CN104729480A - Elevated road identification method and system - Google Patents
Elevated road identification method and system Download PDFInfo
- Publication number
- CN104729480A CN104729480A CN201310703010.7A CN201310703010A CN104729480A CN 104729480 A CN104729480 A CN 104729480A CN 201310703010 A CN201310703010 A CN 201310703010A CN 104729480 A CN104729480 A CN 104729480A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses an elevated road identification method and system. The method comprises the following steps: acquiring the current position of a vehicle; when the vehicle approaches or reaches an elevated road exit / entrance, shooting a picture of a road the vehicle in; comparing the shot picture with an existed elevated road picture; and judging whether the vehicle is in the elevated road according to the comparison result. In the above scheme, shooting of the picture used for elevated road identification can be triggered on the basis of the current position of the vehicle, useless image data can be reduced, processing efficiency of the elevated road identification can be improved, and the processing burden of the system can be reduced; by comparison of the shot picture with the existed elevated road picture, whether the vehicle is in the elevated road can be accurately judged according to the comparison result. Because of no need of using measurement data of a gyroscope for rampway calculation, the elevated road identification method and system are suitable for more vehicle types.
Description
Technical field
The present invention relates to application and exploitation, particularly overpass recognition methods and the system thereof of navigation and route service.
Background technology
Nowadays, the continually developing and improve as traveler provides online service on a lot of helpful road of navigator.These navigator can carry out programme path according to the setting of user to trip purpose ground, can also provide the relevant information in user's stroke.
But current city overpass network is very complicated, on a lot of section, overpass and surface road interlock.When vehicle travels to this kind of section, navigator usually accurately can distinguish that vehicle is current to be on overpass or surface road.If present road situation is by misattribution, navigator will point out the route of mistake.
In view of this, respective design ramp computing system in some navigator, it can whether data determination vehicle be current advance on overpass according to GPS, gyroscope and speed etc.But, some vehicle is not equipped with gyroscope, thus this kind of ramp computing system be not suitable for this type of vehicle.
Summary of the invention
The problem that the present invention solves is to provide a kind of overpass recognition methods and navigator, provides accurate and cost-effective navigation Service as vehicle.
In order to solve the problem, overpass recognition methods provided by the invention, comprising: the current location obtaining vehicle; When vehicle closes on or arrive overhead in/out mouth, the picture of road residing for shooting vehicle; By the picture comparison of captured picture and existing overpass, judge vehicle whether on overpass according to comparison result.
Overpass recognition system provided by the invention, comprising:
Filming apparatus;
Processor, based on the current location of vehicle, when vehicle closes on or arrive overhead in/out mouth, controls the picture of road residing for filming apparatus shooting vehicle; And, by the picture comparison of captured picture and existing overpass, judge vehicle whether on overpass according to comparison result.
Compared with prior art, such scheme has the following advantages: the current location based on vehicle triggers the picture shooting being used for overpass identification, can reduce useless image data, improves the treatment effeciency of overpass identification and the processing load of minimizing system; And by the picture comparison of captured picture and existing overpass, vehicle can be determined exactly whether on overpass by comparison result.Due to without the need to carrying out ramp calculating by gyrostatic measurement data, above-mentioned overpass recognition methods and system thereof can be suitable for type of vehicle more.
Accompanying drawing explanation
Fig. 1 is a kind of embodiment schematic flow sheet of overpass recognition methods of the present invention;
Fig. 2 is processing procedure schematic diagram in a kind of embodiment of overpass recognition methods of the present invention;
Fig. 3 be a kind of embodiment of overpass recognition system of the present invention realize block diagram;
Fig. 4 is the specific implementation schematic diagram of a kind of embodiment of overpass recognition system of the present invention.
Embodiment
In the following description, many details have been set forth to make person of ordinary skill in the field more fully understand the present invention.But be apparent that for the technician in art, realization of the present invention can not have some in these details.In addition, should be understood that, the present invention is not limited to introduced specific embodiment.On the contrary, can consider to implement the present invention by the combination in any of characteristic sum key element below, and no matter whether they relate to different embodiments.Therefore, aspect below, feature, embodiment and advantage use for illustrative purposes only and should not be counted as key element or the restriction of claim, unless clearly proposed in the claims.
With reference to shown in Fig. 1, according to a kind of embodiment of overpass recognition methods of the present invention, it comprises: step s10, obtains the current location of vehicle; Step s20, when vehicle closes on or arrive overhead in/out mouth, the picture of road residing for shooting vehicle; Step s30, by the picture comparison of captured picture and existing overpass, judges vehicle whether on overpass according to comparison result.
The trigger condition of process using the current location of vehicle as shooting of above-mentioned overpass identification, only when vehicle has closed on or arrive overhead in/out mouth (also can be regarded as is up/down ramp location), just removes the picture taking road residing for vehicle.Like this, the workload that follow-up need carry out picture comparison will be reduced, thus improve the efficiency of identifying processing.And by the picture comparison of captured picture and existing overpass, vehicle can be determined exactly whether on overpass by comparison result.Further, illustrate just as in the previous, due to without the need to carrying out ramp calculating by gyrostatic measurement data, above-mentioned overpass recognition methods can be suitable for type of vehicle more.
Below so that above-mentioned overpass recognition methods is applied to mobile unit, the processing procedure of above-mentioned overpass recognition methods is described in detail.
For current various types of vehicle, Vehicle Positioning Equipment is GPS (GPS) such as, substantially becomes standard configuration.Thus, mobile unit can pass easily through this type of Vehicle Positioning Equipment and obtain the current positional information of vehicle.
To be equipped with the vehicle of GPS, mobile unit (such as navigator) obtains the current location of vehicle by gps signal, and diagram data determines the true bearing that vehicle is residing at present in combination.As shown in step 501, assuming that according to gps signal, mobile unit finds that now vehicle has travelled to closing near ring road, such as, know that vehicle travels near the overhead upper ring road mouth of Huang Xing road inner ring according to gps signal.
Then, then as shown at step 502, the picture of mobile unit triggering mobile terminals or vehicle-mounted camera shooting vehicle front road.Owing to containing the information of reflection surface conditions in captured picture, thus can be used for follow-up identification.
Consider the jam situation of nowadays urban highway traffic, particularly for the situation on peak on and off duty, only still may can not carry out road Identification exactly according to a pictures.Such as, in the picture of shooting, occurred overhead upper ramp roadway, but due to traffic congestion, vehicle itself travels slowly, may still rest on the surface road near ring road.For this situation, if only judge that vehicle is on overpass according to this pictures, then route guiding mistakenly may be provided to user.Therefore, alternatively, also such as shown in step 503, after triggering is taken pictures, the picture of a vehicle front road can just be taken at a certain distance, with its follow-up acquisition recognition result more accurately.Such as, every the picture of 10 meters of shootings vehicle front road, shooting 5 times continuously, to obtain the picture of 5 vehicle front roads.By the comprehensive descision based on plurality of pictures, have an impact to avoid the accuracy of the jam situation on such as peak on and off duty to recognition result.
After obtaining one or more picture of vehicle front road, captured picture as indicated in step 504, is uploaded onto the server by network by mobile unit, is carried out the identification of overpass by server based on the picture that mobile unit is uploaded.Because server has more storage and calculation resources, the thus special process for plurality of pictures and judgement relative to mobile unit, it can have and responds faster, thus improves the treatment effeciency of overall overpass identification.
For the processing procedure of server, particularly, as shown in step 505, the direct existing overpass picture comparison with being stored in server database by captured picture.For the crossing of above-mentioned citing, by the picture comparison in captured picture and existing the Inner Ring Viaduct Huang Xing section.If both comparison result displays are consistent, then can judge that vehicle has been positioned on the Inner Ring Viaduct; Otherwise then vehicle is not on the Inner Ring Viaduct.
And for the plurality of pictures that mobile unit is uploaded, then can by uploaded picture respectively with the picture comparison in existing the Inner Ring Viaduct Huang Xing section, after all pictures are all consistent, then can judge that vehicle has been positioned on the Inner Ring Viaduct.Or, for the plurality of pictures that mobile unit is uploaded, the picture comparison in the first pictures and existing the Inner Ring Viaduct Huang Xing section can be chosen by the time sequencing of shooting, if both comparison result displays are consistent, then first can judge that vehicle has been positioned on the Inner Ring Viaduct; If the comparison result of subsequent pictures is inconsistent, then can revise primary judged result again based on follow-up comparison result.
For improving the accuracy of identification further, alternatively, also can such as shown in step 506, server extracts gray level information from captured picture.And, such as, shown in step 507, by the gray level information of captured picture and the gray level information comparison being stored in the existing overpass picture in server database, judge vehicle whether on overpass by the comparison result of gray level information.Show according to the overpass of reality and the statistics of overhead lower surface road, the grey decision-making of overpass is usually much smaller than the grey decision-making of overhead lower surface road.Thus comparison result more accurately can be provided by the mode of this gray level information comparison.As for how to extract gray level information and how comparison gray level information from captured picture, in prior art, there is many algorithms available.Can, according to the application demand of reality, select suitable algorithm to reduce the time of this process of server process, improve overall treatment efficiency.
Obtain after judged result at server, as shown in stage 508, the judged result of vehicle whether on overpass is sent to mobile unit place by network by it.And mobile unit just according to this judged result when follow-up such as navigation Service, can provide user route guiding accurately.
Correspondingly, the present invention also provides a kind of overpass recognition system.With reference to shown in Fig. 3, provide a kind of overpass recognition system 200 according to embodiment of the present invention, it comprises: filming apparatus 202; Processor 201, based on the current location of vehicle, when vehicle closes on or arrive overhead in/out mouth, controls the picture that filming apparatus 202 takes road residing for vehicle; And, by the picture comparison of captured picture and existing overpass, judge vehicle whether on overpass according to comparison result.
Wherein, processor 201 obtains the current location of vehicle from the Vehicle Positioning Equipment 100 be connected with its communication.Described Vehicle Positioning Equipment 100 can for being installed on the GPS device on vehicle.When described processor 201 is also installed on vehicle, it obtains gps signal by controller local area network (CAN, Controller Area Network) bus from GPS device, and process obtains the current location of vehicle.
And filming apparatus 202 can be mobile terminal (such as mobile phone, panel computer etc.) or vehicle-mounted camera; For vehicle-mounted camera, it installs rear lens towards vehicle front, to take the picture of vehicle front road.
Alternatively, described processor 201 also according to the current location of vehicle, can calculate the travel distance of vehicle, controls with spacing distance the picture that filming apparatus 202 takes road residing for multiple vehicles.
Alternatively, in above-mentioned overpass recognition system 200, also can comprise: image processing module 203, it extracts gray level information in the picture taken from filming apparatus 202.And affiliated processor 201 is by comparing the gray level information of described gray level information with the picture of this overpass existing, to judge vehicle whether on overpass.
Above-mentioned overpass recognition system 200 whole configurable in vehicle.Or above-mentioned overpass recognition system 200 is partly configured in vehicle, be partly configured in remote equipment (such as server).Such as, above-mentioned filming apparatus 202 is configured in vehicle, triggers steering logic that filming apparatus 202 takes pictures and control with spacing distance the steering logic (possibility) that filming apparatus 202 takes pictures to be configured in vehicle in processor 201; And process the steering logic of picture comparison in processor 201 and image processing module 203 (possibility) is configured in server.Even, according to the needs of practical application, all or part of accessible site that above-mentioned overpass recognition system 200 to be configured in vehicle part in the navigation feature of vehicle-mounted navigator or mobile terminal, to be more conducive to providing navigation Service to user.The course of work as above-mentioned overpass recognition system 200 can refer to the aforementioned explanation corresponding to Fig. 2, repeats no more herein.
Fig. 4 is the schematic diagram of the specific implementation of a kind of embodiment according to overpass recognition system of the present invention.With reference to shown in Fig. 4, as aforementioned citing, filming apparatus 202 and trigger steering logic that filming apparatus 202 takes pictures and control with spacing distance the steering logic that filming apparatus 202 takes pictures and be all configured in vehicle.Wherein, the steering logic be configured in vehicle is integrated in the navigation feature of in-vehicle navigation apparatus or mobile terminal.Because common in-vehicle navigation apparatus and the mobile terminal with navigation feature are also integrated with GPS device, the part operation of overpass identification therefore can be processed more easily.Described filming apparatus 202 is illustrated in figure 4 mobile terminal or vehicle-mounted camera.For using mobile terminal as the application of filming apparatus, mobile terminal can be placed on the support after front windshield, be beneficial to follow-up shooting.For in-vehicle navigation apparatus, after mobile terminal or vehicle-mounted camera shooting obtain the picture of vehicle front road, the in-vehicle navigation apparatus having contained above-mentioned steering logic by being configured at communication apparatus (such as various vehicle-mounted network access equipment) on vehicle or the network savvy by means of mobile terminal, by picture uploading to server.After the picture processing carrying out aforementioned extraction GTG at server and corresponding comparison, the judged result of vehicle whether on overpass is sent to described in-vehicle navigation apparatus by network again.Described in-vehicle navigation apparatus result can provide navigation Service accurately to user at this point.
Although the present invention discloses as above with preferred embodiment, the present invention is not defined in this.Any those skilled in the art, various change done without departing from the spirit and scope of the present invention and amendment, all should include in protection scope of the present invention, and therefore protection scope of the present invention should be as the criterion with claim limited range.
Claims (10)
1. an overpass recognition methods, is characterized in that, comprising: the current location obtaining vehicle; When vehicle closes on or arrive overhead in/out mouth, the picture of road residing for shooting vehicle; By the picture comparison of captured picture and existing overpass, judge vehicle whether on overpass according to comparison result.
2. overpass recognition methods as claimed in claim 1, is characterized in that, is obtained the current location of vehicle by gps signal.
3. overpass recognition methods as claimed in claim 1, is characterized in that, residing for shooting vehicle, the picture of road comprises: the picture on shooting vehicle front road surface.
4. overpass recognition methods as claimed in claim 1, is characterized in that, residing for shooting vehicle, the picture of road comprises: the picture taking road residing for multiple vehicles with spacing distance.
5. overpass recognition methods as claimed in claim 1, is characterized in that, before comparison, and the gray level information of the picture captured by acquisition; The picture comparison of captured picture and existing overpass is comprised: the gray level information of comparison.
6. an overpass recognition system, is characterized in that, comprising:
Filming apparatus;
Processor, based on the current location of vehicle, when vehicle closes on or arrive overhead in/out mouth, controls the picture of road residing for filming apparatus shooting vehicle; And, by the picture comparison of captured picture and existing overpass, judge vehicle whether on overpass according to comparison result.
7. overpass recognition system as claimed in claim 6, it is characterized in that, described filming apparatus is vehicle-mounted camera, and the camera lens of described vehicle-mounted camera is towards vehicle front.
8. overpass recognition system as claimed in claim 6, it is characterized in that, described processor and Vehicle Positioning Equipment have communication and are connected, and obtain the current location of vehicle from described Vehicle Positioning Equipment.
9. overpass recognition system as claimed in claim 6, is characterized in that, described processor, also according to the current location of vehicle, controls with spacing distance the picture that filming apparatus takes road residing for multiple vehicles.
10. overpass recognition system as claimed in claim 6, is characterized in that, also comprise: image processing module, for extracting gray level information from captured picture; The gray level information of described gray level information with the picture of this overpass existing is compared by described processor, to judge vehicle whether on overpass.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310703010.7A CN104729480A (en) | 2013-12-19 | 2013-12-19 | Elevated road identification method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310703010.7A CN104729480A (en) | 2013-12-19 | 2013-12-19 | Elevated road identification method and system |
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| CN104729480A true CN104729480A (en) | 2015-06-24 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107657683A (en) * | 2016-07-26 | 2018-02-02 | 佛山市顺德区顺达电脑厂有限公司 | Distinguish the method that vehicle is currently located at overpass or surface road |
| CN107883969A (en) * | 2017-10-31 | 2018-04-06 | 平潭诚信智创科技有限公司 | A kind of viaduct intelligent navigation method based on RFID |
| CN109883438A (en) * | 2019-03-21 | 2019-06-14 | 斑马网络技术有限公司 | Automobile navigation method, device, medium and electronic equipment |
| CN110164164A (en) * | 2019-04-03 | 2019-08-23 | 浙江工业大学之江学院 | The method for identifying complicated road precision using camera shooting function enhancing Mobile Telephone Gps software |
| CN110853360A (en) * | 2019-08-05 | 2020-02-28 | 中国第一汽车股份有限公司 | Vehicle positioning system and method |
| CN111127874A (en) * | 2018-10-30 | 2020-05-08 | 上海擎感智能科技有限公司 | Overhead identification method and identification system |
| CN111238506A (en) * | 2018-11-29 | 2020-06-05 | 沈阳美行科技有限公司 | Drawing method and device for elevated road in map and related equipment |
| CN112197780A (en) * | 2020-09-15 | 2021-01-08 | 汉海信息技术(上海)有限公司 | Path planning method and device and electronic equipment |
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| CN101435706A (en) * | 2007-11-14 | 2009-05-20 | 环隆电气股份有限公司 | Road image identification navigation apparatus and method |
| CN103376112A (en) * | 2012-04-18 | 2013-10-30 | 德尔福技术有限公司 | Elevated road auxiliary judging system, navigation equipment with same and navigation method thereof |
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| JP2002303521A (en) * | 2002-01-25 | 2002-10-18 | Fujitsu Ten Ltd | Navigation device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107657683A (en) * | 2016-07-26 | 2018-02-02 | 佛山市顺德区顺达电脑厂有限公司 | Distinguish the method that vehicle is currently located at overpass or surface road |
| CN107883969A (en) * | 2017-10-31 | 2018-04-06 | 平潭诚信智创科技有限公司 | A kind of viaduct intelligent navigation method based on RFID |
| CN111127874A (en) * | 2018-10-30 | 2020-05-08 | 上海擎感智能科技有限公司 | Overhead identification method and identification system |
| CN111127874B (en) * | 2018-10-30 | 2022-03-08 | 上海擎感智能科技有限公司 | Overhead identification method and identification system |
| CN111238506A (en) * | 2018-11-29 | 2020-06-05 | 沈阳美行科技有限公司 | Drawing method and device for elevated road in map and related equipment |
| CN109883438A (en) * | 2019-03-21 | 2019-06-14 | 斑马网络技术有限公司 | Automobile navigation method, device, medium and electronic equipment |
| CN109883438B (en) * | 2019-03-21 | 2021-07-20 | 斑马网络技术有限公司 | Vehicle navigation method, device, medium and electronic equipment |
| CN110164164A (en) * | 2019-04-03 | 2019-08-23 | 浙江工业大学之江学院 | The method for identifying complicated road precision using camera shooting function enhancing Mobile Telephone Gps software |
| CN110853360A (en) * | 2019-08-05 | 2020-02-28 | 中国第一汽车股份有限公司 | Vehicle positioning system and method |
| CN112197780A (en) * | 2020-09-15 | 2021-01-08 | 汉海信息技术(上海)有限公司 | Path planning method and device and electronic equipment |
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Application publication date: 20150624 |