CN107560635A - Vehicle positioning method, device, in-vehicle navigation apparatus and computer-readable storage medium - Google Patents
Vehicle positioning method, device, in-vehicle navigation apparatus and computer-readable storage medium Download PDFInfo
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- CN107560635A CN107560635A CN201711012019.8A CN201711012019A CN107560635A CN 107560635 A CN107560635 A CN 107560635A CN 201711012019 A CN201711012019 A CN 201711012019A CN 107560635 A CN107560635 A CN 107560635A
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Abstract
The embodiment of the invention discloses a kind of vehicle positioning method, device, in-vehicle navigation apparatus and computer-readable storage medium, wherein localization method includes：When signal accumulation instruction is received, accumulation obtains the signals of vehicles of vehicle；The location information of the vehicle is determined according to the vehicle initial position of the signals of vehicles and signals of vehicles initial time.A kind of vehicle positioning method, device, in-vehicle navigation apparatus and computer-readable storage medium provided in an embodiment of the present invention, start to accumulate signals of vehicles when signal accumulation instruction is received, the location information of vehicle is accurately obtained according to the signals of vehicles of accumulation and vehicle initial position, when solving vehicle mounted guidance software and being unable to normal use, the problem of vehicle location information can not be obtained, the location information for any time that vehicle is determined according to signals of vehicles and vehicle initial position is realized, improves the applicability and robustness of vehicle location.
Description
Technical field
The present embodiments relate to vehicle positioning technology, more particularly to a kind of vehicle positioning method, device, vehicle mounted guidance to set
Standby and computer-readable storage medium.
Background technology
In-vehicle navigation apparatus, it is the driving supplemented by video and music entertainment system and auxiliary driving function based on a kind of navigation feature
Auxiliary equipment.Wherein, navigation feature can help user to be accurately positioned current location, and calculate row according to set destination
Journey, user's row is guided to destination by map denotation and voice message two ways.In-vehicle navigation apparatus is by processor, interior
Deposit, the hardware system of composition such as display screen, loudspeaker and the insertion being made up of map datum, navigation software, operating system etc.
Formula software systems form.
Wherein, navigation software has puts the functions such as positioning, destination path computing in the enterprising line position of map datum.At present,
It is one of major way that current location positions that navigation software carries out current location positioning by signals of vehicles.Signals of vehicles includes
Velicle motion velocity signal, the acceleration transducer that direction of vehicle movement signal, the velocity sensor of gyroscope offer provide carry
Vehicle movement acceleration signal of confession etc..
If in vehicle launch, positioned by signals of vehicles, the in-vehicle navigation apparatus os starting time is with leading
Boat software starts time sum and is more than the vehicle launch time, it may appear that origin-location has been sailed out of after vehicle launch, but it is soft to navigate
Part is in the situation for starting or even not having started startup.After navigation software is completed to start, during by the vehicle launch of record
Initial position be mistakenly used as current vehicle position, the problem of can not being accurately positioned so as to result in.
If when driving, the operating system in navigation equipment and navigation software work as navigation in normal course of operation
Caused by software fault is closed or restarted during non-opening, current vehicle position can not be carried out by signals of vehicles and determined
Position.
In the prior art, it is more that the time is started using adjustment navigation software or optimizes the method for os starting speed, from
And reach the quick purpose for starting navigation software.But the realization of the method needs to coordinate the pass between hardware system and software systems
System, realizes that difficulty is larger, it is impossible to the in-vehicle navigation apparatus os starting time is started time sum with navigation software and is less than
Or equal to the vehicle launch time, still suffer from the problem of can not being accurately positioned current location.
The content of the invention
In view of this, the embodiments of the invention provide a kind of vehicle positioning method, device, in-vehicle navigation apparatus and computer
Storage medium, in the case where extras need not be increased, it can accurately obtain the location information of vehicle.
In a first aspect, the embodiments of the invention provide a kind of vehicle positioning method, including：
When signal accumulation instruction is received, accumulation obtains the signals of vehicles of vehicle；
The positioning for determining the vehicle according to the vehicle initial position of the signals of vehicles and signals of vehicles initial time is believed
Breath.
Second aspect, the embodiments of the invention provide a kind of vehicle locating device, including：
Signals of vehicles accumulates module, to when signal accumulation instruction is received, accumulation obtains the signals of vehicles of vehicle；
Location information determining module, for the vehicle initial position according to the signals of vehicles and signals of vehicles initial time
Determine the location information of the vehicle.
The third aspect, the embodiments of the invention provide a kind of in-vehicle navigation apparatus, including：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes the vehicle positioning method described in any embodiment of the present invention.
Fourth aspect, the embodiments of the invention provide a kind of computer-readable storage medium, computer program is stored thereon with, should
The vehicle positioning method described in any embodiment of the present invention is realized when program is executed by processor.
A kind of vehicle positioning method, device, in-vehicle navigation apparatus and computer-readable storage medium provided in an embodiment of the present invention,
Start to accumulate signals of vehicles when signal accumulation instruction is received, according to the signals of vehicles of accumulation and vehicle initial position
The accurate location information for obtaining vehicle, when solving vehicle mounted guidance software and being unable to normal use, vehicle location information can not be obtained
The problem of, the location information for any time that vehicle is determined according to signals of vehicles and vehicle initial position is realized, improves car
Positioning applicability and robustness.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to do one and simply introduce, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of vehicle positioning method flow chart that the embodiment of the present invention one provides；
Fig. 2 is a kind of vehicle positioning method flow chart that the embodiment of the present invention two provides；
Fig. 3 a are a kind of vehicle positioning method flow charts that the embodiment of the present invention three provides；
Fig. 3 b are a kind of vehicle location letters of the optional embodiment for vehicle positioning method that the embodiment of the present invention three provides
Breath confirms schematic diagram；
Fig. 4 is a kind of vehicle locating device structural representation that the embodiment of the present invention four provides；
Fig. 5 is a kind of in-vehicle navigation apparatus structural representation that the embodiment of the present invention five provides.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, hereinafter with reference to attached in the embodiment of the present invention
Figure, technical scheme is clearly and completely described by embodiment, it is clear that described embodiment is the present invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of protection of the invention.
Embodiment one
Fig. 1 is a kind of vehicle positioning method flow chart that the embodiment of the present invention one provides, and the present embodiment is applicable to vehicle
Location information confirms that this method can be realized by vehicle locating device, such as can be in-vehicle navigation apparatus, can specifically pass through
Software and/or hardware in in-vehicle navigation apparatus are implemented.Referring to Fig. 1, vehicle positioning method includes following step in the present embodiment
Suddenly：
S110, in receive signal accumulation instruction when, accumulation obtain vehicle signals of vehicles.
Wherein, signal accumulation instruction can be program triggering statement or high trigger signal.Work as signal accumulation
When instruction is program triggering statement, CPU judges that vehicle locating device current state meets accumulation and obtains car in vehicle locating device
Signals of vehicles state when, operation program triggering statement, to call signals of vehicles accumulate subprogram, that is, receive signal and tire out
During product instruction, signals of vehicles accumulation subprogram accumulation obtains the signals of vehicles of vehicle.When signal accumulation instruction is high level triggering
During signal, control chip judges that vehicle locating device current state meets the vehicle letter that accumulation obtains vehicle in vehicle locating device
During number state, control relevant pins are placed in high level, to unlocking vehicle signal accumulation module, that is, receive signal accumulation instruction
When, signals of vehicles accumulation module accumulation obtains the signals of vehicles of vehicle.
Wherein, signals of vehicles is the signal gathered by vehicle sensors, such as can be the vehicle movement of gyroscope collection
Direction signal, the Velicle motion velocity signal of velocity sensor collection, the vehicle movement acceleration letter of acceleration transducer collection
Number.
Vehicle locating device can gather signal with registration of vehicle sensor, can collect vehicle with registration of vehicle sensor
Timestamp during signal, to calculate the distance vector that vehicle travels in the time interval between each timestamp.
Preferably, vehicle sensors can carry out signals of vehicles collection according to prefixed time interval.The signals of vehicles of collection
It can be stored in vehicle locating device in the default memory cell of memory, can also be stored in other memory modules.Deposit
The signals of vehicles that reservoir or the accumulation storage of other memory modules obtain, wherein it is possible to suitable by the priority time of collection vehicle signal
Sequence carries out accumulation storage, can also carry out accumulation storage according to the type of collection vehicle signal.
S120, determining for the vehicle determined according to the vehicle initial position of the signals of vehicles and signals of vehicles initial time
Position information.
Wherein, vehicle initial position is the vehicle location of signals of vehicles initial time, that is, receives first vehicle
Vehicle location during signal, it is understood that to be vehicle location when vehicle locating device is opened.Vehicle initial position is in car
Positioner has been stored in vehicle locating device before opening, and can be stored in the default memory cell of memory, also may be used
To be stored in other memory modules.
Wherein, the location information of vehicle represents the location of vehicle information.Optionally, the location information of vehicle can be
The road name residing for longitude and latitude data information or vehicle residing for vehicle, away from crossing range information, can also
It is the building or other titles identified, range informations away from building or other marks around vehicle present position.
Folded wherein it is possible to which the signals of vehicles that signals of vehicles moment to any time first time accumulates will be received first
Add processing, can be superimposed in chronological order, first can also received to be superimposed by calculating complexity to obtain vehicle
The distance vector that secondary signals of vehicles moment to any time travels；Transported further according to the distance vector and vehicle initial position
Calculate, to determine the location information of certain moment vehicle.Vehicle initial position can also be believed from first time vehicle in chronological order
Number moment starts constantly to be superimposed signals of vehicles until any time, to determine the location information of any time vehicle.Optionally,
When any time is current time, then the location information of current time vehicle can be determined.Optionally, by the car of acquisition
Signal carries out vector superposed in real time, obtains location information corresponding to each time interval.Optionally, it is defeated according to preset time period
Go out the location information of vehicle, be easy to user to determine vehicle location, exemplary, preset time period can be 1s, 3s or 5s
Deng, wherein, preset time period can independently be set according to user's request.
In the present embodiment, when detecting that vehicle mounted guidance software is unable to normal use, accumulation obtains signals of vehicles, and passes through
The signals of vehicles of accumulation obtains the location information at each moment, and car can not be determined by avoiding when vehicle mounted guidance software is unable to normal use
The problem of position, when further solving vehicle mounted guidance software and switching to normal use state by being unable to normal use state,
Vehicle location determines the problem of inaccurate, improves automobile navigation accuracy.Wherein, vehicle mounted guidance software is unable to normal use example
Situations such as such as being the failed startup of vehicle mounted guidance software or vehicle mounted guidance software fault.
The vehicle positioning method that the present embodiment provides, when signals of vehicles accumulation module or signals of vehicles accumulation program receive
Accumulation obtains signals of vehicles when signal accumulation instructs, and accurate according to the signals of vehicles and the vehicle initial position that prestores
The location information of vehicle is obtained, when solving vehicle mounted guidance software and being unable to normal use, asking for vehicle location information can not be obtained
Topic, realizes the location information for any time that vehicle is determined according to signals of vehicles and vehicle initial position, improves vehicle and determine
The applicability and robustness of position.
Embodiment two
Fig. 2 is a kind of vehicle positioning method flow chart that the embodiment of the present invention two provides.The present embodiment is in above-described embodiment
On the basis of, it has been further elaborated on signals of vehicles accumulation method.Same as the previously described embodiments or corresponding term explanation, this
Embodiment repeats no more.
Referring to Fig. 2, vehicle positioning method specifically includes in the present embodiment：
S210, in detecting that operating system is in opening in navigation equipment, and navigation software is in navigation equipment
During non-opening, the signal accumulation instruction is received.
Exemplary, operating system is in opening in navigation equipment, and navigation software is in and do not opened in navigation equipment
Open state, can be in vehicle launch, the operating system in navigation equipment is opened successfully, but navigation software also do not start into
The state of work(；It can also be in vehicle travel process, the operating system and navigation software in navigation equipment are in normal operation mistake
Cheng Zhong, navigation software failure is closed or the caused non-opening of restarting.It is, when navigation equipment meets operating system
During the state that unlatching but navigation software are closed, you can judge that current state meets the signals of vehicles state that accumulation obtains vehicle, car
Signal accumulation module or vehicle accumulation program receive signal accumulation instruction, start accumulation and obtain signals of vehicles.Wherein, signal
Accumulation instruction can be generated and sent by the controller of detection navigation equipment state.
S220, the signals of vehicles according to prefixed time interval acquisition vehicle, the signals of vehicles include direction of traffic signal
And vehicle velocity signal.
Wherein, prefixed time interval can be fixed value or on-fixed value.When optionally, by reducing default
Between be spaced, improve vehicle location precision, time interval is smaller, and the vehicle for calculating gained travels distance vector within certain period and got over
Accurately.It is exemplary, it can set interval as fixed value 40ms or 50ms or 60ms, can also set interval successively
For 40ms, 40ms, 50ms, 60ms, 100ms ... it is understood that the exemplary only citing of above time interval, not
As the restriction to time interval.
S230, by the signals of vehicles, time sequencing or signal type corresponding to are accumulated.
Wherein it is possible to accumulation storage is carried out by the priority time sequencing of collection vehicle signal, can also be according to collection vehicle
The type of signal carries out accumulation storage.For example, it may be after a time interval gathers a signals of vehicles, by collection
Signals of vehicles is stored by the sequencing of collection；Can also be after time interval gathers a signals of vehicles,
Signals of vehicles is classified, same class signals of vehicles is stored by the sequencing of collection.
S240, determining for the vehicle determined according to the vehicle initial position of the signals of vehicles and signals of vehicles initial time
Position information.
A kind of vehicle positioning method is present embodiments provided, navigation equipment operating system is further illustrated and opens but navigate
The state that software is closed is to meet accumulation to obtain the signals of vehicles state of vehicle, it is specified that signals of vehicles accumulation module carries out vehicle
The condition of signal accumulation；And the time interval for obtaining signals of vehicles is preset, signals of vehicles is accumulated module when one
Between interval carry out signals of vehicles accumulation, can coordinate positioning precision with positioning the time required to；And proposing can be according to vehicle
Signal time order or signal type are accumulated, and make the distance vector calculating of further vehicle traveling more convenient.
Embodiment three
Fig. 3 a are a kind of vehicle positioning method flow charts that the embodiment of the present invention three provides.The present embodiment is in above-described embodiment
On the basis of, further illustrate vehicle location information confirmation method.Same as the previously described embodiments or corresponding term explanation, this
Embodiment repeats no more.
Referring to Fig. 3 a, vehicle location information confirmation method includes in the present embodiment：
S310, in receive signal accumulation instruction when, accumulation obtain vehicle signals of vehicles.
S320, direction of traffic signal and vehicle velocity signal according to each time interval, determine vehicle in each time interval
Corresponding distance vector.
The direction of traffic signal and vehicle velocity signal of gained will be gathered, as this collection and the time gathered next time
The average rate of turn of vehicle and vehicle average speed in interval.According to the average rate of turn of vehicle in each time interval and averagely
Speed, then it can calculate vehicle corresponding direction and displacement in each time interval, you can to obtain vehicle between each time
Every interior corresponding distance vector.
S330, according to each distance vector in the time range of signals of vehicles initial time to current time determine to work as
The distance vector at preceding moment and.
Known vehicle in each time interval after corresponding distance vector, will receive first signals of vehicles moment until
All distance vectors are superimposed in the time range at current time, you can obtain straight from first signals of vehicles moment is received
In to the time range at current time vehicle travel distance vector and.
S340, according to the initial position and the distance vector at the current time and determine vehicle determine at current time
Position information, wherein, the initial position is the last final position navigated.
Vehicle initial position, that is, receive vehicle location during first signals of vehicles, it is understood that lead for the last time
The final position of boat.Can by vehicle initial position with from first signals of vehicles moment is received until the time at current time
In the range of vehicle traveling distance vector be added, you can determine the location information at vehicle current time.
Vehicle location information confirmation method in a kind of vehicle positioning method is present embodiments provided, utilizes each time interval
Direction of traffic signal and vehicle velocity signal calculate corresponding to distance vector, will initial time with it is each in current time time range
Distance vector superposition can obtain current time distance vector and, further according to initial position and distance vector and can confirm that car
Current location information.
Preferably, after S340 steps, can also include：
The driving trace of the vehicle is determined according to the location information of the initial position and each moment.
The initial position of known vehicle, vehicle initial position can be opened from signals of vehicles moment first time in chronological order
Beginning constantly, superposition signals of vehicles is up to any time, to determine the location information of any time vehicle.It can determine from connecing
First signals of vehicles moment is received until the vehicle location information of any time in the time range at current time.By each moment
Vehicle location information can obtain vehicle and travelled from initial position to the driving trace of current location.
In addition, if it is desired in the case that precision is relatively low, confirms efficiency to improve driving trace, can select every two even
The location information of more than two time interval, travelled to obtain vehicle from initial position to the rough traveling rail in current location
Mark.
Optionally, when detecting that the navigation software is opened successfully, stop obtaining the signals of vehicles, and by the car
Signal or the location information are sent to the navigation software, so that the navigation software is according to the signals of vehicles or described
Location information determines current vehicle position.
When location information is sent to navigation software, navigation software determines current vehicle position according to location information, also
By current vehicle position presentation of information in map datum current location information can be made to be presented on map number more visual and clearly
According to upper.In addition, navigation software can also obtain the location information at each moment, can be by the vehicle location information line at each moment simultaneously
Be shown in map datum, make vehicle from initial position travel driving trace to current location it is more visual and clear be presented on ground
On diagram data.
When signals of vehicles is sent to navigation software, navigation software implements above-mentioned vehicle location information confirmation method, uses
To confirm the current location information of vehicle.Further, navigation software can show that vehicle is believed when prelocalization on map datum
Accordingly current location is ceased, can also show that vehicle is travelled to the traveling rail of current location from initial position on map datum
Mark.
Fig. 3 b are a kind of vehicle location informations of the optional embodiment of vehicle positioning method provided in an embodiment of the present invention
Confirm schematic diagram.This embodiment is applied to vehicle location information during vehicle launch and confirmed.Operating system in navigation equipment exists
While unlatching, signals of vehicles accumulation module carries out signals of vehicles accumulation.When detecting that navigation software is opened successfully, vehicle letter
Number accumulation module stop obtain signals of vehicles, and by current time accumulate all signals of vehicles be sent to navigation software, according to
The value volume and range of product of signals of vehicles, it can be sent with one or many to navigation software.Before signals of vehicles is sent, vehicle letter
Number accumulation module will not provide newest signals of vehicles to navigation software.Navigation software is using at the beginning of the signals of vehicles and vehicle of accumulation
Beginning position, confirm the current location information of vehicle.
Referring to Fig. 3 b, transverse axis is positive to represent due east direction, and the longitudinal axis is positive to represent direct north, and point represents the vehicle at each moment
Location information.Wherein, origin O represent 0 moment vehicle initial position, point 1,2,3 ... n represent in chronological order T1, T2,
T3 ... Tn vehicle location, the time interval of each two time are fixed as 40ms.Wherein, dotted arrow represents vehicle when each
Between interval corresponding to distance vector.All distance vectors are mutually added up, you can obtain in from 0 moment to the time range at Tn moment
Vehicle traveling distance vector and, in figure solid arrow represent vehicle traveling distance vector and.In the base of vehicle initial position
On plinth, supplement from 0 to the distance vector summation in Tn time ranges, it can be deduced that new vehicle location, so as to reach navigation vehicle
Position closer to reality, improve startup when navigate vehicle positional precision.
Example IV
Fig. 4 is a kind of vehicle locating device structural representation that the embodiment of the present invention four provides.The present embodiment is applicable to
Vehicle location information confirms.
Referring to Fig. 4, vehicle locating device includes in the present embodiment：
Signals of vehicles accumulates module 410, to when signal accumulation instruction is received, accumulation obtains the vehicle letter of vehicle
Number；
Location information determining module 420, it is initial for the vehicle according to the signals of vehicles and signals of vehicles initial time
Position determines the location information of the vehicle.
Further, signals of vehicles accumulation module 410, including：
Command reception submodule, in detecting that operating system is in opening, and navigation equipment in navigation equipment
When middle navigation software is in non-opening, the signal accumulation instruction is received.
Signals of vehicles acquisition submodule, for obtaining the signals of vehicles of vehicle, the vehicle letter according to prefixed time interval
Number include direction of traffic signal and vehicle velocity signal.
Signals of vehicles accumulates submodule, is carried out for time sequencing or signal type corresponding to by the signals of vehicles
Accumulation.
Further, location information determining module 420, including：
Distance vector determination sub-module, for the direction of traffic signal and vehicle velocity signal according to each time interval, really
Vehicle is determined in distance vector corresponding to each time interval.
Distance vector and determination sub-module, in the time range according to signals of vehicles initial time to current time
Each distance vector determine current time distance vector and.
Location information determination sub-module, for the distance vector and determination according to the initial position and the current time
Location information of the vehicle at current time, wherein, the initial position is the last final position navigated.
Further, the vehicle locating device, can also include：
Driving trace determination sub-module, for it is determined that after location information of the vehicle at current time, according to institute
State initial position and the location information at each moment determines the driving trace of the vehicle.
Further, the vehicle locating device, can also include：
Information sending module, when detecting that the navigation software is opened successfully, to stop obtaining the signals of vehicles,
And send the signals of vehicles or the location information to the navigation software, so that the navigation software is according to the vehicle
Signal or the location information determine current vehicle position.
When the vehicle locating device that the present embodiment provides receives signal accumulation instruction using signals of vehicles accumulation module, tire out
Product obtains the signals of vehicles of vehicle, using location information determining module by the beginning of the vehicle of signals of vehicles and signals of vehicles initial time
Beginning, position determined the location information of the vehicle.
The vehicle positioning method that the present embodiment proposes with embodiment one to three belongs to same inventive concept, not in the present embodiment
In the ins and outs of detailed description can be found in embodiment one to three, and the present embodiment has with embodiment one to three with identical
Beneficial effect.
Embodiment five
A kind of in-vehicle navigation apparatus is present embodiments provided, can be used for vehicle location positioning.Fig. 5 is the embodiment of the present invention
A kind of five in-vehicle navigation apparatus structural representations provided.
Referring to Fig. 5, the navigation equipment includes：
One or more processors 510；
Memory 520, for storing one or more programs；
When one or more of programs are performed by one or more of processors 510 so that one or more of
Processor 510 realizes the vehicle positioning method proposed such as embodiment one to three.
In Fig. 5 by taking a processor as an example；Processor can be connected with memory by bus or other modes, in Fig. 5
Exemplified by being connected by bus.
Memory is as a kind of computer-readable recording medium, available for storage software program, computer executable program
And module, programmed instruction/module as corresponding to the vehicle positioning method of in-vehicle navigation apparatus in the embodiment of the present invention.Processor
By running software program, instruction and the module of storage in memory, so as to perform the various functions of in-vehicle navigation apparatus
Using and data processing, that is, realize above-mentioned vehicle positioning method.
Memory can mainly include storing program area and storage data field, wherein, storing program area can storage program area,
Application program needed at least one function；Storage data field can store uses created data etc. according to terminal.In addition,
Memory can include high-speed random access memory, can also include nonvolatile memory, and a for example, at least disk is deposited
Memory device, flush memory device or other non-volatile solid state memory parts.In some instances, memory can further comprise phase
For the remotely located memory of processor, these remote memories can pass through network connection to in-vehicle navigation apparatus.It is above-mentioned
The example of network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
In addition, according to the multi-form of in-vehicle navigation apparatus, except processor and memory, in-vehicle navigation apparatus can be with
Including other modules or structure, for example, in-vehicle navigation apparatus can possess voice broadcast function, then also include loudspeaker；And for example,
In-vehicle navigation apparatus can be the equipment for having display function, then also includes display screen, for show map data, also be available for
User carries out touch control operation in navigation software interface.
The vehicle positioning method that the in-vehicle navigation apparatus that the present embodiment proposes proposes with embodiment one to three belongs to same hair
Bright design, the ins and outs of detailed description not can be found in embodiment one to three in the present embodiment, and the present embodiment is with implementing
Example one to three has identical beneficial effect.
Embodiment six
The present embodiment provides a kind of computer-readable recording medium, is stored thereon with computer program, the program is processed
The vehicle positioning method proposed such as embodiment one to three is realized when device performs.
The vehicle positioning method that the computer-readable recording medium that the present embodiment proposes proposes with embodiment one to three belongs to
Same inventive concept, the ins and outs of detailed description not can be found in embodiment one to three, and the present embodiment in the present embodiment
There is identical beneficial effect with embodiment one to three.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to realized by hardware, but the former is more in many cases
Good embodiment.Based on such understanding, what technical scheme substantially contributed to prior art in other words
Part can be embodied in the form of software product, and the computer software product can be stored in computer-readable recording medium
In, floppy disk, read-only storage (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are causing a computer to set
Standby (can be personal computer, server, or network equipment etc.) performs the method described in each embodiment of the present invention.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. vehicle positioning method, it is characterised in that including：When signal accumulation instruction is received, accumulation obtains the signals of vehicles of vehicle；The location information of the vehicle is determined according to the vehicle initial position of the signals of vehicles and signals of vehicles initial time.
- 2. according to the method for claim 1, it is characterised in that when signal accumulation instruction is received, accumulation obtains vehicle Signals of vehicles, including：In detecting that operating system is in opening in navigation equipment, and navigation software is in non-opening in navigation equipment When, receive the signal accumulation instruction；The signals of vehicles of vehicle is obtained according to prefixed time interval, the signals of vehicles includes direction of traffic signal and car speed Signal；By the signals of vehicles, time sequencing or signal type corresponding to are accumulated.
- 3. according to the method for claim 1, it is characterised in that according to the signals of vehicles and signals of vehicles initial time Vehicle initial position determines the location information of the vehicle, including：According to the direction of traffic signal and vehicle velocity signal of each time interval, determine vehicle in distance corresponding to each time interval Vector；Current time is determined according to each distance vector in the time range of signals of vehicles initial time to current time Distance vector and；According to the initial position and the distance vector at the current time and location information of the vehicle at current time is determined, its In, the initial position is the last final position navigated.
- 4. according to the method for claim 3, it is characterised in that described according to the initial position and the current time Distance vector and determine the vehicle after the location information at current time, in addition to：The driving trace of the vehicle is determined according to the location information of the initial position and each moment.
- 5. according to any described methods of claim 1-4, it is characterised in that methods described also includes：When detecting that the navigation software is opened successfully, stop obtaining the signals of vehicles, and by the signals of vehicles or institute State location information to send to the navigation software, so that the navigation software is true according to the signals of vehicles or the location information Determine current vehicle position.
- A kind of 6. vehicle locating device, it is characterised in that including：Signals of vehicles accumulates module, to when signal accumulation instruction is received, accumulation obtains the signals of vehicles of vehicle；Location information determining module, for being determined according to the vehicle initial position of the signals of vehicles and signals of vehicles initial time The location information of the vehicle.
- 7. device according to claim 6, it is characterised in that the signals of vehicles accumulates module, including：Command reception submodule, in detecting that operating system is in opening in navigation equipment, and led in navigation equipment When boat software is in non-opening, the signal accumulation instruction is received；Signals of vehicles acquisition submodule, for obtaining the signals of vehicles of vehicle, the signals of vehicles bag according to prefixed time interval Include direction of traffic signal and vehicle velocity signal；Signals of vehicles accumulates submodule, is tired out for time sequencing or signal type corresponding to by the signals of vehicles Product.
- 8. device according to claim 6, it is characterised in that the location information determining module, including：Distance vector determination sub-module, for the direction of traffic signal and vehicle velocity signal according to each time interval, determine car In distance vector corresponding to each time interval；Distance vector and determination sub-module, for each institute in the time range according to signals of vehicles initial time to current time State distance vector determine current time distance vector and；Location information determination sub-module, for according to the initial position and the distance vector at the current time and determination vehicle In the location information at current time, wherein, the initial position is the last final position navigated.
- A kind of 9. in-vehicle navigation apparatus, it is characterised in that including：One or more processors；Memory, for storing one or more programs；When one or more of programs are by one or more of computing devices so that one or more of processors are real The now vehicle positioning method as described in any in claim 1-5.
- 10. a kind of computer-readable storage medium, is stored thereon with computer program, it is characterised in that the program is executed by processor Vehicle positioning methods of the Shi Shixian as described in any in claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711012019.8A CN107560635A (en) | 2017-10-26 | 2017-10-26 | Vehicle positioning method, device, in-vehicle navigation apparatus and computer-readable storage medium |
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| CN110087192A (en) * | 2018-01-26 | 2019-08-02 | 博世汽车部件(苏州)有限公司 | Facilitate the method, apparatus and control equipment that position determines |
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