CN106370193A - Vehicle integrated positioning system and method based on map matching - Google Patents
Vehicle integrated positioning system and method based on map matching Download PDFInfo
- Publication number
- CN106370193A CN106370193A CN201610786247.XA CN201610786247A CN106370193A CN 106370193 A CN106370193 A CN 106370193A CN 201610786247 A CN201610786247 A CN 201610786247A CN 106370193 A CN106370193 A CN 106370193A
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- China
- Prior art keywords
- vehicle
- controller
- map
- road network
- alignment system
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Classifications
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Abstract
The invention provides a vehicle integrated positioning system and method based on map matching. The system comprises a mobile phone communication module, an inertial navigation unit, a vehicle-mounted speedometer and a controller, wherein the mobile phone communication module is used for obtaining coarse position information of a vehicle, determining the range of a candidate map according to the position and extracting a corresponding road net map; the inertial navigation unit is used for acquiring a change in the course angle of the vehicle; the vehicle-mounted speedometer is used for obtaining a traveling distance of the vehicle; and the controller is used for matching a sensor input with the road net map, thereby outputting the position and orientation of the vehicle. The method is based on probability matching of the road net map, and the map is stored off line in a computing device or acquired on line; the result of the method is hardly influenced by the environment, and the environment does not need to be reconstructed; and the method can be used for replacing a GPS (global positioning system) to realize wide-range real-time vehicle positioning.
Description
Technical field
A kind of the present invention relates to vehicle positioning technology field, in particular it relates to vehicle combination positioning based on map match
System and method.
Background technology
Due to the continuous improvement of the level of urbanization, in the productive life of people, increasingly it be unable to do without automobile navigation and positioning.
Vehicle location is ingredient and the support technology of onboard navigation system, and most widely used at present is gps positioning.Civilian gps
Technology maturation, and cost is relatively low, but in the complex dense environment of city, gps signal usually lost efficacy because of blocking, and now still needed to
Stablize real-time Vehicle positioning system.
The existing at present technology for replacing gps alignment system has magnetic nail positioning and laser radar positioning.Magnetic nail positioning
Although may insure accuracy, having to localizing environment is transformed, to underground embedment magnetic nail, wasting time and energy, cost is relatively
Greatly.And laser radar alignment system is not only relatively costly, and position poor real, be difficult to application.Therefore both approaches pole
It is used for the positioning in gps inefficacy area less.
It is localization method popular at present that road network map is mated for vehicle location.Suitable outdoor large zone location, so
And, because road network positioning is based on map, expand with orientation range, method real-time faces the challenge, directly should be not suitable for
For large-scale vehicle location.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of vehicle combination positioning based on map match
System and method, the present invention takes into full account the feature in gps inefficacy area, on the basis of map match, can quickly successfully position
Vehicle, hardly affected by environment it is not required that transforming to localizing environment, driver's decision-making travel route can be facilitated.
According to an aspect of the present invention, a kind of vehicle combination alignment system based on map match, described positioning are provided
System includes: mobile communication module, inertial navigation unit, vehicle-mounted speedometer and controller；Wherein:
Described mobile communication module, the rough position current for obtaining vehicle, and it is transferred to described controller；
Described inertial navigation unit, for obtaining the steering angle information of vehicle traveling, and transmits information to described control
Device processed；
Described vehicle-mounted speedometer, for obtaining the distance of vehicle traveling, and is transferred to described controller；
Described controller, receives the coarse position information of mobile communication module and centered on this information, from road network map
The road network map of surrounding is extracted in data base；Meanwhile, the vehicle operating range of inertial navigation unit and vehicle-mounted speedometer are received
Steering angle information, and vehicle driving trace is generated by dead reckoning, then with vehicle driving trace and the road network extracting
Figure coupling, thus obtaining vehicle position and direction, realizes vehicle location.
Preferably, described controller is inputted by mobile communication module, as the initialized location of map match positioning, uses
In determining orientation range, reduce candidate's map scale.
Preferably, described controller passes through to obtain sensor, the steering angle that is, vehicle of inertial navigation unit input travels
The vehicle operating range of degree information and the input of vehicle-mounted speedometer is mated with road network map, thus realizing vehicle identification, and then realizes
Vehicle location and angle output, for users to use.
It is highly preferred that described controller uses Bayesian filter algorithm, realize vehicle location.
Preferably, described road network map is deposited in described controller offline, or online acquisition.
According to another aspect of the present invention, provide a kind of positioning side of the vehicle combination alignment system based on map match
Method, the method comprising the steps of:
(1) mobile communication module obtains vehicle rough position from cellular base station, and is transferred to controller；
(2) controller, centered on the vehicle rough position that mobile communication module returns, determines candidate's body of a map or chart, from road
Entoilage chart database extracts corresponding road network map；
(3) controller using from the steering angle change of inertial navigation unit and vehicle-mounted speedometer and travel away from
From vehicle driving trace is generated by dead reckoning；
(4) controller passes through to mate vehicle driving trace and road network map information, estimates current vehicle position and direction；
(5) current vehicle position and direction are exported by controller, for users to use；
(6) controller updates road network map region, that is, be loaded into the road network ground near the current location that (5th) step calculates
Figure, deletes the road network map crossing far region with current location；
(7) repeat (3rd) step to (6th) step, until closing alignment system, realize the real-time positioning of vehicle.
Compared with prior art, the present invention has a following beneficial effect:
Alignment system of the present invention and method, reduce body of a map or chart by mobile communication module, compare with controller
Road network map information and the skew of vehicle advanced positions and angle skew real-time positioning, export location information in real time, can achieve big model
The vehicle enclosing gps inefficacy area is accurately positioned in real time, and can the Premium Features such as navigation.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the road network map of one embodiment of the invention；
Fig. 2 is the system architecture diagram of one embodiment of the invention；
Fig. 3 is the method flow diagram of one embodiment of the invention；
In figure: 1 is the road network map of current environment；2 is vehicle-mounted speedometer；3 controllers；4 is apparatus of output terminal；5 is used
Property navigation elements.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some deformation can also be made and improve.These broadly fall into the present invention
Protection domain.
As shown in figure 1, the road network map 1 of the current environment for a preferred embodiment, for map match；Black line in Fig. 1
Represent the road in environment, take out black line and simultaneously black line is sampled, the position of the point in record road, and road at certain intervals with
The annexation on road, that is, obtain the road network map of database form；Mated with the displacement of vehicle using described road network map,
Vehicle is positioned.
As shown in Fig. 2 a kind of vehicle combination alignment system based on map match, described alignment system includes: mobile phone leads to
Letter module (can be assemblied in controller 3), inertial navigation unit 5, vehicle-mounted speedometer 2 and controller 3, wherein:
Described mobile communication module obtains vehicle rough position from cellular base station, and is transferred to controller 3；
Described inertial navigation unit 5, for obtaining the steering angle information of vehicle traveling, and transmits information to described control
Device 3 processed；
Described vehicle-mounted speedometer 2, for obtaining the distance of vehicle traveling, and is transferred to described controller 3；
Described controller 3, for centered on the coarse position information from mobile communication module, from road network map number
According to the road network map extracting surrounding in storehouse.Road network map data base can be previously stored in controller, also can be from network
Download.Described controller 3, is also used for by the vehicle operating range from inertial navigation unit 5 and from vehicle-mounted speedometer 2
Steering angle information by dead reckoning generate vehicle driving trace, then by vehicle driving trace with extract road network map
Joining, thus obtaining vehicle position and direction, exporting to apparatus of output terminal 4.
As one preferred embodiment, the hardware rigging position of described alignment system is as shown in Fig. 2 wherein:
Described inertial navigation unit 5 is arranged on the center of gravity of vehicle, and inertial navigation unit 5 comprise three axis accelerometer with
Three axles of gyroscope, wherein accelerometer are overlapped with car body coordinate；Described vehicle-mounted speedometer 2 is installed at trailing wheel rotating shaft.
The setting of above-mentioned position the physical location of non-hardware, but the more excellent rigging position for experiment car, according to car
External form and Mass Distribution, and the model of sensor used, computing device and display device, in practice can by its from
By the position installing any appropriate installation in the car.
As one preferred embodiment, the hardware of described alignment system connects as shown in Figure 2.Calculate used in it and set
Standby is controller 3, and it is the flush bonding processor containing Graphics Processing Unit, by Graphics Processing Unit concurrent operation lifting side
The real-time of method.
Above-mentioned hardware connects the essential connected mode of simultaneously non-hardware, but joins for this ardware model number and computing device interface
The feasible selection of one kind put, can use arbitrarily feasible connected mode in practice.
As shown in figure 3, a kind of localization method of the vehicle combination alignment system based on map match, described localization method bag
Include following steps:
The first step, mobile communication module obtain the coarse position information of vehicle from cellular base station, are sent to controller 3；
, centered on the vehicle rough position that mobile communication module returns, extracting radius is 1km's for second step, controller 3
The road network map in region, the vehicle location probability distribution of initialization road network map is to be evenly distributed, and records the time now simultaneously
Stab as start time；
3rd step, controller 3 wait and are separated by 1s with a upper timestamp, carry out inertial navigation unit 5 and vehicle-mounted speedometer 2
Data is read in, and records timestamp this moment；(1s is a feasible time interval, and when guaranteeing the computing of one-time positioning
Between be less than 1s, sample frequency can be changed in practice)；
4th step, controller 3 pass through to process the course change of the input acquisition vehicle of inertial navigation unit 5, by processing
Vehicle-mounted speedometer 2 data obtains the travel distance of vehicle, with Graphics Processing Unit concurrent operation Bayes's recursive filtering, updates
Map probability distribution, estimates current vehicle position；
Current vehicle position and direction are exported apparatus of output terminal 4 by the 5th step, controller 3；
6th step, controller 3 calculate the current location assessment obtaining according to the 5th step, if in current vehicle position being
The heart, radius is that the road network map in the region of 0.5km is not completely loaded, then be loaded into relevant position from road network map data base
Road network map.For lifting real-time, delete the road network map in the region being more than 2km apart from current vehicle position；
7th step, repetition the 3rd step to the 6th step, until closing described alignment system, realize the real-time positioning of vehicle.
In above-described embodiment, because the Bayesian filter used by vehicle location belongs to ripe algorithm, simultaneously and non-invention
Main points, therefore here omits the description of its principle.This kind of description does not obviously affect the clear expression to technical solution of the present invention.
As a preferred implementation, described controller 3 can be selected for the embedded device containing Graphics Processing Unit, passes through
Graphics Processing Unit optimized algorithm is so as to concurrent operation, and then lifts the speed of map match.
Alignment system of the present invention and method, reduce body of a map or chart by mobile communication module, compare with controller
Road network map information and the skew of vehicle advanced positions and angle skew real-time positioning, export location information in real time, can achieve big model
The vehicle enclosing gps inefficacy area is accurately positioned in real time, and can the Premium Features such as navigation.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (5)
1. a kind of vehicle combination alignment system based on map match is it is characterised in that described alignment system includes: mobile communication
Module, inertial navigation unit, vehicle-mounted speedometer and controller；Wherein:
Described mobile communication module, the rough position current for obtaining vehicle, and it is transferred to described controller；
Described inertial navigation unit, for obtaining the steering angle information of vehicle traveling, and transmits information to described controller；
Described vehicle-mounted speedometer, for obtaining the distance of vehicle traveling, and is transferred to described controller；
Described controller, receives the coarse position information of mobile communication module and centered on this information, from road network map data
The road network map of surrounding is extracted in storehouse；Meanwhile, the vehicle operating range of inertial navigation unit and turning of vehicle-mounted speedometer are received
To angle information, and vehicle driving trace, then the road network map with vehicle driving trace and extraction are generated by dead reckoning
Joining, thus obtaining vehicle position and direction, realizing vehicle location.
2. a kind of vehicle combination alignment system based on map match according to claim 1 is it is characterised in that described control
Device processed passes through described inertial navigation unit and described vehicle-mounted speedometer, obtains steering angle in sampling time interval for the vehicle respectively
Degree change and the distance travelling.
3. a kind of vehicle combination alignment system based on map match according to claim 1 is it is characterised in that described control
The embedded device containing Graphics Processing Unit selected by device processed, by Graphics Processing Unit optimized algorithm, and adopts concurrent operation,
The speed of lifting map match.
4. a kind of vehicle combination alignment system based on map match according to claim 3 is it is characterised in that described road
Entoilage figure is deposited in described controller offline, or online acquisition.
5. the positioning side of the vehicle combination alignment system based on map match described in a kind of any one according to claim 1-4
Method is it is characterised in that comprise the following steps:
(1) mobile communication module obtains vehicle rough position from cellular base station, and is transferred to controller；
(2) controller, centered on the vehicle rough position that mobile communication module returns, determines candidate's body of a map or chart, from road network ground
Chart database extracts corresponding road network map；
(3) controller, using from inertial navigation unit and the steering angle change of vehicle-mounted speedometer and the distance of traveling, leads to
Cross dead reckoning and generate vehicle driving trace；
(4) controller passes through to mate vehicle driving trace and road network map information, estimates current vehicle position and direction；
(5) current vehicle position and direction are exported by controller, for users to use；
(6) controller updates road network map region, that is, be loaded into the road network map near the current location that (5th) step calculates, delete
Except the road network map crossing far region with current location；
(7) repeat (3rd) step to (6th) step, until closing alignment system, realize the real-time positioning of vehicle.
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| CN201610786247.XA CN106370193A (en) | 2016-08-30 | 2016-08-30 | Vehicle integrated positioning system and method based on map matching |
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| CN107393330A (en) * | 2017-06-12 | 2017-11-24 | 纵目科技（上海）股份有限公司 | Route planning method and system that people's car converges, car-mounted terminal, intelligent terminal |
| CN107860399A (en) * | 2017-09-22 | 2018-03-30 | 北京机械设备研究所 | Accurate alignment method between a kind of vehicle-mounted inertial navigation based on map match is advanced |
| CN108548536A (en) * | 2018-01-05 | 2018-09-18 | 广东雷洋智能科技股份有限公司 | The dead reckoning method of unmanned intelligent robot |
| CN108981702A (en) * | 2018-07-03 | 2018-12-11 | 浙江大学 | A kind of vehicle positioning method of multiposition joint particle filter |
| CN109141442A (en) * | 2018-09-07 | 2019-01-04 | 高子庆 | Navigation method based on UWB positioning and image feature matching and mobile terminal |
| CN111212374A (en) * | 2018-11-02 | 2020-05-29 | 华为技术有限公司 | Internet of vehicles communication method, positioning method and Internet of vehicles communication device |
| CN111307165A (en) * | 2020-03-06 | 2020-06-19 | 新石器慧通（北京）科技有限公司 | Vehicle positioning method and system and unmanned vehicle |
| CN112595331A (en) * | 2020-12-14 | 2021-04-02 | 上海市政工程设计研究总院（集团）有限公司 | Motor vehicle dynamic positioning and navigation system with computer video and map method integrated |
| CN114509087A (en) * | 2022-02-21 | 2022-05-17 | 高德软件有限公司 | Positioning method, electronic device and computer storage medium |
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| CN111212374B (en) * | 2018-11-02 | 2021-07-16 | 华为技术有限公司 | Internet of vehicles communication method, positioning method and Internet of vehicles communication device |
| CN111307165A (en) * | 2020-03-06 | 2020-06-19 | 新石器慧通（北京）科技有限公司 | Vehicle positioning method and system and unmanned vehicle |
| CN112595331A (en) * | 2020-12-14 | 2021-04-02 | 上海市政工程设计研究总院（集团）有限公司 | Motor vehicle dynamic positioning and navigation system with computer video and map method integrated |
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Application publication date: 20170201 |