CN104596525A - Vehicle positioning method based on coded graphics - Google Patents
Vehicle positioning method based on coded graphics Download PDFInfo
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- CN104596525A CN104596525A CN201410836629.XA CN201410836629A CN104596525A CN 104596525 A CN104596525 A CN 104596525A CN 201410836629 A CN201410836629 A CN 201410836629A CN 104596525 A CN104596525 A CN 104596525A
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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
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Navigation (AREA)
Abstract
The invention discloses a vehicle positioning method based on coded graphics. The method comprises the following steps: extracting road information on each road section on a predetermined route in advance, wherein the road information comprises the position information of each road section; endowing the road information of each road section with a corresponding coded value; generating coded graphics which correspond to the coded values one by one; drawing the coded graphics on the road surface at corresponding positions; photographing images of the coded graphics on the current road surface by virtue of a camera arranged on the vehicle during vehicle running; identifying the coded values which correspond to the images; acquiring road information of the road surface which corresponds to the coded value, wherein the road information comprises the position information of the road section, and the vehicle is positioned. With the adoption of the positioning method based on coded graphics, the current position information of the vehicle in vehicle navigation can be acquired, and automatic running of vehicles is accurately controlled.
Description
Technical field
The present invention relates to technical field of visual navigation, be specially a kind of vehicle positioning method based on coded graphics.
Background technology
Vision guided navigation method by the method for visual pattern process for vehicle provides guiding.Vision guided navigation have flexible high, be applicable to the advantages such as various different scenes, be the very potential navigate mode of one.Current vision navigation method draws solid line or dotted line along permanent haulage line, such as, use dotted line or solid line (Zhang Shuanxi based on the event of camera in " Freescale " intelligent vehicle contest, Wang Jinyang, Ding Lei, Deng. based on the wire path identification design and implimentation [J] of Freescale single-chip microcomputer intelligent vehicle. Shandong Jiaotong University's journal, 2013,20 (4): 14-17.); And adopt doublet (New Era Hi-tech Buses. http://citytransport.info/Buses03.htm. 2014-08-26 based on the guiding bus of optics; Las Vegas, NV:Regional Transportation Commission of Southern Nevada. http://www.fta.dot.gov/ 4333.html. 2014-08-26; Guided bus. http://en.wikipedia.org/wiki/Guided_bus. 2014-08-26).The weak point of current technology is, based on this codeless solid line or dotted line, can not obtain the current location information of vehicle, and then cannot obtain the information such as the gradient and superelevation of current road, the information such as the gradient and superelevation contributes to controlling vehicle automatic running more accurately.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide a kind of vehicle positioning method based on coded graphics that can obtain current vehicle position information.Concrete scheme is as follows:
Based on a vehicle positioning method for coded graphics, comprising:
Extract the road information on projected route Shang Geduan road in advance, described road information comprises the positional information on Ge Duan road;
Corresponding encoded radio is given to the road information on above-mentioned Ge Duan road;
Generate and above-mentioned encoded radio coded graphics one to one;
Above-mentioned coded graphics is plotted on the road surface of opposite position;
When vehicle travels, be arranged on the image of coded graphics on the video camera shooting current road on vehicle;
Identify the encoded radio that above-mentioned image is corresponding;
Obtain the road information on the road surface corresponding with this encoded radio, comprise the positional information of this Duan Lu, thus complete the location of vehicle.
Further, described encoded radio is the sequence number for the layout of Mei Duan road in projected route.
Further, described encoded radio is the data parameters in described road information.
Further, described road information also comprises the road gradient on Ge Duan road, sweep, superelevation and elevation.
Further, described positional information is kilometer post or the coordinate on Ge Duan road.
Further, described coded graphics is matrix two-dimensional code, one-dimensional bar code, arabic numeral.
The invention has the beneficial effects as follows: present invention employs the localization method based on coded graphics, more information can be obtained in automobile navigation, the current location information of vehicle can be obtained by the coded graphics of current road, and the information such as the gradient of current road, superelevation and elevation, contribute to the automatic running controlling vehicle more accurately.
Accompanying drawing explanation
Fig. 1 is present device scheme of installation.
Embodiment
Below in conjunction with specific embodiment, the present invention will be further described:
Scheduled circuit is divided into several segments, extract the road information on Ge Duan road and store, road information comprises the positional information on Ge Duan road, as kilometer post and coordinate etc., also comprises the information such as the gradient on road surface, sweep, superelevation and elevation.For guaranteeing degree of accuracy, the length optional on Mei Duan road gets 0.5 meter, 1 meter or 2 meters etc.
Wherein, the gradient is the degree that ground table unit delays suddenly, usually the ratio of domatic vertical height and horizontal range is called the gradient; Sweep and Road turnings radius; Superelevation refers to that the outside arranged on this road section surface transversal section is higher than the unidirectional horizontal wall inscription of inner side in order to offset the centrifugal force produced when vehicle travels on circular curve segment road surface; Elevation refers to the distance of certain point along pedal line direction to absolute datum, claims absolute elevation, is called for short elevation.
Embodiment 1: encode to above-mentioned road information, using the data parameters in above-mentioned road information as encoded radio.Generate the coded graphics corresponding with above-mentioned encoded radio; Coded graphics can be self-defining matrix two-dimensional code, also can be QR Quick Response Code, PDF417 Quick Response Code, Data Matrix Quick Response Code equal matrix formula Quick Response Code, or one-dimensional bar code, arabic numeral etc.In order to improve recognition accuracy and reliability, when encoded radio being generated coded graphics, error correcting code can be increased by certain algorithm.
Above-mentioned coded graphics is plotted on the road surface of opposite position; Work progress may have certain error, records its error amount for improving precision after can measuring.
As shown in Figure 1, in car body front or side, install video camera, video camera connection control device, controller connects rear-wheel motor and front turbin generator, and rear-wheel motor drives trailing wheel, and front turbin generator drives front-wheel.
When vehicle travels, be arranged on the image of coded graphics on the video camera shooting current road on vehicle; The ground image that video camera photographs analyzed by controller, the encoded radio in recognition image; From this encoded radio, obtain the positional information of this Duan Lu, thus complete the location of vehicle, the information such as current road gradient, sweep, superelevation and elevation can be obtained further simultaneously.Due to coded graphics size and to draw direction known, between the inner and coded graphics of coded graphics, road informations of other points can be calculated by modes such as interpolation.
Embodiment 2: to the Mei Duan road layout sequence number of projected route; Record the road information on Ge Duan road corresponding to each sequence number, comprise positional information; Using above-mentioned sequence number as encoded radio, generate and encoded radio coded graphics one to one; In order to improve recognition accuracy and reliability, when encoded radio being generated coded graphics, error correcting code can be increased by certain algorithm; In order to reduce the span of encoded radio, reducing the complexity of encoding of graphs, improving discrimination, can be combined with other locator meamss such as GPS, the numbering outside certain distance scope can repeat.Above-mentioned coded graphics is plotted on the road surface of opposite position; When vehicle travels, be arranged on the image of coded graphics on the video camera shooting current road on vehicle; Identify the encoded radio that coded graphics in above-mentioned image is corresponding; In conjunction with the locating information such as GPS or the positional information in a upper moment, the road information corresponding with the sequence number that this encoded radio represents can be obtained, comprise positional information, thus complete the location of vehicle as required.The information such as current road gradient, sweep, superelevation and elevation can be obtained further simultaneously.In previous embodiment, the form of coded graphics is also applicable to the present embodiment.Due to coded graphics size and to draw direction known, between the inner and coded graphics of coded graphics, road informations of other points can be calculated by modes such as interpolation.
While obtaining above-mentioned information, can in conjunction with three-dimensional reconstruction algorithm, obtain the attitude information of vehicle, as a brilliance, video camera photocentre terrain clearance, and the angle of car body and circuit and course angle etc., and then utilize rear-wheel motor and front turbin generator, control speed and the direction of wheel, make vehicle as far as possible along predetermined route running.
Claims (6)
1. based on a vehicle positioning method for coded graphics, it is characterized in that, comprising:
Extract the road information on projected route Shang Geduan road in advance, described road information comprises the positional information on Ge Duan road;
Corresponding encoded radio is given to the road information on above-mentioned Ge Duan road;
Generate and above-mentioned encoded radio coded graphics one to one;
Above-mentioned coded graphics is plotted on the road surface of opposite position;
When vehicle travels, be arranged on the image of coded graphics on the video camera shooting current road on vehicle;
Identify the encoded radio that above-mentioned image is corresponding;
Obtain the road information on the road surface corresponding with this encoded radio, comprise the positional information of this Duan Lu, thus complete the location of vehicle.
2. a kind of vehicle positioning method based on coded graphics according to claim 1, is characterized in that, described encoded radio is the sequence number for the layout of Mei Duan road in projected route.
3. a kind of vehicle positioning method based on coded graphics according to claim 1, is characterized in that, described encoded radio is the data parameters in described road information.
4. a kind of vehicle positioning method based on coded graphics according to Claims 2 or 3, is characterized in that, described road information also comprises the road gradient on Ge Duan road, sweep, superelevation and elevation.
5. a kind of vehicle positioning method based on coded graphics according to Claims 2 or 3, is characterized in that, described positional information is kilometer post or the coordinate on Ge Duan road.
6. a kind of vehicle positioning method based on coded graphics according to Claims 2 or 3, is characterized in that, described coded graphics is matrix two-dimensional code, one-dimensional bar code or arabic numeral.
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| CN201410836629.XA CN104596525A (en) | 2014-12-29 | 2014-12-29 | Vehicle positioning method based on coded graphics |
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| CN201410836629.XA CN104596525A (en) | 2014-12-29 | 2014-12-29 | Vehicle positioning method based on coded graphics |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI595338B (en) * | 2016-03-30 | 2017-08-11 | 高瞻資訊股份有限公司 | Method for moving vehicle to predetermined physical position |
| CN107197274A (en) * | 2017-06-28 | 2017-09-22 | 四川大学 | The asynchronous stream encryption of vision and solution code system |
| CN107958607A (en) * | 2017-12-29 | 2018-04-24 | 吴蜀魏 | A kind of vehicle mounted traffic signal combination recognition system |
| CN108289327A (en) * | 2017-01-07 | 2018-07-17 | 薛明洁 | A kind of localization method and system based on image |
| CN108801257A (en) * | 2018-04-04 | 2018-11-13 | 东南大学 | A kind of localization method for indoor automatic parking |
| CN108827327A (en) * | 2018-04-23 | 2018-11-16 | 北京天隼图像技术有限公司 | Node coding/decoding device and method, node guiding system, automatic device |
| CN108875689A (en) * | 2018-07-02 | 2018-11-23 | 上海西井信息科技有限公司 | Automatic driving vehicle alignment method, system, equipment and storage medium |
| CN109059940A (en) * | 2018-09-11 | 2018-12-21 | 北京测科空间信息技术有限公司 | A kind of method and system for automatic driving vehicle navigational guidance |
| CN109920266A (en) * | 2019-02-20 | 2019-06-21 | 武汉理工大学 | A kind of intelligent vehicle localization method |
| WO2020018143A1 (en) * | 2018-07-16 | 2020-01-23 | Didi Research America, Llc | Smart landmark |
| CN110992423A (en) * | 2019-11-15 | 2020-04-10 | 曾菊阳 | Driving positioning method, system and medium based on image matching |
| CN111274923A (en) * | 2020-01-17 | 2020-06-12 | 同济大学 | Vehicle positioning method, system, medium, and apparatus based on road surface coding |
| CN112184818A (en) * | 2020-10-09 | 2021-01-05 | 重庆邮电大学 | Vision-based vehicle positioning method and parking lot management system applying same |
| CN112562373A (en) * | 2020-08-28 | 2021-03-26 | 郭荣江 | Method for automobile automatic driving lane level positioning and roadside traffic identification and command signal identification |
| CN112904850A (en) * | 2021-01-18 | 2021-06-04 | 香港理工大学 | Road positioning mark for unmanned vehicle service |
| CN113532425A (en) * | 2021-09-16 | 2021-10-22 | 西南交通大学 | Tunnel base station-free vehicle-road cooperative positioning method based on oscillation marked lines and mobile phone sensing |
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- 2014-12-29 CN CN201410836629.XA patent/CN104596525A/en active Pending
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI595338B (en) * | 2016-03-30 | 2017-08-11 | 高瞻資訊股份有限公司 | Method for moving vehicle to predetermined physical position |
| CN108289327A (en) * | 2017-01-07 | 2018-07-17 | 薛明洁 | A kind of localization method and system based on image |
| CN107197274B (en) * | 2017-06-28 | 2020-03-31 | 四川大学 | Visual asynchronous stream coding and decoding method |
| CN107197274A (en) * | 2017-06-28 | 2017-09-22 | 四川大学 | The asynchronous stream encryption of vision and solution code system |
| CN107958607A (en) * | 2017-12-29 | 2018-04-24 | 吴蜀魏 | A kind of vehicle mounted traffic signal combination recognition system |
| CN108801257A (en) * | 2018-04-04 | 2018-11-13 | 东南大学 | A kind of localization method for indoor automatic parking |
| CN108801257B (en) * | 2018-04-04 | 2021-05-11 | 东南大学 | Positioning method for indoor automatic parking |
| CN108827327A (en) * | 2018-04-23 | 2018-11-16 | 北京天隼图像技术有限公司 | Node coding/decoding device and method, node guiding system, automatic device |
| CN108875689A (en) * | 2018-07-02 | 2018-11-23 | 上海西井信息科技有限公司 | Automatic driving vehicle alignment method, system, equipment and storage medium |
| CN108875689B (en) * | 2018-07-02 | 2020-11-06 | 上海西井信息科技有限公司 | Unmanned vehicle alignment method, system, equipment and storage medium |
| WO2020018143A1 (en) * | 2018-07-16 | 2020-01-23 | Didi Research America, Llc | Smart landmark |
| US11678157B2 (en) | 2018-07-16 | 2023-06-13 | Beijing Voyager Technology Co., Ltd. | Smart landmark |
| US10966089B2 (en) | 2018-07-16 | 2021-03-30 | Beijing Voyager Technology Co., Ltd. | Smart landmark |
| CN109059940A (en) * | 2018-09-11 | 2018-12-21 | 北京测科空间信息技术有限公司 | A kind of method and system for automatic driving vehicle navigational guidance |
| CN109059940B (en) * | 2018-09-11 | 2024-08-02 | 中国测绘科学研究院 | Method and system for unmanned vehicle navigation guidance |
| CN109920266A (en) * | 2019-02-20 | 2019-06-21 | 武汉理工大学 | A kind of intelligent vehicle localization method |
| CN110992423A (en) * | 2019-11-15 | 2020-04-10 | 曾菊阳 | Driving positioning method, system and medium based on image matching |
| CN111274923A (en) * | 2020-01-17 | 2020-06-12 | 同济大学 | Vehicle positioning method, system, medium, and apparatus based on road surface coding |
| CN111274923B (en) * | 2020-01-17 | 2023-03-14 | 同济大学 | Vehicle positioning method, system, medium, and apparatus based on road surface coding |
| CN112562373A (en) * | 2020-08-28 | 2021-03-26 | 郭荣江 | Method for automobile automatic driving lane level positioning and roadside traffic identification and command signal identification |
| CN112184818A (en) * | 2020-10-09 | 2021-01-05 | 重庆邮电大学 | Vision-based vehicle positioning method and parking lot management system applying same |
| CN112904850A (en) * | 2021-01-18 | 2021-06-04 | 香港理工大学 | Road positioning mark for unmanned vehicle service |
| CN112904850B (en) * | 2021-01-18 | 2024-04-12 | 香港理工大学 | Road positioning mark for service of unmanned vehicle |
| CN113532425A (en) * | 2021-09-16 | 2021-10-22 | 西南交通大学 | Tunnel base station-free vehicle-road cooperative positioning method based on oscillation marked lines and mobile phone sensing |
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