CN104596525A - Vehicle positioning method based on coded graphics - Google Patents

Abstract

A vehicle positioning method based on coded graphics, which pre-extracts road information of each section of road on a predetermined route, and the road information includes position information of each section of road; assigns a corresponding code value to the road information of each above-mentioned section of road; generates and A one-to-one encoding pattern corresponding to the above-mentioned coded values; drawing the above-mentioned coded pattern on the road surface at a corresponding position; when the vehicle is driving, the camera installed on the vehicle captures an image of the coded pattern on the current road surface; identifying the coded value corresponding to the above-mentioned image; Obtain the road information of the road surface corresponding to the code value, including the position information of the road section, so as to complete the positioning of the vehicle. The present invention adopts the positioning method based on coded graphics, can obtain the current position information of the vehicle in the vehicle navigation, and helps to control the automatic driving of the vehicle more accurately.

Description

A Vehicle Location Method Based on Coding Graphics

technical field

The invention relates to the technical field of visual navigation, in particular to a vehicle positioning method based on coded graphics.

Background technique

The visual navigation method provides guidance for the vehicle through the method of visual image processing. Visual navigation has the advantages of high flexibility and adaptability to various scenarios. It is a very potential navigation method. The current visual navigation method is to draw solid or dotted lines along a fixed route. For example, in the "Freescale" smart car competition, camera-based competitions use dotted or solid lines (Zhang Shuangxi, Wang Jinyang, Ding Lei, etc. Based on Freescale Design and implementation of dual-line route recognition for single-chip intelligent vehicles [J]. Journal of Shandong Jiaotong University, 2013, 20(4): 14-17.); and optical-based guided buses using double dashed lines (New Era Hi-tech Buses. http://citytransport.info/Buses03.htm. 2014-08-26; 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 disadvantage of the current technology is that based on this uncoded solid line or dotted line, the current position information of the vehicle cannot be obtained, and thus the slope and superelevation information of the current road surface cannot be obtained. The information such as slope and superelevation is helpful for more accurate Control the vehicle to drive automatically.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a method for locating a vehicle based on a coded pattern that can obtain the current position information of the vehicle. The specific plan is as follows:

A vehicle location method based on coded graphics, comprising:

Pre-extracting the road information of each section of road on the predetermined route, the road information including the position information of each section of road;

Assign corresponding coding values to the road information of the above-mentioned sections of road;

Generate a coded graphic corresponding to the above coded value one by one;

Draw the above coded graphics on the road surface at the corresponding position;

When the vehicle is driving, the camera installed on the vehicle captures the image of the coded graphics on the current road;

Identify the encoding value corresponding to the above image;

Obtain the road information of the road surface corresponding to the code value, including the position information of the road section, so as to complete the positioning of the vehicle.

Further, the coded value is a serial number arranged for each section of the route on the predetermined route.

Furthermore, the coded value is a data parameter in the road information.

Further, the road information also includes the road surface slope, curve radius, superelevation and elevation of each section of the road.

Furthermore, the location information is the kilometer mark or coordinates of each section of the road.

Furthermore, the coding pattern is a matrix two-dimensional code, one-dimensional barcode, and Arabic numerals.

The beneficial effects of the present invention are: the present invention adopts the positioning method based on coded graphics, can obtain more information in vehicle navigation, and can obtain the current position information of the vehicle through the coded graphics of the current road surface, as well as the slope of the current road surface. Information such as height and elevation helps to control the automatic driving of the vehicle more accurately.

Description of drawings

Figure 1 is a schematic diagram of the installation of the equipment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with specific embodiment:

Divide the predetermined route into several small sections, extract and store the road information of each section of the road. The road information includes the location information of each section of the road, such as the kilometer mark and coordinates, as well as the slope, curve radius, superelevation and elevation of the road surface and other information. In order to ensure accuracy, the length of each section of road can be selected as 0.5 meters, 1 meter or 2 meters, etc.

Among them, the slope is the degree of steepness of the surface unit, and the ratio of the vertical height of the slope to the horizontal distance is usually called the slope; the radius of the curve is the turning radius of the road; Centrifugal force, the one-way transverse slope with the outer side higher than the inner side set on the cross-section of the road surface; elevation refers to the distance from a certain point along the vertical line to the absolute base surface, which is called absolute elevation, or elevation for short.

Embodiment 1: The above-mentioned road information is coded, and the data parameters in the above-mentioned road information are used as coded values. Generate a coded graphic corresponding to the above coded value; the coded graphic can be a custom matrix two-dimensional code, or a matrix two-dimensional code such as QR two-dimensional code, PDF417 two-dimensional code, Data Matrix two-dimensional code, or a Dimensional barcodes, Arabic numerals, etc. In order to improve the recognition accuracy and reliability, an error correction code can be added according to a certain algorithm when the coded value is generated into a coded pattern.

Draw the above coded graphics on the road surface at the corresponding position; there may be some errors during the construction process, and the error value can be recorded after measurement to improve the accuracy.

As shown in Figure 1, a camera is installed on the front or side of the car body, the camera is connected to the controller, the controller is connected to the rear wheel motor and the front wheel motor, the rear wheel motor drives the rear wheel, and the front wheel motor drives the front wheel.

When the vehicle is driving, the camera installed on the vehicle captures the image of the coded graphics on the current road surface; the controller analyzes the ground image captured by the camera and recognizes the coded value in the image; obtains the position information of the section of road from the coded value, thereby Complete the positioning of the vehicle, and at the same time further obtain information such as the current road slope, curve radius, superelevation and elevation. Since the size and drawing direction of the coded graphics are known, the road information of other points inside the coded graphics and between the coded graphics can be calculated by means of interpolation.

Embodiment 2: sequence number is compiled to each section road of predetermined route; Record the road information of each section road corresponding to each sequence number, comprise location information; With above-mentioned sequence number as coded value, generate the coded pattern corresponding to coded value one by one; In order to improve Recognition accuracy and reliability, when the coded value is generated into a coded pattern, an error correction code can be added according to a certain algorithm; in order to narrow the value range of the coded value, reduce the complexity of the pattern code, and improve the recognition rate, it can be combined with other positioning methods such as GPS Combined, numbers outside a certain distance range can be repeated. Draw the above coded graphics on the road at the corresponding position; when the vehicle is driving, the camera installed on the vehicle takes pictures of the coded graphics on the current road; identify the coded value corresponding to the coded graphics in the above image; it can be combined with GPS etc. Positioning information or position information at the previous moment, obtain the road information corresponding to the serial number represented by the code value, including position information, so as to complete the positioning of the vehicle. At the same time, information such as the current road slope, curve radius, superelevation and elevation can be further obtained. The form of the coding pattern in the previous embodiment is also applicable to this embodiment. Since the size and drawing direction of the coded graphics are known, the road information of other points inside the coded graphics and between the coded graphics can be calculated by means of interpolation.

While obtaining the above information, the 3D reconstruction algorithm can be combined to obtain the attitude information of the vehicle, such as the nodding angle, the height of the optical center of the camera from the ground, and the angle between the vehicle body and the line, that is, the heading angle, etc., and then use the rear wheel motor and front wheel The motor controls the speed and direction of the wheels so that the vehicle will try to follow a predetermined route.

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.