CN107393330B - Human-vehicle convergence route planning method and system, vehicle-mounted terminal and intelligent terminal - Google Patents
Human-vehicle convergence route planning method and system, vehicle-mounted terminal and intelligent terminal Download PDFInfo
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- CN107393330B CN107393330B CN201710439715.0A CN201710439715A CN107393330B CN 107393330 B CN107393330 B CN 107393330B CN 201710439715 A CN201710439715 A CN 201710439715A CN 107393330 B CN107393330 B CN 107393330B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
Abstract
The invention provides a human-vehicle convergence route planning method and system, a vehicle-mounted terminal and an intelligent terminal, wherein positioning information of the intelligent terminal is acquired based on the intelligent terminal carried by a human; acquiring 3D positioning information of an intelligent terminal in a ground building; calculating the time required for a person to reach each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building; the method comprises the steps that 3D positioning information of a vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of a ground building are obtained from a cloud server; selecting an optimal route for people and vehicles to converge based on the time required for people to reach each exit of the ground building and the time required for vehicles to reach each exit of the ground building; and sending the optimal route converged by the people and the vehicles to a cloud server. The method and the system for planning the route of human-vehicle convergence, the vehicle-mounted terminal and the intelligent terminal are not limited by GPS signals, and the optimal route of human-vehicle convergence can be planned in real time.
Description
Technical Field
The invention relates to the technical field of route planning, in particular to a human-vehicle convergence route planning method and system, a vehicle-mounted terminal and an intelligent terminal.
Background
With the continuous development of economy, the quantity of automobiles kept is increasing day by day. Accordingly, parking lots for parking vehicles have been produced. In particular, for large parking lots, there are often multiple floors, including several different areas. For the driver, the parking space must be recorded after the vehicle is parked, otherwise it is difficult to quickly find the parking space when the vehicle is taken. Meanwhile, even if the parking spaces are recorded, when a vehicle is taken, the vehicle is not easy to find in a wide parking lot with a complex layout, and the vehicle is easy to walk on a curved road.
In the prior art, in order to solve the problem that a car is difficult to find in a parking lot, the following two methods are mainly adopted:
(1) a monitoring device, a display terminal and other devices are installed in the parking lot, and the position of the vehicle is located by accessing the monitoring device, the display terminal and other devices. However, this method requires additional basic equipment, is costly, and is relatively complex to operate.
(2) Through the GPS positioning system, the parking position is located, and then the vehicle is found based on the GPS signal. However, for underground parking lots, there is generally no GPS signal or the GPS signal is weak, resulting in no location.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a method and a system for planning a route of human-vehicle convergence, a vehicle-mounted terminal, and an intelligent terminal, which are not limited by GPS signals and plan an optimal route of human-vehicle convergence based on 3D positioning of the intelligent terminal and the vehicle-mounted terminal.
In order to achieve the above objects and other related objects, the present invention provides a human-vehicle convergence routing method, comprising the steps of: acquiring positioning information of an intelligent terminal based on the intelligent terminal carried by a person; acquiring 3D positioning information of the intelligent terminal in a ground building based on the positioning information of the intelligent terminal and the landmark information acquired by the intelligent terminal in the ground building; calculating the time required for a person to reach each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building; the method comprises the steps that 3D positioning information of a vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of a ground building are obtained from a cloud server; selecting an optimal route for people and vehicles to converge based on the time required for people to reach each exit of the ground building and the time required for vehicles to reach each exit of the ground building; and sending the optimal route converged by the people and the vehicles to a cloud server.
In an embodiment of the present invention, acquiring the 3D positioning information of the intelligent terminal in the above-ground building includes the following steps:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
In an embodiment of the present invention, the grid map is constructed by the following method:
the method comprises the steps of obtaining a motion gesture of an intelligent terminal and a peripheral image of the intelligent terminal and extracting landmark information from the peripheral image of the intelligent terminal;
based on an SLAM algorithm, generating a landmark map and an intelligent terminal driving track according to the movement posture of the intelligent terminal and the landmark information;
and detecting a drivable area and generating a grid map according to the driving track of the intelligent terminal and the detected drivable area.
In an embodiment of the present invention, calculating the time required for a person to arrive at each exit of an above-ground building based on 3D positioning information of an intelligent terminal in the above-ground building includes the steps of:
based on the 3D positioning information of the intelligent terminal in the ground building, acquiring the positioning information of the express elevator, the escalator and the escape stair closest to the person on the 3D map;
the time required for a person to reach each exit of the above-ground building is calculated based on a preset pace, a preset express elevator speed, a preset escalator speed, a preset ladder speed, and a distance of the person to each exit of each above-ground building.
In an embodiment of the present invention, the optimal route for human-vehicle convergence is selected according to the following principle:
for a certain exit of the above-ground building, selecting the larger value of the time required by the person to reach each exit of the above-ground building and the time required by the vehicle to reach each exit of the above-ground building as the convergence time of the exit;
and for each exit of the above-ground building, selecting a route from which the person corresponding to the exit with the minimum convergence time reaches the exit and a route from which the vehicle reaches the exit as the optimal route for the convergence of the person and the vehicle.
Correspondingly, the invention also provides a route planning system for human-vehicle convergence, which comprises a first acquisition module, a second acquisition module, a calculation module, a third acquisition module, a selection module and a sending module;
the first acquisition module is used for acquiring positioning information of the intelligent terminal based on the intelligent terminal carried by a person;
the second acquisition module is used for acquiring 3D positioning information of the intelligent terminal in the ground building based on the positioning information of the intelligent terminal and the landmark information acquired by the intelligent terminal in the ground building;
the computing module is used for computing the time required by the person to reach each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building;
the third acquisition module is used for acquiring the 3D positioning information of the vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of the ground building from the cloud server;
the selection module is used for selecting an optimal path for people and vehicles to converge based on the time required for people to reach each exit of the ground building and the time required for vehicles to reach each exit of the ground building;
the sending module is used for sending the optimal route converged by the people and the vehicles to a cloud server.
In an embodiment of the present invention, the second obtaining module obtains the 3D positioning information of the intelligent terminal in the above-ground building by the following steps:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
In an embodiment of the present invention, the grid map is constructed by the following method:
the method comprises the steps of obtaining a motion gesture of an intelligent terminal and a peripheral image of the intelligent terminal and extracting landmark information from the peripheral image of the intelligent terminal;
based on an SLAM algorithm, generating a landmark map and an intelligent terminal driving track according to the movement posture of the intelligent terminal and the landmark information;
and detecting a drivable area and generating a grid map according to the driving track of the intelligent terminal and the detected drivable area.
In an embodiment of the present invention, the calculating module calculates the time required for the person to reach each exit of the above-ground building by using the following steps:
based on the 3D positioning information of the intelligent terminal in the ground building, acquiring the positioning information of the express elevator, the escalator and the escape stair closest to the person on the 3D map;
the time required for a person to reach each exit of the above-ground building is calculated based on a preset pace, a preset express elevator speed, a preset escalator speed, a preset ladder speed, and a distance of the person to each exit of each above-ground building.
In an embodiment of the present invention, the selecting module selects the optimal route for the human-vehicle convergence according to the following principle:
for a certain exit of the above-ground building, selecting the larger value of the time required by the person to reach each exit of the above-ground building and the time required by the vehicle to reach each exit of the above-ground building as the convergence time of the exit;
and for each exit of the above-ground building, selecting a route from which the person corresponding to the exit with the minimum convergence time reaches the exit and a route from which the vehicle reaches the exit as the optimal route for the convergence of the person and the vehicle.
Meanwhile, the invention also provides an intelligent terminal which comprises any one of the human-vehicle convergent route planning system.
The invention also provides a human-vehicle convergence route planning method, which comprises the following steps:
when a vehicle reaches a parking space of a parking lot, acquiring 3D positioning information of the vehicle;
calculating a time required for the vehicle to reach each exit of the above-ground building based on the 3D positioning information of the vehicle;
sending the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building to a cloud server so that an intelligent terminal carried by a person can acquire the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building from the cloud server, and planning an optimal route for people and vehicles to converge based on the time required by the intelligent terminal to reach each exit of the ground building and the time required by the vehicle to reach each exit of the ground building;
and acquiring an optimal route converged by people and vehicles uploaded by the intelligent terminal from the cloud server so as to enable the vehicle to run to a ground building outlet corresponding to the optimal route along the optimal route.
In one embodiment of the invention, the time required for the vehicle to reach each exit of the above-ground building is calculated based on a preset vehicle speed and the distance from the vehicle to each exit.
Correspondingly, the invention also provides a route planning system for human-vehicle convergence, which comprises a first acquisition module, a calculation module, a sending module and a second acquisition module;
the first acquisition module is used for acquiring 3D positioning information of a vehicle when the vehicle reaches a parking space of a parking lot;
the calculation module is used for calculating the time required for the vehicle to reach each exit of the above-ground building based on the 3D positioning information of the vehicle;
the sending module is used for sending the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building to the cloud server, so that an intelligent terminal carried by a person can acquire the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building from the cloud server, and an optimal route for people and vehicles to converge is planned based on the time required by the intelligent terminal to reach each exit of the ground building and the time required by the vehicle to reach each exit of the ground building;
the second acquisition module is used for acquiring an optimal route which is converged by people and vehicles uploaded by the intelligent terminal from the cloud server so as to enable the vehicles to drive to a ground building outlet corresponding to the optimal route along the optimal route.
In an embodiment of the invention, the calculation module calculates the time required for the vehicle to reach each exit of the above-ground building based on a preset vehicle speed and the distance from the vehicle to each exit.
Meanwhile, the invention also provides a vehicle-mounted terminal which comprises the human-vehicle convergent route planning system.
Finally, the invention also provides a human-vehicle convergence route planning system, which comprises the vehicle-mounted terminal, the intelligent terminal and the cloud server;
the cloud server is used for receiving and storing the 3D positioning information of the vehicle sent by the vehicle-mounted terminal and the time required by the vehicle to reach each exit of the ground building; and receiving and storing the optimal route of the people and the vehicles converged sent by the intelligent terminal.
As described above, the method and system for planning the human-vehicle convergent route, the vehicle-mounted terminal and the intelligent terminal of the invention have the following advantages:
(1) the method is not limited by GPS signals, and an optimal route for people and vehicles to converge is planned based on the 3D positioning of the intelligent terminal and the vehicle-mounted terminal;
(2) extra hardware equipment facilities do not need to be added in the parking lot, so that the cost is low;
(3) the time of getting the car in the parking area is saved, and the user experience is good.
Drawings
FIG. 1 is a flow chart illustrating a human-vehicle convergence routing method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a human-vehicle convergence routing system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the invention;
FIG. 4 is a flow chart of a human-vehicle convergence routing method according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a human-vehicle convergence routing system according to another embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a human-vehicle convergence routing system according to another embodiment of the present invention.
Description of the element reference numerals
11 first acquisition module
12 calculation module
13 sending module
13 second acquisition module
1 vehicle terminal
21 first acquisition module
22 second acquisition module
23 calculation module
24 third acquisition module
25 selecting module
26 sending module
2 Intelligent terminal
3 cloud server
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The human-vehicle convergent route planning method and system, the vehicle-mounted terminal and the intelligent terminal are not limited by the strength and the existence of GPS signals, can plan the optimal route converged by a human vehicle at a certain exit of a ground building based on the 3D positioning of the intelligent terminal and the vehicle-mounted terminal, and greatly improves the user experience.
As shown in fig. 1, in an embodiment, the method for planning human-vehicle convergence route of the present invention includes the following steps:
and step S11, when the vehicle arrives at the parking space of the parking lot, acquiring the 3D positioning information of the vehicle.
Preferably, the positioning information of the vehicle is acquired according to the GPS signal and/or the inertial navigation signal. The 3D positioning information of the vehicle is acquired in the 3D map based on the positioning information of the vehicle and the feature image of the surroundings of the vehicle. When the parking lot on the ground has stronger GPS signals, the positioning information of the vehicle is acquired based on the GPS signals; when the underground parking lot with weak or no GPS is used, the positioning information of the vehicle is obtained based on the inertial navigation signal. For those skilled in the art, it is a mature prior art to obtain 3D positioning information of a vehicle, and therefore, the detailed description thereof is omitted here.
And step S12, calculating the time required by the vehicle to reach each exit of the ground building based on the 3D positioning information of the vehicle.
Specifically, based on the 3D positioning information of the vehicle, the distance from the vehicle to each exit of a ground building where people are located is obtained; the time required for the vehicle to reach each exit of the above-ground building is calculated based on a preset vehicle speed and the distance from the vehicle to each exit.
And step S13, sending the 3D positioning information of the vehicle and the time required for the vehicle to reach each exit of the ground building to a cloud server, so that the intelligent terminal carried by the person can acquire the 3D positioning information of the vehicle and the time required for the vehicle to reach each exit of the ground building from the cloud server, and planning an optimal path for the people and vehicles to converge based on the time required for the intelligent terminal to reach each exit of the ground building and the time required for the vehicle to reach each exit of the ground building.
Specifically, the 3D positioning information of the vehicle and the time required for the vehicle to reach each exit of the ground building are sent to a cloud server, so that the intelligent terminal can obtain the optimal route for people and vehicles to converge.
And step S14, acquiring an optimal route converged by people and vehicles uploaded by the intelligent terminal from the cloud server, so that the vehicles can drive to a ground building exit corresponding to the optimal route along the optimal route.
Specifically, after the intelligent terminal obtains the optimal line where people and vehicles converge, the optimal line is sent to the cloud server. The vehicle acquires the optimal route converged by the people and the vehicles from the cloud server, and automatically drives to the ground building outlet corresponding to the optimal route converged by the people and the vehicles so as to realize the convergence of the people and the vehicles, thereby fundamentally solving the problem that the vehicles are difficult to find in the parking lot and improving the user experience.
It should be noted that, data communication is performed with the cloud server in a wireless communication manner.
As shown in fig. 2, in an embodiment, the human-vehicle convergence routing system of the present invention includes a first obtaining module 11, a calculating module 12, a sending module 13, and a second obtaining module 14.
The first obtaining module 11 is configured to obtain 3D positioning information of a vehicle when the vehicle reaches a parking space of a parking lot.
Preferably, the positioning information of the vehicle is acquired according to the GPS signal and/or the inertial navigation signal. The 3D positioning information of the vehicle is acquired in the 3D map based on the positioning information of the vehicle and the feature image of the surroundings of the vehicle. When the parking lot on the ground has stronger GPS signals, the positioning information of the vehicle is acquired based on the GPS signals; when the underground parking lot with weak or no GPS is used, the positioning information of the vehicle is obtained based on the inertial navigation signal. For those skilled in the art, it is a mature prior art to obtain 3D positioning information of a vehicle, and therefore, the detailed description thereof is omitted here.
The calculation module 12 is connected to the first acquisition module 11 and is configured to calculate the time required for the vehicle to reach each exit of the above-ground building based on the 3D positioning information of the vehicle.
Specifically, based on the 3D positioning information of the vehicle, the distance from the vehicle to each exit of the ground building is obtained; the time required for the vehicle to reach each exit of the above-ground building is calculated based on a preset vehicle speed and the distance from the vehicle to each exit.
The sending module 13 is connected to the first obtaining module 11 and the calculating module 12, and is configured to send the 3D positioning information of the vehicle and the time required for the vehicle to reach each exit of the above-ground building to a cloud server, so that an intelligent terminal carried by a person obtains the 3D positioning information of the vehicle and the time required for the vehicle to reach each exit of the above-ground building from the cloud server, and plans an optimal route for people and vehicles to converge based on the time required for the intelligent terminal to reach each exit of the above-ground building and the time required for the vehicle to reach each exit of the above-ground building.
Specifically, the 3D positioning information of the vehicle and the time required for the vehicle to reach each exit of the ground building are sent to a cloud server, so that the intelligent terminal can obtain the optimal route for people and vehicles to converge.
The second obtaining module 14 is configured to obtain an optimal route, which is converged by people and vehicles uploaded by the intelligent terminal, from the cloud server, so that the vehicle travels to a ground building exit corresponding to the optimal route along the optimal route.
Specifically, after the intelligent terminal obtains the optimal line where people and vehicles converge, the optimal line is sent to the cloud server. The vehicle acquires the optimal route converged by the people and the vehicles from the cloud server, and automatically drives to the ground building outlet corresponding to the optimal route converged by the people and the vehicles so as to realize the convergence of the people and the vehicles, thereby fundamentally solving the problem that the vehicles are difficult to find in the parking lot and improving the user experience.
As shown in fig. 3, the present invention further provides a vehicle-mounted terminal 1, which includes the above-mentioned route planning system for human-vehicle convergence.
As shown in fig. 4, in an embodiment, the method for planning human-vehicle convergence route of the present invention includes the following steps:
and step S21, acquiring the positioning information of the intelligent terminal based on the intelligent terminal carried by the person.
The human-vehicle convergence route planning method is realized based on an intelligent terminal. It should be noted that the intelligent calligraphy practicing terminal related in the present invention includes, but is not limited to, a computer, a smart phone, a smart television, a tablet computer, and a PDA, and other terminal devices having a data processing function. Generally, an intelligent handwriting practicing terminal is a terminal device which has an independent operating system, can be provided with programs provided by third-party service providers such as software and games by a user, continuously expands the functions of a handheld device through the programs, and can realize wireless network access through a mobile communication network.
In one embodiment, the positioning information of the intelligent terminal is obtained based on a GPS configured by the intelligent terminal.
And step S22, acquiring the 3D positioning information of the intelligent terminal in the ground building based on the positioning information of the intelligent terminal and the landmark information acquired by the intelligent terminal in the ground building.
Specifically, the method for acquiring the 3D positioning information of the intelligent terminal in the ground building comprises the following steps:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
The landmark information comprises corner point coordinates and signs of the above-ground buildings. The drivable area includes a straight road surface, an entrance road surface and an intersection road surface.
Wherein the grid map is constructed by:
the method comprises the steps of obtaining a motion gesture of an intelligent terminal and a peripheral image of the intelligent terminal and extracting landmark information from the peripheral image of the intelligent terminal;
based on an SLAM algorithm, generating a landmark map and an intelligent terminal driving track according to the movement posture of the intelligent terminal and the landmark information;
and detecting a drivable area and generating a grid map according to the driving track of the intelligent terminal and the detected drivable area.
And step S23, calculating the time required by the person to reach each exit of the ground building based on the 3D positioning information of the intelligent terminal in the ground building.
Specifically, the method comprises the following steps:
based on the 3D positioning information of the intelligent terminal in the ground building, the positioning information of the express elevator, the escalator and the escape stairway which are closest to the person is obtained on the 3D map.
And for the path of the intelligent terminal reaching each exit, calculating the time required by the person to reach each exit of the above-ground building based on the preset pace, the preset express elevator speed, the preset escalator speed, the preset ladder climbing speed and the distance from the person to each exit of the above-ground building.
And step S24, acquiring the 3D positioning information of the vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of the ground building from the cloud server.
The cloud server stores 3D positioning information of the vehicle transmitted from the vehicle and time required by the vehicle to reach each exit of the ground building.
And step S25, selecting an optimal route for the people-vehicle convergence based on the time required for the people to reach each exit of the ground building and the time required for the vehicle to reach each exit of the ground building.
Specifically, the optimal route for people and vehicles to converge is selected according to the following principle:
A) for a certain exit of the above-ground building, the larger value of the time required for the person to reach each exit of the above-ground building and the time required for the vehicle to reach each exit of the above-ground building is selected as the convergence time of the exit.
For example, if a person arrives at each exit of the above-ground building for 5 minutes and a vehicle arrives at each exit of the above-ground building for 8 minutes, 8 minutes are selected as the merging time of the exits.
B) And for each exit of the above-ground building, selecting a route from which the person corresponding to the exit with the minimum convergence time reaches the exit and a route from which the vehicle reaches the exit as the optimal route for the convergence of the person and the vehicle.
For example, if the above-ground building is set to include A, B, C and D four exits, and the corresponding merging times are 3 minutes, 6 minutes, 10 minutes, and 4 minutes, respectively, then the route for the person to reach the exit and the route for the vehicle to reach the exit for 3 minutes are selected as the optimal routes for the merging of the person and the vehicle. That is, only 3 minutes are required, and both the human and the vehicle can reach the exit, thereby achieving human-vehicle convergence.
And S26, sending the optimal route converged by the people and the vehicles to a cloud server.
Specifically, the optimal route converged by the people and the vehicles is sent to a cloud server in a wireless communication mode, so that the vehicles can drive to the ground building exit corresponding to the optimal route according to the optimal route.
As shown in fig. 5, in an embodiment of the present invention, the human-vehicle convergence routing system includes a first obtaining module 21, a second obtaining module 22, a calculating module 23, a third obtaining module 24, a selecting module 25, and a sending module 26.
The first obtaining module 21 is configured to obtain positioning information of an intelligent terminal based on the intelligent terminal carried by a person.
The human-vehicle convergence route planning method is realized based on an intelligent terminal. It should be noted that the intelligent calligraphy practicing terminal related in the present invention includes, but is not limited to, a computer, a smart phone, a smart television, a tablet computer, and a PDA, and other terminal devices having a data processing function. Generally, an intelligent handwriting practicing terminal is a terminal device which has an independent operating system, can be provided with programs provided by third-party service providers such as software and games by a user, continuously expands the functions of a handheld device through the programs, and can realize wireless network access through a mobile communication network.
In one embodiment, the positioning information of the intelligent terminal is obtained based on a GPS configured by the intelligent terminal.
The second obtaining module 22 is connected to the first obtaining module 21, and is configured to obtain 3D positioning information of the intelligent terminal in the above-ground building based on the positioning information of the intelligent terminal and landmark information obtained by the intelligent terminal in the above-ground building.
Specifically, the method for acquiring the 3D positioning information of the intelligent terminal in the ground building comprises the following steps:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
The landmark information comprises corner point coordinates and signs of the above-ground buildings. The drivable area includes a straight road surface, an entrance road surface and an intersection road surface.
Wherein the grid map is constructed by:
the method comprises the steps of obtaining a motion gesture of an intelligent terminal and a peripheral image of the intelligent terminal and extracting landmark information from the peripheral image of the intelligent terminal;
based on an SLAM algorithm, generating a landmark map and an intelligent terminal driving track according to the movement posture of the intelligent terminal and the landmark information;
and detecting a drivable area and generating a grid map according to the driving track of the intelligent terminal and the detected drivable area.
The calculating module 23 is connected to the second obtaining module 22, and is configured to calculate, based on the 3D positioning information of the intelligent terminal in the above-ground building, a time required for the person to reach each exit of the above-ground building.
Specifically, the method comprises the following steps:
based on the 3D positioning information of the intelligent terminal in the ground building, the positioning information of the express elevator, the escalator and the escape stairway which are closest to the person is obtained on the 3D map.
And for the path of the intelligent terminal reaching each exit, calculating the time required by the person to reach each exit of the above-ground building based on the preset pace, the preset express elevator speed, the preset escalator speed, the preset ladder climbing speed and the distance from the person to each exit of the above-ground building.
The third obtaining module 24 is configured to obtain, from the cloud server, the 3D positioning information of the vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of the above-ground building.
The cloud server stores 3D positioning information of the vehicle transmitted from the vehicle and time required by the vehicle to reach each exit of the ground building.
The selection module 25 is connected to the calculation module 23 and the third acquisition module 24, and is configured to select an optimal route for the people-vehicle convergence based on the time required for the people to reach each exit of the above-ground building and the time required for the vehicle to reach each exit of the above-ground building.
Specifically, the optimal route for people and vehicles to converge is selected according to the following principle:
A) for a certain exit of the above-ground building, the larger value of the time required for the person to reach each exit of the above-ground building and the time required for the vehicle to reach each exit of the above-ground building is selected as the convergence time of the exit.
For example, if a person arrives at each exit of the above-ground building for 5 minutes and a vehicle arrives at each exit of the above-ground building for 8 minutes, 8 minutes are selected as the merging time of the exits.
B) And for each exit of the above-ground building, selecting a route from which the person corresponding to the exit with the minimum convergence time reaches the exit and a route from which the vehicle reaches the exit as the optimal route for the convergence of the person and the vehicle.
For example, if the above-ground building is set to include A, B, C and D four exits, and the corresponding merging times are 3 minutes, 6 minutes, 10 minutes, and 4 minutes, respectively, then the route for the person to reach the exit and the route for the vehicle to reach the exit for 3 minutes are selected as the optimal routes for the merging of the person and the vehicle. That is, only 3 minutes are required, and both the human and the vehicle can reach the exit, thereby achieving human-vehicle convergence.
The sending module 26 is connected to the selecting module 25, and is configured to send the optimal route converged by the people and the vehicles to the cloud server.
Specifically, the optimal route converged by the people and the vehicles is sent to a cloud server in a wireless communication mode, so that the vehicles can drive to the ground building exit corresponding to the optimal route according to the optimal route.
As shown in fig. 6, the intelligent terminal 2 of the present invention includes the above-described human-vehicle convergence routing system.
As shown in fig. 7, in an embodiment of the invention, the human-vehicle convergence routing system includes the vehicle-mounted terminal 1, the intelligent terminal 2, and the cloud server 3.
The cloud server 3 is used for receiving and storing the 3D positioning information of the vehicle and the time required by the vehicle to reach each exit of the ground building, which are sent by the vehicle-mounted terminal 1; and receiving and storing the optimal route of the human-vehicle convergence sent by the intelligent terminal 2.
In summary, the method and the system for planning the route of human-vehicle convergence, the vehicle-mounted terminal and the intelligent terminal are not limited by the GPS signal, and the optimal route of human-vehicle convergence is planned based on the 3D positioning of the intelligent terminal and the vehicle-mounted terminal; extra hardware equipment facilities do not need to be added in the parking lot, so that the cost is low; the time of getting the car in the parking area is saved, and the user experience is good. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (15)
1. A route planning method for human-vehicle convergence is characterized in that: the method comprises the following steps:
acquiring positioning information of an intelligent terminal based on the intelligent terminal carried by a person;
acquiring 3D positioning information of the intelligent terminal in a ground building based on the positioning information of the intelligent terminal and the landmark information acquired by the intelligent terminal in the ground building;
calculating the time required for a person to reach each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building;
the method comprises the steps that 3D positioning information of a vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of a ground building are obtained from a cloud server;
selecting an optimal route for people and vehicles to converge based on the time required for people to reach each exit of the ground building and the time required for vehicles to reach each exit of the ground building;
sending the optimal route converged by the people and the vehicles to a cloud server;
the method for acquiring the 3D positioning information of the intelligent terminal in the ground building comprises the following steps:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
2. The human-vehicle convergent route planning method according to claim 1, characterized in that: the grid map is constructed in the following way:
the method comprises the steps of obtaining a motion gesture of an intelligent terminal and a peripheral image of the intelligent terminal and extracting landmark information from the peripheral image of the intelligent terminal;
based on an SLAM algorithm, generating a landmark map and an intelligent terminal driving track according to the movement posture of the intelligent terminal and the landmark information;
and detecting a drivable area and generating a grid map according to the driving track of the intelligent terminal and the detected drivable area.
3. The human-vehicle convergent route planning method according to claim 1, characterized in that: the method for calculating the time required for a person to arrive at each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building comprises the following steps:
based on the 3D positioning information of the intelligent terminal in the ground building, acquiring the positioning information of the express elevator, the escalator and the escape stair closest to the person on the 3D map;
the time required for a person to reach each exit of the above-ground building is calculated based on a preset pace, a preset express elevator speed, a preset escalator speed, a preset ladder speed, and a distance of the person to each exit of each above-ground building.
4. The human-vehicle convergent route planning method according to claim 1, characterized in that: the optimal route for the human-vehicle convergence is selected according to the following principle:
for a certain exit of the above-ground building, selecting the larger value of the time required by the person to reach each exit of the above-ground building and the time required by the vehicle to reach each exit of the above-ground building as the convergence time of the exit;
and for each exit of the above-ground building, selecting a route from which the person corresponding to the exit with the minimum convergence time reaches the exit and a route from which the vehicle reaches the exit as the optimal route for the convergence of the person and the vehicle.
5. The utility model provides a route planning system that people's car converges which characterized in that: the system comprises a first acquisition module, a second acquisition module, a calculation module, a third acquisition module, a selection module and a sending module;
the first acquisition module is used for acquiring positioning information of the intelligent terminal based on the intelligent terminal carried by a person;
the second acquisition module is used for acquiring 3D positioning information of the intelligent terminal in the ground building based on the positioning information of the intelligent terminal and the landmark information acquired by the intelligent terminal in the ground building;
the computing module is used for computing the time required by the person to reach each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building;
the third acquisition module is used for acquiring the 3D positioning information of the vehicle uploaded by the vehicle and the time required for the vehicle to reach each exit of the ground building from the cloud server;
the selection module is used for selecting an optimal path for people and vehicles to converge based on the time required for people to reach each exit of the ground building and the time required for vehicles to reach each exit of the ground building;
the sending module is used for sending the optimal route converged by the people and the vehicles to a cloud server;
the second acquisition module acquires the 3D positioning information of the intelligent terminal in the ground building by adopting the following steps:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
6. The human-vehicle convergent routing system according to claim 5, wherein: the grid map is constructed in the following way:
the method comprises the steps of obtaining a motion gesture of an intelligent terminal and a peripheral image of the intelligent terminal and extracting landmark information from the peripheral image of the intelligent terminal;
based on an SLAM algorithm, generating a landmark map and an intelligent terminal driving track according to the movement posture of the intelligent terminal and the landmark information;
and detecting a drivable area and generating a grid map according to the driving track of the intelligent terminal and the detected drivable area.
7. The human-vehicle convergent routing system according to claim 5, wherein: the calculation module calculates the time required for the person to reach each exit of the above-ground building by adopting the following steps:
based on the 3D positioning information of the intelligent terminal in the ground building, acquiring the positioning information of the express elevator, the escalator and the escape stair closest to the person on the 3D map;
the time required for a person to reach each exit of the above-ground building is calculated based on a preset pace, a preset express elevator speed, a preset escalator speed, a preset ladder speed, and a distance of the person to each exit of each above-ground building.
8. The human-vehicle convergent routing system according to claim 5, wherein: the selection module selects the optimal route for the human-vehicle convergence according to the following principle:
for a certain exit of the above-ground building, selecting the larger value of the time required by the person to reach each exit of the above-ground building and the time required by the vehicle to reach each exit of the above-ground building as the convergence time of the exit;
and for each exit of the above-ground building, selecting a route from which the person corresponding to the exit with the minimum convergence time reaches the exit and a route from which the vehicle reaches the exit as the optimal route for the convergence of the person and the vehicle.
9. The utility model provides an intelligent terminal which characterized in that: a route planning system comprising human-vehicle fusion according to any one of claims 5 to 8.
10. A route planning method for human-vehicle convergence is characterized in that: the method comprises the following steps:
when a vehicle reaches a parking space of a parking lot, acquiring 3D positioning information of the vehicle;
calculating a time required for the vehicle to reach each exit of the above-ground building based on the 3D positioning information of the vehicle;
sending the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building to a cloud server so that an intelligent terminal carried by a person can acquire the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building from the cloud server, and planning an optimal route for people and vehicles to converge based on the time required by the intelligent terminal to reach each exit of the ground building and the time required by the vehicle to reach each exit of the ground building;
acquiring an optimal route converged by people and vehicles uploaded by the intelligent terminal from the cloud server so as to enable the vehicles to travel to a ground building outlet corresponding to the optimal route along the optimal route;
the method comprises the following steps of calculating the time required for reaching each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building, and acquiring the 3D positioning information of the intelligent terminal in the above-ground building, wherein the steps comprise:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
11. The human-vehicle convergent route planning method according to claim 10, characterized in that: the time required for the vehicle to reach each exit of the above-ground building is calculated based on a preset vehicle speed and the distance from the vehicle to each exit.
12. The utility model provides a route planning system that people's car converges which characterized in that: the system comprises a first acquisition module, a calculation module, a sending module and a second acquisition module;
the first acquisition module is used for acquiring 3D positioning information of a vehicle when the vehicle reaches a parking space of a parking lot;
the calculation module is used for calculating the time required for the vehicle to reach each exit of the above-ground building based on the 3D positioning information of the vehicle;
the sending module is used for sending the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building to the cloud server, so that an intelligent terminal carried by a person can acquire the 3D positioning information of the vehicle and the time required by the vehicle to each exit of the ground building from the cloud server, and an optimal route for people and vehicles to converge is planned based on the time required by the intelligent terminal to reach each exit of the ground building and the time required by the vehicle to reach each exit of the ground building;
the second acquisition module is used for acquiring an optimal route converged by people and vehicles uploaded by the intelligent terminal from the cloud server so as to enable the vehicle to drive to a ground building outlet corresponding to the optimal route along the optimal route;
the method comprises the following steps of calculating the time required for reaching each exit of the above-ground building based on the 3D positioning information of the intelligent terminal in the above-ground building, and acquiring the 3D positioning information of the intelligent terminal in the above-ground building, wherein the steps comprise:
a first-stage positioning process: when the intelligent terminal is in a positioning mode, a map, the positioning information of a ground building, an entrance of the ground building, the positioning information of the intelligent terminal and the advancing direction of the intelligent terminal are loaded by the intelligent terminal, and the positioning error of the intelligent terminal is reduced to a first error range;
and a second-stage positioning process: further determining the position of the intelligent terminal and reducing the positioning error of the intelligent terminal to a second error range with the numerical value smaller than the first error range through the grid map, the motion attitude of the intelligent terminal and the detected drivable area;
and a third-stage positioning process: and further determining the position of the intelligent terminal according to the obtained landmark information, the landmark information in the landmark map and the motion attitude of the intelligent terminal, and reducing the positioning error of the intelligent terminal to a third error range with the numerical value smaller than the second error range.
13. The human-vehicle convergent routing system according to claim 12, wherein: the calculation module calculates the time required for the vehicle to reach each exit of the above-ground building based on a preset vehicle speed and the distance from the vehicle to each exit.
14. A vehicle-mounted terminal is characterized in that: a route planning system comprising the human-vehicle fusion of claim 12 or 13.
15. The utility model provides a route planning system that people's car converges which characterized in that: the vehicle-mounted terminal comprises the vehicle-mounted terminal of claim 14, the intelligent terminal of claim 9 and a cloud server;
the cloud server is used for receiving and storing the 3D positioning information of the vehicle sent by the vehicle-mounted terminal and the time required by the vehicle to reach each exit of the ground building; and receiving and storing the optimal route of the people and the vehicles converged sent by the intelligent terminal.
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| CN108495255A (en) * | 2018-03-08 | 2018-09-04 | 上海博泰悦臻电子设备制造有限公司 | Alignment sensor data sharing method based on car-mounted terminal and system, car-mounted terminal |
| CN108961834B (en) * | 2018-09-05 | 2019-09-20 | 湖北亘华工科有限公司 | A kind of underground parking Car park payment processing method |
| CN110189546B (en) * | 2019-06-28 | 2020-11-13 | 广州小鹏汽车科技有限公司 | Vehicle positioning method and vehicle positioning system |
| CN110751833A (en) * | 2019-10-14 | 2020-02-04 | 勤好(北京)物业管理有限公司 | Medical logistics management system |
| JP7416202B2 (en) * | 2020-03-04 | 2024-01-17 | 日産自動車株式会社 | Meeting support system, meeting support method, and program |
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