CN106840181A - System and method for determining vehicle location - Google Patents
System and method for determining vehicle location Download PDFInfo
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- CN106840181A CN106840181A CN201611128412.9A CN201611128412A CN106840181A CN 106840181 A CN106840181 A CN 106840181A CN 201611128412 A CN201611128412 A CN 201611128412A CN 106840181 A CN106840181 A CN 106840181A
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- vehicle
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The present invention provides the system and method for being used to determine vehicle location, wherein the system for determining vehicle location includes a control data corporation and is communicatively connected in a network the processor in the control data corporation.The control data corporation provides one first location data of the height and position for describing the vehicle and for describing the horizontal level of the vehicle and one second location data of height and position, the processor includes a comparison module and is communicatively connected in a network the locating module in the comparison module, the height and position of the vehicle that wherein described comparison module is described by height and position and second location data that relatively more described first location data describes the vehicle, to obtain a comparative result, the horizontal level and the comparative result of the vehicle of the locating module based on second location data description determine the position of the vehicle.
Description
Technical field
The present invention relates to the system and method for determining vehicle location, wherein described be for determine vehicle location
System enables in particular to accurately determine the height and position of the vehicle in grade-separated traffic network.
Background technology
Navigation system is the application system that vehicle is directed to another place based on map from one place, wherein in car
Determine that the position of vehicle is the key that guiding system can correctly guide vehicle at any time during traveling.Present navigation system
Using GPS (Global Positioning System, global positioning system), technology determines the position of vehicle to system, wherein being based on
GPS technology can determine the position of stationary vehicle, it is also possible to determine the position of driving vehicle, once determined based on GPS technology
Again road is recommended in the route that the positional deviation navigation system of driving vehicle is recommended, the position that navigation system can be based on driving vehicle
Line.With the fast development of urbanization, substantial amounts of city expressway has been built in increasing city, it is generally the case that city
Through street is to be erected at the overpass above the original surface road in city, and city expressway passes through bypass with city originally
Face road is connected, and building for city expressway makes Traffic Systems increasingly develop into three-dimensional by planarizing.Although base
In GPS technology it is determined that there is excellent performance in terms of the horizontal level of vehicle, but in the Traffic Systems of three-dimensional,
The height and position of vehicle cannot be accurately determined based on GPS technology, that is to say, that car cannot be accurately determined based on GPS technology
It is in bridge floor road in surface road.For example when navigation system recommends surface road and bridge floor according to user's demand
The route that road is combined, when vehicle drives to bridge floor road by bypass along the route that navigation system is recommended by surface road
Afterwards, based on GPS technology it is determined that vehicle position when may think that vehicle travel in surface road, once be based on GPS technology
Such judgement is made, navigation system will be considered that driving vehicle deviate from the route of navigation system recommendation, now, navigation system meeting
The position recommended route again of the driving vehicle determined based on GPS technology, it is evident that the route recommended again is not preferred
Route.Although navigation system can inquire user before existing route is switched into the route recommended again, if for example
User agrees to that existing route is switched to the route recommended again to be needed to click on "Yes" button, if user disagree by
Existing route is switched to the route recommended again to be needed to click on "No" button, or navigation system can also not done in user
Go out and automatically judge whether user agrees to when selecting.But the selection course of user is not only very bothered, and for
Serious potential safety hazard is there is for the user for driving vehicle.
The content of the invention
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location enables in particular to accurately determine the height and position of the vehicle in grade-separated traffic network.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location can be applied to automated driving system or DAS (Driver Assistant System).
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location provides one first acquisition device, and first acquisition device be used to obtain and be associated with the vehicle
One first location data, wherein first location data describes the height and position of the vehicle.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location provides one second acquisition device, and second acquisition device be used to obtain and be associated with the vehicle
One second location data, wherein second location data describes the horizontal level and height and position of the vehicle.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location provides a comparison module, and the comparison module is described by relatively more described first location data description
The height and position of the height and position of vehicle and the vehicle of second location data description obtains a comparative result, based on institute
State the height and position that comparative result can determine the vehicle.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location provides a locating module, and the locating module can be based on the described of second location data description
The horizontal level of vehicle and the comparative result determine position of the vehicle in grade-separated traffic network.It is worth mentioning
It is that the locating module is based on first location data and second location data and can exactly position the vehicle
Horizontal level and height and position.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described first obtains
Take that device is implemented as a gyroscope or first acquisition device is implemented as comprising the gyroscope, with by the top
Spiral shell instrument obtains first location data being associated with the vehicle.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described first obtains
Take that device is implemented as a camera head or first acquisition device is implemented as comprising the camera head, with by institute
Camera head is stated (for example image or to be regarded by shooting the surrounding environment of the vehicle or shooting vehicle image in itself
Frequently mode) obtains first location data being associated with the vehicle.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described for true
The system for determining vehicle location provides an analysis module and a data generation module, and the analysis module can be analyzed by described first
Acquisition device shoot image so that the data generation module be based on by first acquisition device shoot video generation with
Associated first location data of the vehicle.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described second is fixed
Position data are the original road datas of a navigation system.
It is an object of the present invention to provide the system and method for determining vehicle location, wherein described second obtains
Take that device is implemented as a GPS module or second acquisition device is implemented as comprising the GPS module, with by described
Second acquisition device obtains second location data being associated with the vehicle.
According to the present invention, the system bag for determining vehicle location of object defined above and other purposes and advantage can be realized
Include：
One control data corporation, wherein the control data corporation provides one first location data and one second positioning number
According to first location data describes the height and position of the vehicle, and second location data describes the level of the vehicle
Position and height and position；With
One processor, wherein the processor is communicatively connected in a network in the control data corporation, and the treatment
Device is configured as：
The height and position and second location data for describing the vehicle by relatively more described first location data are described
The vehicle height and position, to obtain a comparative result；With
The horizontal level and the comparative result of the vehicle based on second location data description determine the car
Position.
According to one embodiment of present invention, the control data corporation includes one first acquisition device, a receiver module
And a memory, the receiver module is communicatively connected in a network in first acquisition device and the memory respectively, its
Described in the first acquisition device be used to obtain first location data, the receiver module receives first location data
And first location data is stored to the memory.
According to one embodiment of present invention, first acquisition device is a gyroscope.
According to one embodiment of present invention, first acquisition device includes a gyroscope.
According to one embodiment of present invention, the control data corporation further includes an analysis module and can be communicated
Be connected to a data generation module of the analysis module, the analysis module is communicatively connected in a network in the reception mould
Block, the data generation module is communicatively connected in a network in the memory, wherein first acquisition device be used to shoot
In the image that the vehicle is associated, the receiver module receives the image, and the analysis module analyzes the image to obtain
A special characteristic is included in the image, the data generation module is based on special characteristic generation the first positioning number
Stored to the memory according to and by first location data.
According to one embodiment of present invention, first acquisition device is a camera head.
According to one embodiment of present invention, first acquisition device includes a camera head.
According to one embodiment of present invention, first acquisition device is a drive recorder.
According to one embodiment of present invention, the control data corporation further includes one second acquisition device, described
Second acquisition device is communicatively connected in a network in the receiver module, wherein second acquisition device be used to obtain described the
Two location datas and second location data is stored to the memory.
According to one embodiment of present invention, the processor further includes a comparison module and is communicatively connected in a network
In a locating module of the comparison module, the comparison module is communicatively connected in a network in the memory, wherein the ratio
Read respectively described in first location data and second location data and comparing from the memory compared with module
The height and position of the height and position of the vehicle of one location data description and the vehicle of second location data description,
To obtain the comparative result, the locating module be based on the vehicle of second location data description horizontal level and
The comparative result determines the position of the vehicle.
According to another aspect of the present invention, the present invention also provides a method for being used to determine vehicle location, wherein described
Method comprises the following steps：
A () provides first location data and second location data being associated with the vehicle respectively, wherein
First location data describes the height and position of the vehicle, and second location data describes the horizontal level of the vehicle
And height and position；
The height and position of the vehicle of (b) relatively more described first location data description and second location data description
The vehicle height and position, to obtain a comparative result；And
C () is based on described in horizontal level and the comparative result determination of the vehicle of second location data description
The position of vehicle.
According to one embodiment of present invention, in the step (a), by being arranged at the vehicle or positioned at described
One gyroscope of vehicle interior obtains first location data of the height and position for describing the vehicle.
According to one embodiment of present invention, step is further included in the step (a)：
(a.1) image of the vehicle local environment is shot by a camera head；
(a.2) image is analyzed to obtain the special characteristic included in the image；And
(a.3) the first positioning number of the height and position for describing the vehicle is generated based on the special characteristic
According to.
According to one embodiment of present invention, in the above-mentioned methods, the camera head is arranged at the vehicle.
According to one embodiment of present invention, in the above-mentioned methods, the special characteristic is based in lines and road sign
At least one.
According to one embodiment of present invention, in the step (a), by being arranged at the vehicle or positioned at described
One GPS module of vehicle interior obtains the second positioning number of the horizontal level and height and position for describing the vehicle
According to.
According to one embodiment of present invention, step is further included in the step (c)：
(c.1) height and position of the vehicle described by relatively more described first location data by a comparison module and institute
The height and position of the second location data description is stated, to obtain a comparative result；With
(c.2) horizontal level and the ratio of the vehicle that second location data is described are based on by a locating module
Relatively result determines the position of the vehicle.
According to one embodiment of present invention, in the above-mentioned methods, when the comparative result shows the first positioning number
There is difference in the height and position of the vehicle described with second location data according to the height and position of the vehicle of description
When, the height and position with the vehicle of first location data description is actual height position, with the described second positioning number
It is real standard position according to the horizontal level of the vehicle of description, to determine the position of the vehicle, when the comparative result
Show the vehicle that the height and position of the vehicle of the first location data description is described with second location data
Height and position it is consistent when, the height and position of the vehicle with second location data description is actual height position, with
The horizontal level of the vehicle of the second location data description is real standard position, to determine the position of the vehicle.
Brief description of the drawings
Fig. 1 is the block diagram representation of the system for determining vehicle location of a preferred embodiment under this invention.
Fig. 2 is the conceptual schematic view of a vehicle running environment.
Fig. 3 is a preferred embodiment under this invention for determining the system of vehicle location it is determined that during vehicle location
Conceptual schematic view.
Fig. 4 is a preferred embodiment under this invention for determining the system of vehicle location it is determined that during the vehicle location
Schematic flow sheet.
Fig. 5 is the schematic flow sheet of the method for determining vehicle location of a preferred embodiment under this invention.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
With reference to Fig. 1 and Fig. 2 of Figure of description of the invention, the one of a preferred embodiment under this invention is used to determine car
The system of position is elucidated with, wherein it is described for determining that the system of vehicle location is applied to a navigation system, to ensure
The reliability of navigation system is stated, wherein the system for determining vehicle location can accurately determine the vehicle in solid
Change the position in transportation network, can especially accurately determine height and position of the vehicle in grade-separated traffic network.
The system for determining vehicle location includes a control data corporation 10 and a processor 20, wherein the quilt of the processor 20
The control data corporation 10 is communicatively coupled with, wherein the control data corporation 10 be used to obtain and the vehicle phase
The data of association, the processor 20 is based on determining the vehicle in three-dimensional by the data that the control data corporation 10 is obtained
Position in transportation network.
It is noted that illustrating the use of the invention as an example with the certain types of vehicle in fig. 2
In it is determined that vehicle location system the characteristics of and advantage, even so, it will be appreciated by those skilled in the art that, in Fig. 2
The type of the vehicle of middle exposure is not intended as to the content and model for determining the system of vehicle location of the invention
Such as the limitation enclosed, wherein the vehicle can be any kind of vehicle, described vehicle can be but not limited to automobile, public
Automobile, electric car, lorry, agricultural machinery and motorcycle etc..
The control data corporation 10 provides one first location data and one second location data, wherein first positioning
Data describe the height and position of the vehicle, and second location data describes the horizontal level and height and position of the vehicle.
The processor 20 is communicatively connected in a network in the control data corporation 10, wherein the processor 20 is configured as：Compare
The height of the height and position of the vehicle of the first location data description and the vehicle of second location data description
Degree position obtaining a comparative result, and the vehicle based on second location data description horizontal level and the ratio
Relatively result determines the position of the vehicle.
The control data corporation 10 includes one first acquisition device 11, a receiver module 12 and a memory 13, its
Described in the first acquisition device 11 and the memory 13 be communicatively connected in a network respectively in the receiver module 12, wherein described
First acquisition device 11 can obtain first location data of the height and position for describing the vehicle, the reception mould
Block 12 is used to receive first location data and store to the memory 13 first location data.It is worth mentioning
It is that the memory 13 can be any kind of memory, such as described memory 13 can be but not limited to hard disk
(Hard-Disk Drive, hard disk drive), storage card (Memory Card), disk storage (Optical Disc
) and random access memory (Random Access Memory, RAM) etc. Storage.The processor 20 is by communicably
The memory 13 of the control data corporation 10 is connected to, so that the processor 20 can read and treatment is stored in
First location data of the memory 13.
In one example, first acquisition device 11 may be implemented as a gyroscope, or described first obtains
Device 11 is taken to may be implemented as comprising the gyroscope.First acquisition device 11 can be arranged at the vehicle or
First acquisition device 11 can be moved to the inside of the vehicle, be used for being obtained by first acquisition device 11
First location data of the height and position of the vehicle is described.It is noted that first acquisition device 11 and institute
It is with stating vehicle synchronous mobile, so that first acquisition device 11 can in real time obtain the height for describing the vehicle
First location data of position.In a specific example, first acquisition device 11 can be with individually arranged
In the vehicle.In another specific example, first acquisition device 11 can be arranged at one as an accessory
Car-mounted electronic device, such as described car-mounted electronic device can be the devices such as automatic navigator or vehicular air purifier.
In another specific example, first acquisition device 11 can be arranged at an electronic apparatus as an accessory,
Such as described electronic apparatus can be smart mobile phone or intelligent watch etc., with when user drives vehicle, described the
One acquisition device 11 can be moved to the inside of the vehicle.The receiver module 12 is communicatively connected in a network in described first
Acquisition device 11, the memory 13 is communicatively connected in a network in the receiver module 12.The receiver module 12 can be received
First location data obtained by first acquisition device 11, first location data is stored to the storage
Device 13.
In addition, first acquisition device 11 and the receiver module 12 can be by wired connection modes by communicably
Connection, it is also possible to be communicatively connected in a network by radio connection.For example in a specific example, described first obtains dress
Put 11 and the receiver module 12 be integrated in the car-mounted electronic device, wherein first acquisition device 11 and the reception
Module 12 can be linked by being arranged at or being printed in the circuit of a circuit board.For example in another specific example
In, first acquisition device 11 and the receiver module 12 are arranged at different devices respectively, such as described first obtains
Device 11 is arranged at the electronic apparatus, and the receiver module 12 is arranged at the car-mounted electronic device, wherein institute
State the first acquisition device 11 and the receiver module 12 is attached by way of wireless connection, so that the receiver module 12
Can be based on obtained by first acquisition device 11 the height and position for describing the vehicle it is described first positioning number
According to.It is noted that the radio connection of first acquisition device 11 and the receiver module 12 can include bluetooth
(Bluetooth), Wi-Fi (Wireless Fidelity), Li-Fi (Light Fidelity), cellular data (Cellular
Data), internet (Interweb) and other wireless communication protocols etc..Preferably, in the He of the first acquisition device 11
During the receiver module 12 is using the embodiment of wireless connection, once first acquisition device 11 and the receiver module 12 are full
Foot is pre-conditioned, and first acquisition device 11 and the receiver module 12 can be connected automatically, such as when described first obtains
When the distance for taking device 11 and the receiver module 12 is less than predeterminable range, first acquisition device 11 and the receiver module
12 can automatically connect, or when user opens car door, first acquisition device 11 and the receiver module 12 can
Automatically to connect, or when the vehicle is energized, first acquisition device 11 and the receiver module 12 can be certainly
Connect dynamicly.
In another example, first acquisition device 11 may be implemented as a camera head, or described first
Acquisition device 11 may be implemented as comprising the camera head.First acquisition device 11 is by shooting residing for the vehicle
The mode of environment or the vehicle image (such as image or video) in itself obtains first location data.The number
An analysis module 14 is further included according to administrative center 10 and be communicatively connected in a network the data life in the analysis module 14
Into module 15, wherein the analysis module 14 is communicatively connected in a network in the receiver module 12, wherein the receiver module 12
The image being associated with the vehicle that reception is shot by first acquisition device 11, the analysis of the analysis module 14 institute
Image is stated, the video generation that the data generation module 15 is based on the analysis of the analysis module 14 is associated with the vehicle
First location data.The memory 13 is communicatively connected in a network in the data generation module 15, wherein by described
Data generation module 15 is based on be associated with the vehicle described the of the video generation of the analysis of the analysis module 14
One location data is stored in the memory 13.
In a specific example, first acquisition device 11 for being implemented as the camera head can be set
Such as in the outside of the vehicle, to obtain the image of the vehicle by first acquisition device 11, described first obtains
Device 11 can be arranged at both sides of the road, more specifically, first acquisition device 11 can be arranged at positioned at road two
On the street lamp of side, with the vehicle by way of first acquisition device 11 it is neighbouring when, first acquisition device 11 can
The image of the vehicle is shot, subsequently, described in the vehicle that first acquisition device 11 will can be shot by it
Image is sent to the receiver module 12, is received with by the receiver module 12.Preferably, first acquisition device 11 and institute
State receiver module 12 to be communicatively connected in a network by way of wireless connection, such as described first acquisition device 11 and the reception
Module 12 is communicatively connected in a network by internet.
In another specific example, first acquisition device 11 for being implemented as the camera head can be set
The inside of the vehicle is placed in, to obtain the image of the vehicle local environment, example by first acquisition device 11
The first acquisition device 11 can be the inside that a single camera head is arranged at the vehicle, Huo Zhesuo as described
It can be the inside that a drive recorder is arranged at the vehicle to state the first acquisition device 11, so as in vehicle traveling
During, first acquisition device 11 can constantly obtain the image of the environment residing for the vehicle.
It is noted that the image obtained by way of shooting by first acquisition device 11 is special comprising one
Determine feature, the special characteristic can be by the foundation as the height and position for determining the vehicle.Specifically, the analysis mould
Block 14 can analyze the image received from first acquisition device 11 by the receiver module 12, to obtain the shadow
The special characteristic included as in, is subsequently generated for describing by the data generation module 15 based on the special characteristic
State first location data of the height and position of vehicle.It is noted that the special characteristic can be lines, road sign
Deng.It will be appreciated by those skilled in the art that, in grade-separated traffic network, the shunting of bridge floor road and surface road
The differences such as line, road sign, therefore, the image energy that the analysis module 14 is shot by analysis by first acquisition device 11
The special characteristic is accessed, and the height and position of the vehicle is judged based on the special characteristic.Those skilled in the art
It will also be appreciated that in the system for determining vehicle location of the invention, the height of the involved vehicle
Position refers to that the vehicle is traveling in bridge floor road or travels in the relative altitude position of surface road, and does not imply that institute
Vehicle is stated in the specific height and position for physically being represented with physical size (such as centimetre, meter etc.).
It is described for describing in a better embodiment for determining the system of vehicle location of the invention
The horizontal level of vehicle and second location data of height and position are based on an original road data of the navigation system.Tool
Say body, after the navigation system confirms a current location and a target location, can be in the current location and the target
One or more trip suggestion is recommended based on the original road data between position, for being confirmed or selected by user
Select and confirm.It will be appreciated by those skilled in the art that, once the trip suggestion is presented, in the vehicle according to institute
State during the trip that navigation system is given advises from the current location to the target location, the water of the vehicle
Prosposition is put can be described with height and position by second location data.Even so, those skilled in the art can be with
Understand, when the vehicle is advised from the current location to the target location according to the trip that the navigation system is given
During if when running into grade-separated traffic network, the navigation system can not judge that the vehicle is in bridge floor road
Or in road surface road, i.e., described navigation system cannot exactly confirm the height and position of the vehicle.Although that is, base
The horizontal level and height and position of the vehicle can be described in second location data of the original road data, but
In grade-separated traffic networking, there is deviation in the height and position of the vehicle of the second location data description, i.e., cannot be accurate
Really confirm that the vehicle is traveling in bridge floor road or travels in surface road.
In described another better embodiment for determining the system of vehicle location of the invention, the data pipe
Reason center 10 further provides for one second acquisition device 16, wherein second acquisition device 16 be used to obtain and the vehicle
Associated second location data, wherein second location data is used to describe the horizontal level and height of the vehicle
Position.The receiver module 12 is communicatively connected in a network in second acquisition device 16, so that the receiver module 12 can
Second location data that reception is obtained by second acquisition device 16, wherein second location data subsequently can
It is stored to the memory 13.Preferably, second acquisition device 16 may be implemented as a GPS module, or described
Second acquisition device 16 may be implemented as comprising the GPS module, so that second acquisition device 16 can be true in real time
The horizontal level and height and position of the fixed vehicle.
The processor 20 is communicatively connected in a network in the memory 13, wherein the processor 20 is from the memory
First location data of height and position for describing the vehicle is read in 13 respectively and for describing the vehicle
Second location data of horizontal level and height and position, and the processor 20 is by relatively more described first location data
The height and position of the vehicle of height and position and second location data description of the vehicle of description is described to obtain
Comparative result, the vehicle that the comparative result and second location data are described is based in the follow-up processor 20
Horizontal level can accurately determine position of the vehicle in grade-separated traffic network.
Further, the processor 20 includes a comparison module 21 and is communicatively connected in a network in the comparison module 21
A locating module 22, wherein the comparison module 21 is communicatively connected in a network in the memory 13.The comparison module 21
First location data and use of the height and position for describing the vehicle can be respectively read from the memory 13
In the horizontal level and second location data of height and position that describe the vehicle, and the comparison module 21 by than
The vehicle that the height and position and second location data of the vehicle of the first location data description are described
Height and position is obtaining the comparative result.When the comparative result shows the vehicle of the second location data description
When the height and position of the vehicle that height and position is described with first location data has difference, with the described first positioning number
According to the actual height position that the height and position of the vehicle of description is the vehicle, with the institute that second location data is described
The horizontal level for stating vehicle is the real standard position of the vehicle, and accurately determining the vehicle by the locating module 22 exists
Position in grade-separated traffic network.Correspondingly, when the comparative result shows the car of the second location data description
Height and position it is consistent with the height and position of the vehicle that first location data is described when, with described second positioning number
According to the actual height position that the height and position of the vehicle of description is the vehicle, with the institute that second location data is described
The horizontal level for stating vehicle is the real standard position of the vehicle, and accurately determining the vehicle by the locating module 22 exists
Position in grade-separated traffic network.
With reference to Fig. 3 and Fig. 4, of the invention described be used for is expanded on further with a specific example in following description
The feature and advantage of the system of vehicle location are determined, it should be appreciated by those skilled in the art content as described below is only institute
State a specific embodiment of the system for determining vehicle location and be not intended to limit of the invention described for determining vehicle
The content and scope of the system of position.
First acquisition device 11 of the control data corporation 10 may be implemented as the camera head, for example, go
Car recorder, wherein first acquisition device 11 is arranged at the inside of the vehicle, the institute of the control data corporation 10
State the second acquisition device 16 and may be implemented as the GPS module, wherein second acquisition device 16 is arranged at the shifting
Dynamic electronic installation, such as smart mobile phone or intelligent watch, for being carried by a user.First acquisition device 11 and described
Receiver module 12 is communicatively connected in a network, when user drives the vehicle, second acquisition device 16 and the reception
Module 12 is communicatively connected in a network.Preferably, second acquisition device 16 and the receiver module 12 can be connected automatically.
It is noted that first acquisition device 11 and the receiver module 12 and second acquisition device 16 and described connecing
Receiving module 12 can be attached by way of wireless connection, such as described first acquisition device 11 and the receiver module 12
And second acquisition device 16 and the receiver module 12 can be attached by network.
The vehicle travel during, second acquisition device 16 based on GPS technology can obtain in real time with
Associated second location data of the vehicle, wherein second location data is used to describe the horizontal position of the vehicle
Put and height and position, the receiver module 12 can receive second location data and by second location data store to
The memory 13.Those skilled in the art, it is understood that when the vehicle traveling in grade-separated traffic network when,
Although second location data that second acquisition device 16 is obtained can exactly describe the horizontal level of the vehicle,
But still can there is deviation in the height and position of the vehicle of the second location data description, that is to say, that only rely on institute
Stating second location data of the offer of the second acquisition device 16 can not exactly describe the height and position of the vehicle, example
Such as in the grade-separated traffic networking with overpass, it is impossible to enough determine that the vehicle is travelled in bridge floor road or ground road
Road.
First acquisition device 11 can in real time shoot the image of the vehicle local environment.The reception mould
Block 12 can receive the image, and the analysis module 14 can analyze the image with described in obtaining including in the image
Special characteristic, the follow-up data generation module 15 can be based on the video generation and the institute analyzed by the analysis module 14
Associated first location data of vehicle is stated, wherein first location data can exactly describe the height of the vehicle
Degree position.It is noted that when the special characteristic distinctive comprising bridge floor road in the image, the analysis module
14 are able to confirm that the vehicle traveling in bridge floor road, when special characteristic distinctive comprising surface road in the image, institute
Stating analysis module 14 is able to confirm that the vehicle traveling in surface road.Preferably, the special characteristic may be referred to lines,
Road sign etc..First location data of the height and position for describing the vehicle is generated in the data generation module 15
Afterwards, first location data can be stored to the memory 13.
The comparison module 21 is communicatively connected in a network in the memory 13, so that the comparison module 21 can be from institute
State and read first location data and second location data respectively in memory 13, and the comparison module 21 passes through
Compare the height and position of the vehicle of the first location data description and the vehicle of second location data description
The mode of height and position obtain the comparative result.When described in the second location data description described in the comparative result surface
When the height and position of the vehicle that the height and position of vehicle is described with first location data has difference, with described first
The height and position of the vehicle of location data description is actual height position, with the car that second location data is described
Horizontal level be the vehicle real standard position, the vehicle is accurately determined in solid by the locating module 22
Change the position in transportation network.Correspondingly, when the comparative result shows the vehicle of the second location data description
When height and position is consistent with the height and position of the vehicle that first location data is described, retouched with second location data
The height and position of the vehicle stated is the actual height position of the vehicle, with the car that second location data is described
Horizontal level be the vehicle real standard position, the vehicle is accurately determined in solid by the locating module 22
Change the position in transportation network.
With reference to Fig. 4, the flow of the position of vehicle described in the determination for determining the system of vehicle location of the invention
400 comprise the following steps：
Step 410, the image of the vehicle local environment is shot by first acquisition device 11；
Step 420, the image is received by the receiver module 12；
Step 430, the image is analyzed by the analysis module 14, to obtain residing for the vehicle that the image is included
The special characteristic of environment；
Step 440, the analysis result generation of the analysis module 14 and the car are based on by the data generation module 15
Associated first location data, wherein first location data is stored in the memory 13；
Step 450, second location data being associated with the vehicle is obtained by second acquisition device 16, its
Described in the second location data be stored in the memory 13；
Step 460；First location data and described is read respectively from the memory 13 by the comparison module 21
Second location data, and the comparison module 21 is by the height position of the vehicle of relatively more described first location data description
The height and position for putting the vehicle described with second location data obtains the comparative result；And
Step 470, the horizontal level of the vehicle that second location data is described is based on by the locating module 22
Determine position of the vehicle in grade-separated traffic network with the comparative result.
With reference to Fig. 5, according to another aspect of the present invention, the present invention also provides a method for being used to determine vehicle location
500, wherein methods described 500 can accurately determine position of the vehicle in grade-separated traffic network, wherein the side
Method 500 comprises the following steps：
Step 510, (a) provides first location data and the second positioning number being associated with the vehicle respectively
According to wherein first location data describes the height and position of the vehicle, second location data describes the vehicle
Horizontal level and height and position；
Step 520, the height and position and second positioning of the vehicle of (b) relatively more described first location data description
The height and position of the vehicle of data description, to obtain a comparative result；And
Step 530, (c) is based on the horizontal level and the comparative result of the vehicle of second location data description
Determine the position of the vehicle.
Preferably, step is further included in the step (a)：
(a.1) image of the vehicle local environment is shot by a camera head；
(a.2) image is analyzed to obtain the special characteristic included in the image；And
(a.3) the first positioning number of the height and position for describing the vehicle is generated based on the special characteristic
According to.
It is highly preferred that further including step in the step (c)：
(c.1) height and position of the vehicle described by relatively more described first location data by a comparison module 21 and
The height and position of the second location data description, to obtain a comparative result；With
(c.2) horizontal level of the vehicle described based on second location data by a locating module 22 and described
Comparative result determines the position of the vehicle.
It will be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing be only used as citing and
It is not intended to limit the present invention.
The purpose of the present invention completely and is effectively realized.Function of the invention and structural principle are opened up in embodiment
Show and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. one be used for determine vehicle location system, it is characterised in that including：
One control data corporation, wherein the control data corporation provides one first location data and one second location data, institute
State the height and position that the first location data describes the vehicle, second location data describe the vehicle horizontal level and
Height and position；With
One processor, wherein the processor is communicatively connected in a network in the control data corporation, and the processor quilt
It is configured to：
The institute that the height and position and second location data for describing the vehicle by relatively more described first location data are described
The height and position of vehicle is stated, to obtain a comparative result；With
The horizontal level and the comparative result of the vehicle based on second location data description determine the vehicle
Position.
2. the system for determining vehicle location according to claim 1, wherein the control data corporation includes one the
One acquisition device, a receiver module and a memory, the receiver module are communicatively connected in a network are obtained in described first respectively
Device and the memory are taken, wherein first acquisition device be used to obtain first location data, the reception mould
Block receives first location data and stores to the memory first location data.
3. the system for determining vehicle location according to claim 2, wherein first acquisition device is a gyro
Instrument.
4. the system for determining vehicle location according to claim 2, wherein first acquisition device includes a top
Spiral shell instrument.
5. the system for determining vehicle location according to claim 2, wherein the control data corporation is further wrapped
Include an analysis module and be communicatively connected in a network the data generation module in the analysis module, the analysis module can be led to
The receiver module is connected to, the data generation module is communicatively connected in a network in the memory, wherein described the letter
One acquisition device be used to shoot the image being associated in the vehicle, and the receiver module receives the image, the analysis
To obtain comprising a special characteristic in the image, the data generation module is based on the specific spy to image described in module analysis
Levy generation first location data and store to the memory first location data.
6. the system for determining vehicle location according to claim 5, wherein first acquisition device is a shooting
Device.
7. the system for determining vehicle location according to claim 5, wherein first acquisition device is taken the photograph comprising
As device.
8. the system for determining vehicle location according to claim 5, wherein first acquisition device is a driving
Recorder.
9. according to any described system for determining vehicle location in claim 1,2,3,4,5,6,7 or 8, wherein described
Control data corporation further includes one second acquisition device, and second acquisition device is communicatively connected in a network in the reception
Module, wherein second acquisition device be used to obtain second location data and store second location data
To the memory.
10. according to any described system for determining vehicle location, wherein institute in claim 1,2,3,4,5,6,7 or 8
Processor is stated to further include a comparison module and be communicatively connected in a network the locating module in the comparison module, the ratio
It is communicatively connected in a network in the memory compared with module, wherein the comparison module reads described respectively from the memory
The height and position of one location data and the vehicle of the first location data description described in second location data and comparing
The height and position of the vehicle described with second location data, to obtain the comparative result, the locating module base
Determine the position of the vehicle in the horizontal level and the comparative result of the vehicle of second location data description.
11. systems for determining vehicle location according to claim 9, wherein the processor further includes a ratio
Compared with module and be communicatively connected in a network the locating module in the comparison module, the comparison module be communicatively connected in a network in
The memory, wherein the comparison module reads first location data and described second respectively from the memory determining
Position data and the height and position of the vehicle of the first location data description described in comparing and second location data description
The vehicle height and position, to obtain the comparative result, the locating module is described based on second location data
The vehicle horizontal level and the comparative result determine the position of the vehicle.
12. 1 method for determining vehicle location, it is characterised in that methods described comprises the following steps：
A () provides first location data and second location data being associated with the vehicle respectively, wherein described
First location data describes the height and position of the vehicle, and second location data describes the horizontal level and height of the vehicle
Degree position；
The height and position of the vehicle of (b) relatively more described first location data description and the institute of second location data description
The height and position of vehicle is stated, to obtain a comparative result；And
C horizontal level and the comparative result that () is based on the vehicle of second location data description determines the vehicle
Position.
13. methods according to claim 12, wherein in the step (a), by being arranged at the vehicle or position
First location data of the height and position for describing the vehicle is obtained in a gyroscope of the vehicle interior.
14. methods according to claim 12, wherein further including step in the step (a)：
(a.1) image of the vehicle local environment is shot by a camera head；
(a.2) image is analyzed to obtain the special characteristic included in the image；And
(a.3) first location data of the height and position for describing the vehicle is generated based on the special characteristic.
15. methods according to claim 14, wherein in the above-mentioned methods, the camera head is arranged at the car
.
16. methods according to claim 14, wherein in the above-mentioned methods, the special characteristic is based on lines and road sign
At least one of.
17. according to any described method in claim 12,13,14,15 or 16, wherein in the step (a), by being set
It is placed in the vehicle or the GPS module positioned at the vehicle interior obtains horizontal level and height for describing the vehicle
Spend second location data of position.
18. according to any described method in claim 12,13,14,15 or 16, wherein in the step (c) further
Including step：
(c.1) by a comparison module by the relatively height and position of the vehicle that first location data is described and described the
The height and position of two location datas description, to obtain a comparative result；With
(c.2) horizontal level of the vehicle that second location data is described is based on by a locating module and described compares knot
Fruit determines the position of the vehicle.
19. methods according to claim 17, wherein further including step in the step (c)：
(c.1) by a comparison module by the relatively height and position of the vehicle that first location data is described and described the
The height and position of two location datas description, to obtain a comparative result；With
(c.2) horizontal level of the vehicle that second location data is described is based on by a locating module and described compares knot
Fruit determines the position of the vehicle.
20. methods according to claim 19, wherein in the above-mentioned methods, when the comparative result shows that described first determines
The height and position of the vehicle that the height and position of the vehicle of position data description is described with second location data is present
During difference, the height and position with the vehicle of first location data description is actual height position, fixed with described second
The horizontal level of the vehicle of position data description is real standard position, to determine the position of the vehicle, when the comparing
Result shows described in height and position and second location data description of the vehicle that first location data is described
It is actual height position with the height and position of the vehicle of second location data description when height and position of vehicle is consistent
Put, the horizontal level with the vehicle of second location data description is real standard position, to determine the vehicle
Position.
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