CN102313551A - Positioning method - Google Patents
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- CN102313551A CN102313551A CN2010102258575A CN201010225857A CN102313551A CN 102313551 A CN102313551 A CN 102313551A CN 2010102258575 A CN2010102258575 A CN 2010102258575A CN 201010225857 A CN201010225857 A CN 201010225857A CN 102313551 A CN102313551 A CN 102313551A
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Abstract
The invention discloses a positioning method. The method comprises the following steps of: acquiring real-time road surface image data; performing image identification on the real-time road surface image data to find road surface image feature data; inquiring a database in which preset road surface data is stored in reference to global positioning system data to find preset image feature data; comparing the road surface image feature data with the preset image feature data to generate auxiliary positioning data; and providing comprehensive positioning data according to the global positioning system data and the auxiliary positioning data. The invention also provides a positioning system using the positioning method. The positioning system comprises an image acquisition unit, an image identification unit, the database, a global positioning system and a comparison unit.
Description
Technical field
The present invention relates to a kind of localization method, and be particularly related to a kind of GPS (Global Positioning System, localization method GPS).
Background technology
The application of GPS at present is very extensive, is traffic navigation to its extensive application wherein.The user usually uses the traffic navigation device to carry out the traffic route planning of location to destination in driving.According to Ministry of Internal Affairs urban road and appurtenant work design standards, the width of each drawing lines is about 2.8 to 3.25 meters on the road, yet, but only about 15 to 70 meters of the positional accuracy of present GPS.Therefore, not accurate enough phenomenon usually appears in the position that shown of real position of vehicle and traffic navigation device.Sometimes obviously in did in narrow and small lane, the traffic navigation device but showed on the main road of vehicle next door vehicle.Moreover; Many will the turning or the situation of overpass and overpass up and down possibly appear in the route planning of traffic navigation device; And these situations all must be switched earlier the track of track to appointment when driving, just can turn or overpass and overpass up and down.But because the precision of existing GPS is not enough, and make the user of traffic navigation device can't switch the track in advance, often let the user miss the ring road of high road of overpass, the opportunity of perhaps missing turning.What is more, also possibly let the user very near the crossing that must turn or overpass the time, just switch the track temporarily, and improve driving danger, even cause driving accident.
Summary of the invention
Because the disappearance of above-mentioned prior art; The object of the present invention is to provide relevant for a kind of localization method and use the positioning system of this method; Can promote the precision of GPS, and can avoid missing or accident because of fail to switch the route that the track causes in advance.
To achieve these goals; The present invention proposes a kind of localization method; Comprise: capture real-time road surface image data; This real-time road surface image data is carried out image identification to find out many styles face as characteristic; The database that has the road surface preset data with reference to the gps data inquiry contrasts these road surface image feature data and should preset image feature data assist locator data to produce, and according to this gps data and this assistance locator data comprehensive locator data is provided to find out preset image feature data.
To achieve these goals, the present invention also proposes a kind of positioning system, comprising: an image acquisition unit, an image identification unit, a database, a GPS, a contrast unit.Wherein, This image acquisition unit is in order to capture real-time road surface image data; This image identification unit is in order to carry out image identification to find out many styles face as characteristic to this real-time road surface image data; This database is in order to store the road surface preset data, and this GPS is in order to the inquiry gps data.This contrast unit is then in order to preset the image feature data with reference to this database of gps data inquiry to find out; And contrast these road surface image feature data and should preset image feature data assist locator data, and comprehensive locator data is provided according to this gps data and this assistance locator data to produce.
In the localization method and positioning system that the present invention disclosed; Because the present invention can have the meticulousr accuracy compared to existing gps data except comprehensive locator data; During advancing, turn or up and down under the situation of ring road; The route planning that can when programme path, just must switch the track is in advance entered, and can remind the driver in advance everywhere near switching car, and the missing or switch the track rapidly and the driving that causes is dangerous of can avoid turning crossing or overpass.And the present invention can change the speed of image capture according to road speed, and can avoid crossing when slow and the unnecessary waste that causes in the speed of a motor vehicle, and avoids the image identification mistake that causes because of the speed of a motor vehicle is too fast.
Describe the present invention below in conjunction with accompanying drawing and specific embodiment, but not as to qualification of the present invention.
Description of drawings
Fig. 1 is the block scheme of the positioning system of first embodiment of the invention;
Fig. 2 is the process flow diagram of the localization method of first embodiment of the invention;
Fig. 3 is the process flow diagram of the localization method of second embodiment of the invention;
Fig. 4 is the block scheme of the positioning system of third embodiment of the invention;
Fig. 5 is the process flow diagram of the localization method of third embodiment of the invention;
Fig. 6 is the block scheme of the positioning system of fourth embodiment of the invention;
Fig. 7 is the process flow diagram of the localization method of fourth embodiment of the invention;
Fig. 8 is another process flow diagram of the localization method of fourth embodiment of the invention.
Wherein, Reference numeral is:
100,400,600: positioning system
101: image acquisition unit
102: the image identification unit
103: database
104: GPS
105: the contrast unit
106: display unit
201,202,203,204,205,206: step
301,302,303: step
407: speed detection unit
408: control module
507,508: step
609: the route planning unit
701,702,703,704,801,802,803: step
Embodiment
Below propose embodiment and be elaborated, embodiment is only in order to as the example explanation, scope that can't limit desire protection of the present invention.In addition, the unnecessary element of graphic omission among the embodiment is with clear demonstration technical characterstic of the present invention.
First embodiment
Please with reference to Fig. 1, be the block scheme of the positioning system 100 of first embodiment of the invention.This positioning system 100 comprises: an image acquisition unit 101, an image identification unit 102, a database 103, a GPS 104, a contrast unit 105 and a display unit 106.
Database 103, in order to store a road surface preset data, this road surface preset data can for example be employed map datum of GPS and roadmarking configuration.The configuration of this route refers to the graticule data of graticule kind and color etc. of direction and every drawing lines left and right sides of the drawing lines number that is had on the road surface in highway section, every drawing lines.
GPS 104 is connected with this database 103.This GPS 104 is in order to the inquiry gps data.GPS 104 is that the signal that utilizes satellite to send carries out the location of position, and can learn gps data, and this gps data can be the zone of these GPS 104 positions.
In addition, the positioning system 100 in the present embodiment also can comprise a display unit 106, be connected with contrast unit 105, and in order to this comprehensive locator data of demonstration, but and the detailed place that belongs in the displayed map.This display unit 106 can for example be the screen or the loudspeaker of traffic navigation device.
The process flow diagram of below also arranging in pairs or groups specifies the localization method that uses positioning system 100 in the present embodiment.Please with reference to Fig. 2, it is for using the process flow diagram of the localization method of positioning system 100 among first embodiment.Yet the positioning system 100 that those of ordinary skill all can be understood present embodiment in the technical field under the present invention is not limited thereto the application of process flow diagram, and the execution sequence of its step also is not limited to this process flow diagram.
At first in step 201, image acquisition unit 101 captures real-time road surface image data.In step 202, this 102 pairs of real-time road surfaces, image identification unit image data carries out image identification, to find out the for example road surface image feature data of pavement strip color and shape.
In step 203; GPS 104 collocation databases 103 carry out global location and produce gps data; The database 103 that has the road surface preset data is inquired about with reference to gps data in contrast unit 105, to find out preset image feature data.
In step 204, contrast unit 105 these road surface image feature data of contrast reach should preset the image feature data, assisted locator data to produce one.In step 205, contrast unit 105 provides comprehensive locator data according to this gps data and this assistance locator data.
In addition, other comprises step 206, and display unit 106 shows this comprehensive locator data, and can demonstrate near the accurate place of map and position the site, for example belongs to the specific track in the road.
Because the comprehensive locator data in the present embodiment can have meticulousr accuracy compared to existing gps data, and the missing or switch the track rapidly and the driving that causes is dangerous of can avoid turning crossing or overpass.
Second embodiment
Please with reference to Fig. 3, it is the process flow diagram that uses the localization method of positioning system 100 among second embodiment.When present embodiment can for example be passed through the highway section of no graticule in first embodiment, or graticule indicates when not clear, carries out the localization method of present embodiment.Also can when intending to indicate direct of travel, carry out the localization method of present embodiment.Present embodiment in step 202, promptly carries out image identification to real-time road surface image data compared to first embodiment, when finding out many styles face as characteristic, has also further comprised step 301～303.
At first, in step 301, image acquisition unit 101 another real-time road surface image datas of acquisition.In step 302, image identification unit 102 successively picks out first characteristic and second characteristic of same target respectively from those real-time road surface image datas.For example from real-time road surface image data early, pick out first characteristic, and from later real-time road surface image data, pick out second characteristic, this second characteristic for example is that previous first characteristic is in the feature locations of later time.
In step 303, therefore these contrast unit 105 this first characteristic of contrast and this second characteristics obtain moving direction as the road surface image data.Then, in step 203, the database that has the road surface preset data is inquired about with reference to gps data in this contrast unit 105, to find out preset image feature data.
In step 204, the road surface image feature data of these contrast unit 105 these moving directions of contrast reach should preset the image feature data, assisted locator data to produce.In step 205, this contrast unit 105 is according to gps data and assist locator data that comprehensive locator data is provided.
Also be included in the step 206, display unit 106 shows comprehensive locator data, and for example can demonstrate map and present direct of travel near the location.
The 3rd embodiment
Please with reference to Fig. 4, be the block scheme of the positioning system 400 of third embodiment of the invention.Positioning system 100 differences among this positioning system 400 and first embodiment are that positioning system 400 also further comprises a speed detection unit 407 and a control module 408.
Speed detection unit 407 is in order to detect gait of march.This speed detection unit 407 also can be connected with the speed measuring Instrument of the instrument of advancing, for example the instrument panel of automobile display speed or be positioned at velocity meter of vehicle wheel shaft wheel axle rotating speed etc.
Control module 408 is connected with this speed detection unit 407 and image acquisition unit 101.This control module 408 is controlled the speed of the real-time road surface of image acquisition unit 101 acquisitions image data in order to according to the gait of march that is detected by speed detection unit 407.
The process flow diagram of below also arranging in pairs or groups specifies the localization method that uses positioning system 400 in the present embodiment.Please with reference to Fig. 5, for using the process flow diagram of the localization method of positioning system 400 among the 3rd embodiment.The localization method that localization method difference among the localization method of present embodiment and first embodiment is present embodiment further comprised step 507 and step 508 before step 201.
Yet the positioning system 400 that those of ordinary skill all can be understood present embodiment in the technical field under the present invention is not limited thereto the application of process flow diagram, and the execution sequence of its step also is not limited to this process flow diagram.
At first in step 507, speed detection unit 407 detects gait of march, the for example speed of traveling vehicle.In step 508, control module 408 changes the speed that image acquisition unit 101 captures real-time road surface image data according to gait of march.This control module 408 is being advanced when speeding up, and accelerates the speed of the real-time road surface of image acquisition unit 101 acquisitions image data.This control module 408 is when gait of march slows down in addition, and the image acquisition unit 101 that slows down captures the speed of these real-time road surface image datas.Perhaps, the speed of the real-time road surface of image acquisition unit 101 acquisitions image data is to capture M road surface image data in real time p.s., and gait of march is the N rice of advancing p.s..This control module 408 becomes the gait of march rice number of p.s. with the real-time road surface image data quantity control of real-time road surface image data acquisition p.s., and soon M is controlled to and equals N.
Thus, when gait of march was slow, control module 408 may command image acquisition units 101 captured less real-time road surface image data in the unit interval, and can avoid unnecessary waste.When advancing rapid speed, control module 408 may command image acquisition units 101 capture more real-time road surface image data in the unit interval, and can guarantee to contrast the accuracy of the comparing result of unit 105.
The 4th embodiment
Please with reference to Fig. 6, be the block scheme of the positioning system 600 of fourth embodiment of the invention.Positioning system 100 differences among this positioning system 600 and first embodiment are that the positioning system 600 in the present embodiment also further comprises a route planning unit 609.
Wherein, this contrast unit 105 is further in order to contrast comprehensive locator data and projected route data.When this comprehensive locator data and this projected route data are different, produce an alarm signal.For example the driver near must turn regional the time, do not comply with the projected route data of being planned and switch to the track that is easy to turn, then contrast unit 105 and just can produce an alarm signal, display unit 106 can be in order to show this alarm signal.
The process flow diagram of below also arranging in pairs or groups specifies the localization method that uses positioning system 600 in the present embodiment.Please with reference to Fig. 7, for using the process flow diagram of the localization method of positioning system 600 among the 4th embodiment.The localization method difference of the localization method of present embodiment and first embodiment is the localization method of present embodiment in execution in step 201 extra execution in step 701 in 205, and after step 205, advances one one and comprise that step 702 is to 704.
Yet the positioning system 600 that those of ordinary skill all can be understood present embodiment in the technical field under the present invention is not limited thereto the application of process flow diagram, and the execution sequence of its step also is not limited to this process flow diagram.
At first before step 201, steps performed 701.In step 701, route planning unit 609 programme paths and produce the projected route data.These projected route data also further comprise the pass through route and or even the track of passing through of being advised of being advised.
After step 205, steps performed 702, in step 702, whether 105 contrasts comprehensive locator data in contrast unit conforms to the projected route data.When contrast comprehensive locator data and projected route data were different, then to step 704, contrast unit 105 produced alarm signals, and display unit 106 shows alarm signals, comprehensively locator data and projected route data, and was back to step 201.When the comprehensive locator data of contrast conformed to the projected route data, then to step 703, this display unit 106 showed comprehensive locator data and projected route data.
In addition, please with reference to Fig. 8, step 702,703 and 704 also replaceable one-tenth step 801,802 and 803 as shown in Figure 8.After step 701 and 205, practicable step 801.In step 801, display unit 106 shows comprehensive locator data and projected route data.In step 802, whether 105 contrasts comprehensive locator data in contrast unit conforms to the projected route data.When contrast comprehensive locator data and projected route data were different, then to step 803, contrast unit 105 produced alarm signals, display unit 106 these alarm signals of demonstration, and be back to step 201.
In step 704 and step 803; Display unit 106 can comprise display and loudspeaker, when display unit 106 shows alarm signal, can in display, show; Can also send caution sound by loudspeaker, must the position be moved to the position that meets the projected route data to notify the user.
In the localization method and positioning system that the above embodiment of the present invention disclosed; Because the present invention can have the meticulousr accuracy compared to existing gps data except comprehensive locator data; During advancing, turn or up and down under the situation of ring road; The route planning that can when programme path, just must switch the track is in advance entered; And can remind the driver in advance everywhere near switching car, and the missing or switch the track rapidly and the driving that causes is dangerous of can avoid turning crossing or overpass.And the present invention can change the speed of image capture according to road speed, and can avoid crossing when slow and the unnecessary waste that causes in the speed of a motor vehicle, and avoids the image identification mistake that causes because of the speed of a motor vehicle is too fast.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (10)
1. a localization method is characterized in that, comprising:
Acquisition one real-time road surface image data;
This real-time road surface image data is carried out image identification, to find out many styles face as characteristic;
Inquire about a database that has the road surface preset data with reference to a gps data, to find out preset image feature data;
Contrast these road surface image feature data and should preset the image feature data, assist locator data to produce one; And
According to this gps data and this assistance locator data one comprehensive locator data is provided.
2. localization method according to claim 1 is characterized in that, these road surface image feature data comprise the shape and the color of pavement strip.
3. localization method according to claim 1 is characterized in that, also comprises this comprehensive locator data is shown in a display unit.
4. localization method according to claim 1 is characterized in that, before this real-time road surface image data of acquisition, also comprises:
Programme path and produce projected route data;
After this comprehensive locator data is provided, contrast this comprehensive locator data and this projected route data; And
When this comprehensive locator data and this projected route data are different, produce an alarm signal.
5. localization method according to claim 4 is characterized in that, comprises that also this alarm signal of response is shown in this display unit.
6. localization method according to claim 4 is characterized in that, comprises that also this this alarm signal of display unit response sends caution sound.
7. localization method according to claim 1 is characterized in that, this real-time road surface image data is carried out image identification, when finding out many styles face as characteristic, also comprises:
Capture another real-time road surface image data, difference identification one first characteristic and one second characteristic from those real-time road surface image datas; And
Contrast this first characteristic and this second characteristic to obtain a moving direction as these road surface image feature data.
8. localization method according to claim 1 is characterized in that, captures before this real-time road surface image data, also comprises:
Detect the speed of advancing; And
Change the speed of this real-time road surface image data of acquisition according to this gait of march.
9. localization method according to claim 8 is characterized in that, when this gait of march is accelerated, accelerates the speed of this real-time road surface image data of acquisition, when this gait of march slows down, and the speed of this real-time road surface image data of acquisition that slows down.
10. localization method according to claim 8 is characterized in that, the frame numbers of this real-time road surface image data acquisition p.s. is the gait of march rice number of p.s..
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| CN2010102258575A CN102313551A (en) | 2010-07-09 | 2010-07-09 | Positioning method |
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| CN109559539A (en) * | 2017-09-26 | 2019-04-02 | 廖凌峣 | Action positioning service collocation Object identifying DAS (Driver Assistant System) and its operation method |
| CN110332945A (en) * | 2019-08-01 | 2019-10-15 | 北京眸星科技有限公司 | Navigation method and device based on traffic route graticule visual identity |
| WO2021082024A1 (en) * | 2019-11-02 | 2021-05-06 | 游戏橘子数位科技股份有限公司 | Positioning method combining virtuality and reality |
| TWI745041B (en) * | 2020-08-21 | 2021-11-01 | 新加坡商鴻運科股份有限公司 | Self-propelled warning triangle and driving control method thereof |
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Application publication date: 20120111 |