitude of the reference point; therefore, the ENU coordinates of the target vehicle are transformed into ECEF coordinates, and the ECEF coordinates of the target vehicle are calculated, see formula (1) for details.

Preferably, in another embodiment of the present application, the step of "S420, calculate the absolute latitude and longitude coordinates of the target vehicle according to the ECEF coordinates of the target vehicle" specifically includes the following steps:

According to the ECEF coordinates (x, y, z) of the target vehicle;

Calculate the latitude and longitude absolute coordinates (lon, lat, alt) of the target vehicle as follows:

in,

In the formula, alt=0; e is the eccentricity; N is the radius of curvature of the reference ellipsoid.

Specifically, in this embodiment, the longitude-latitude high coordinate system LLA specifically refers to: longitude (longitude), latitude (latitude) and altitude (altitude). Equations (2), (3) and (4) represent converting the ECEF coordinates (x, y, z) of the target vehicle into ECEF coordinates (lon, lat, 0), and calculating the ECEF coordinates of the target vehicle.

Preferably, in another embodiment of the present application, after the step of "S100, acquire high-precision road map data", the following steps are specifically included:

S500, converting the high-precision road map data into NDS data, and rendering the NDS data into lane-level navigation map data;

S600. Render the absolute latitude and longitude coordinates of the target vehicle onto the lane-level navigation map data.

Specifically, in this embodiment, NDS (NavigationData Standard) is a navigation electronic map data storage standard based on an embedded database.

After obtaining the high-precision road map data, output the high-precision map data into NDS data, compile and produce the cockpit domain based on the NDS data, and render the lane-level navigation of the high-precision map; and then render the vehicle position by calculating the absolute latitude and longitude coordinates of the target vehicle to the lane-level navigation map data of the rendering engine.

Also referring to FIG. 3 , a cockpit domain acquisition vehicle positioning absolute coordinate system provided by an embodiment of the present invention includes:

The data acquisition module is used to acquire high-precision road map data and acquire the attribute information of the lane where the target vehicle is located;

The vehicle offset module is connected in communication with the data acquisition module, and is used to define the first point of the centerline of the lane where the target vehicle is located as a reference point, and obtain the offset of the target vehicle based on the reference point;

The reference point absolute coordinate module is communicatively connected with the data acquisition module and the vehicle offset module, and is used to search the latitude and longitude of the reference point in the high-precision road map data according to the attribute information of the lane where the target vehicle is located absolute coordinates;

The vehicle absolute coordinate module is communicatively connected with the vehicle offset module and the reference point absolute coordinate module, and is used to calculate the latitude and longitude of the target vehicle according to the latitude and longitude absolute coordinates of the reference point and the offset of the target vehicle based on the reference point absolute coordinates.

Since the cockpit domain and the smart driving domain use the same high-precision map data, the data ID attribute information remains the same. When the target vehicle is driving or stopping, the smart driving domain will input the lane ID attribute information and offset of the vehicle to the In the cockpit domain, the cockpit domain can find the absolute latitude and longitude coordinates of the reference point through the lane id. This reference point is usually the first point of the centerline data point of the vehicle’s current lane as the reference point. With the reference point, the absolute coordinates of the vehicle's location can be calculated through the offset, so that the vehicle's positioning can be obtained in the same coordinate system as the map engine data, and can be matched with the high-precision data rendering of the rendering engine.

Therefore, the present invention solves the problem that when the vehicle assists intelligent driving, the interaction between the intelligent driving domain and the cockpit domain cannot send the absolute coordinates of vehicle positioning, and the lane-level navigation rendered by the cockpit domain cannot display the real-time position of the vehicle.

Specifically, this embodiment corresponds to the above method embodiments one by one, and the functions of each module have been described in detail in the corresponding method embodiments, so details are not repeated one by one.

Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

The present invention realizes all or part of the process in the above method, and it can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can realize Steps in the above-mentioned method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained on computer readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media does not include Electrical carrier signals and telecommunication signals.

Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, the memory stores a computer program running on the processor, and when the processor executes the computer program, all the method steps or Some method steps.

The so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

The memory can be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); The created data (such as audio data, video data, etc.) is used. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, A flash memory card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid state storage devices.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, servers or computer program products. Accordingly, the present invention can 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 and optical storage, etc.) 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), servers and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (8)

1. A cockpit domain obtains the absolute coordinate method of vehicle positioning, is characterized in that, comprises the following steps: Obtain high-precision road map data and obtain the attribute information of the lane where the target vehicle is located; Define the first point of the centerline of the lane where the target vehicle is located as a reference point, and obtain the offset of the target vehicle based on the reference point; According to the attribute information of the lane where the target vehicle is located, look up the latitude and longitude absolute coordinates of the reference point in the high-precision road map data; The absolute latitude and longitude coordinates of the target vehicle are calculated according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point. 2. The method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain according to claim 1, wherein said "calculate the latitude and longitude of the target vehicle based on the absolute coordinates of the latitude and longitude of the reference point and the offset of the target vehicle based on the reference point Absolute coordinates" step, which specifically includes the following steps: Calculate the ECEF coordinates of the target vehicle according to the absolute latitude and longitude coordinates of the reference point and the offset of the target vehicle based on the reference point; The absolute latitude and longitude coordinates of the target vehicle are calculated according to the ECEF coordinates of the target vehicle. 3. The method for obtaining vehicle positioning absolute coordinates in the cockpit domain according to claim 2, wherein said "calculate the ECEF of the target vehicle based on the absolute coordinates of latitude and longitude of the reference point and the offset of the target vehicle based on the reference point." Coordinates" step, which specifically includes the following steps: According to the absolute latitude and longitude coordinates (longti, lati) of the reference point, and the offset (dx, dy, dz) of the target vehicle based on the reference point; Calculate the ECEF coordinates (x, y, z) of the target vehicle as follows: In the formula, dz=0. 4. The cockpit domain as claimed in claim 2 obtains the vehicle location absolute coordinate method, is characterized in that, described " according to the ECEF coordinate of described target vehicle, calculate the longitude and latitude absolute coordinate of target vehicle " step, specifically comprise the following steps: According to the ECEF coordinates (x, y, z) of the target vehicle; Calculate the latitude and longitude absolute coordinates (lon, lat, alt) of the target vehicle as follows: in, In the formula, alt=0; e is the eccentricity; N is the radius of curvature of the reference ellipsoid. 5. The method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain as claimed in claim 1, characterized in that, after the step of "obtaining high-precision road map data", it specifically comprises the following steps: Converting the high-precision road map data into NDS data, and rendering the NDS data into lane-level navigation map data; Rendering the absolute latitude and longitude coordinates of the target vehicle onto the lane-level navigation map data. 6. A cockpit domain obtains the vehicle positioning absolute coordinate system, is characterized in that, comprises: The data acquisition module is used to acquire high-precision road map data and acquire the attribute information of the lane where the target vehicle is located; The vehicle offset module is communicatively connected with the data acquisition module, and is used to define the first point of the centerline of the lane where the target vehicle is located as a reference point, and obtain the offset of the target vehicle based on the reference point; The reference point absolute coordinate module is communicatively connected with the data acquisition module and the vehicle offset module, and is used to search the latitude and longitude of the reference point in the high-precision road map data according to the attribute information of the lane where the target vehicle is located absolute coordinates; The vehicle absolute coordinate module is communicatively connected with the vehicle offset module and the reference point absolute coordinate module, and is used to calculate the latitude and longitude of the target vehicle according to the latitude and longitude absolute coordinates of the reference point and the offset of the target vehicle based on the reference point absolute coordinates. 7. A computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the cockpit domain acquisition vehicle positioning absolute coordinate method. 8. An electronic device, comprising a storage medium, a processor, and a computer program stored in the storage medium and operable on the processor, characterized in that, when the processor runs the computer program, the following The method for obtaining the absolute coordinates of vehicle positioning in the cockpit domain according to any one of claims 1 to 5.