CN107942364A

CN107942364A - Vehicle positioning method and vehicle positioning system

Info

Publication number: CN107942364A
Application number: CN201610896704.0A
Authority: CN
Inventors: 刘欣; 吴兴昊; 梁世宽; 张培阳; 刘进锋
Original assignee: Alibaba Group Holding Ltd
Current assignee: Banma Zhixing Network Hongkong Co Ltd
Priority date: 2016-10-13
Filing date: 2016-10-13
Publication date: 2018-04-20

Abstract

This application discloses a kind of vehicle positioning method and alignment system, vehicle positioning method is applied to Vehicle positioning system, and the Vehicle positioning system is positioned using GPS positioning mode and DR positioning methods, the described method includes：Obtain the error compensation value of the sensor when being positioned using DR positioning methods at the first moment；The output valve of sensor is corrected using the error compensation value, the output valve is used for determining the DR location datas at the second moment after first moment；Obtain DR location data of the DR positioning methods at the second moment；The GPS positioning data at the second moment are obtained using GPS positioning mode；The synthesis location data at the second moment is obtained using the GPS positioning data and the DR location datas at the second moment at second moment.

Description

Vehicle positioning method and Vehicle positioning system

Technical field

This application involves vehicle mounted guidance field, more particularly to a kind of vehicle positioning method and Vehicle positioning system.

Background technology

Nowadays, as the increase increased with trip requirements of vehicle, dependence of the people to vehicle mounted guidance are more and more stronger.Lead Whether boat positioning is accurate to become the most important factor that people select on-vehicle navigation apparatus.

Existing Vehicle positioning system generally carries out Orientation on map using following method：Set in on-vehicle navigation apparatus Locating module and map-matching module；Locating module positions the position of vehicle in real time, and sends positioning result to map Matching module；Road in the positioning result and map datum is carried out similarity mode by map-matching module, and vehicle is shown On matched road.Matching is often the difference of the distance according to vehicle location to road, headstock direct of travel and road direction Depending on different, by above-mentioned distance and headstock, the direction of road, positioning result is shown to again after selecting Optimum Matching road On map.

From the foregoing, existing Vehicle positioning system commonly relies on gps signal or network signal, Vehicle positioning system Locating module only by gps signal or network signal transmission or network transmission could obtain positioning result.However, work as car Driving to tunnel, either without the position of gps signal or network signal, vehicle can not be realized accurately fixed underground garage etc. Position, can only do the estimation of position according to speed.

In the position of no gps signal or network signal, generally use dead reckoning (Dead in the prior art Reckoning, DR) method, using inertial navigation method sensor, vehicle is estimated according to the speed of a upper position and vehicle Next position.Inertial navigation method sensor includes gyroscope and accelerometer.Gyroscope measures rotational speed, and accelerometer measures add Speed.The once integration of measured value or twice integration can obtain angle or position parameter respectively.Such as including gyroscope and acceleration Degree meter, using measured value an integral and calculating relative to initial position offset.In the method for dead reckoning, by upper The known location at one moment, the change of the motion state measured with reference to sensor, calculates the change in displacement in this period, so that Extrapolate the position at current time.

However, in the position of no gps signal or network signal, the positioning of vehicle relies only on inertial navigation sensor. There is error yet with inertial navigation sensor, existing Vehicle positioning system often causes boat position to push away because sensor error is unknown Calculate poor effect or the duration is very short and fix drift, opening/semiclosed/enclosed environment switch under semiclosed environment The problems such as Shi Fasheng positioning exception jumps.

The content of the invention

In view of the above problems, the embodiment of the present invention proposes a kind of vehicle positioning method and Vehicle positioning system, existing to solve There is the position in no gps signal or network signal present in technology, since the error of sensor causes dead reckoning to be imitated The problem of fruit is very poor, fix drift.

To solve the above-mentioned problems, one embodiment of the application discloses a kind of vehicle positioning method, applied to vehicle location system System, the Vehicle positioning system are positioned using GPS positioning mode and DR positioning methods, it is characterised in that the method bag Include：

Obtain the error compensation value of the sensor when being positioned using DR positioning methods at the first moment；

The output valve of sensor is corrected using the error compensation value, the output valve is used for after determining for the first moment The DR location datas at the second moment；

Obtain DR location data of the DR positioning methods at the second moment；

Obtain the GPS positioning data at the second moment；

The synthesis at the second moment is obtained using the GPS positioning data and the DR location datas at the second moment at second moment Location data.

In another embodiment, the present invention discloses a kind of vehicle positioning method, and applied to Vehicle positioning system, its feature exists In, the described method includes：

At the first moment, when the positioning confidence level of map datum is higher than first threshold, detection vehicle is at the first moment Location data whether with the site of road Data Matching in map datum；

When the location data at first moment is mismatched with the site of road data, the site of road number is utilized Synthesis location data of the vehicle at the second moment is obtained according to location data of the vehicle at the second moment, wherein the site of road Data are the position data on the road with the distance of the location data at second moment within the specified range.

In another embodiment, the present invention discloses a kind of Vehicle positioning system, and the Vehicle positioning system uses GPS positioning Mode and DR positioning methods are positioned, it is characterised in that the system comprises：

Error compensation value acquisition module, for obtaining the error of the sensor when being positioned using DR positioning methods at the first moment Offset；

Correcting module, for correcting the output valve of sensor using the error compensation value, the output valve is used for determining The DR location datas at the second moment；

DR location data acquisition modules, the DR for obtaining second moment of the DR locating modules after the first moment are positioned Data；

GPS positioning data acquisition module, for obtaining the GPS positioning data at the second moment using GPS positioning mode；

Comprehensive location data acquisition module, for the GPS positioning data and the DR at the second moment using second moment Location data obtains the synthesis location data at the second moment.

In another embodiment, the present invention discloses a kind of Vehicle positioning system, it is characterised in that the system comprises：

Matching detection module, at the first moment, when the positioning confidence level of map datum is higher than first threshold, detection Vehicle the first moment location data whether with the site of road Data Matching in map datum；

Positioning result acquisition module, mismatches for the location data when first moment with the site of road data When, obtain vehicle using the location data of the site of road data and vehicle at the second moment and positioned in the comprehensive of the second moment Data, wherein the site of road data are the distance on the road with the location data at second moment in specified range Interior position data.

A kind of smart machine is also disclosed in the embodiment of the present invention, including：

One or more processors；

Memory；With

One or more modules, one or more of modules are stored in the memory and are configured to by described one A or multiple processors perform, wherein, one or more of modules are configured to carry out above-mentioned method.

A kind of smart machine, including input equipment, processor and output equipment is also disclosed in the embodiment of the present invention：

The input equipment is coupled to the processor, for obtaining the output valve of sensor；

The processor is used for the error compensation value for obtaining the sensor when being positioned using DR positioning methods at the first moment；Profit The output valve of sensor is corrected with the error compensation value；Mended using the output valve of the revised sensor and the error Repay value and obtain location data of the DR positioning methods at the second moment；And utilize the GPS positioning data and second at second moment The DR location datas at moment obtain the synthesis location data at the second moment；

The output equipment is coupled to the processor, for exporting the synthesis location data at second moment.

A kind of internet automobile, including vehicle intelligent equipment, the vehicle intelligent equipment bag is also disclosed in the embodiment of the present invention Vehicle-mounted input equipment, in-vehicle processor and vehicle-mounted output equipment are included,

The vehicle-mounted input equipment is coupled to the in-vehicle processor, for obtaining the output valve of sensor；

The in-vehicle processor is used for the error compensation for obtaining the sensor when being positioned using DR positioning methods at the first moment Value；The output valve of sensor is corrected using the error compensation value；Utilize the output valve of the revised sensor and described Error compensation value obtains location data of the DR positioning methods at the second moment；And utilize the GPS positioning data at second moment The synthesis location data at the second moment is obtained with the DR location datas at the second moment；

The vehicle-mounted output equipment is coupled to the in-vehicle processor, for exporting the comprehensive positioning number at second moment According to..

A kind of vehicle-mounted internet operating system is also disclosed in the embodiment of the present invention, including：

Acquiring unit, controls vehicle-mounted input equipment to obtain the output valve of sensor；

Processing unit, control in-vehicle processor obtain the error of the sensor when being positioned using DR positioning methods at the first moment Offset；The output valve of sensor is corrected using the error compensation value；Using the revised sensor output valve and The error compensation value obtains location data of the DR positioning methods at the second moment；And utilize the GPS positioning at second moment Data and the DR location datas at the second moment obtain the synthesis location data at the second moment；

Output unit, controls vehicle-mounted output equipment to export the synthesis location data at second moment.

The embodiment of the present application includes advantages below：

In the vehicle positioning method that the embodiment of the present invention proposes, sensor of the DR locating modules at the first moment is being obtained After error compensation value, the sensor that DR locating modules are corrected using the sensor error offset is exported；With reference to vehicle location Synthesis location data and sensor output of the system at the moment obtain after the second moment DR location datas, and utilize the The GPS positioning data and DR location datas at two moment calculate the synthesis location data at the second moment jointly.Implement in the present invention In the above-mentioned vehicle positioning methods that example proposes, GPS positioning data and DR location datas are carried out with depth integration and has been mutually compensated for, Accurate vehicle location is still provided in the case of no gps signal and network signal, enables Vehicle positioning system nothing By being in cruising condition or can reliably working under navigational state.

Brief description of the drawings

Fig. 1 shows the vehicle location flow diagram of one embodiment of the invention display data trend.

Fig. 2A shows the vehicle location flow diagram of another embodiment of the present invention display data trend.

Fig. 2 B show the application scenarios schematic diagram of the vehicle positioning method.

Fig. 3 is the flow chart of the vehicle positioning method of the application first embodiment.

Fig. 4 is the flow chart of the vehicle positioning method of the application second embodiment.

Fig. 4 A show the vehicle location flow diagram of yet another embodiment of the invention display data trend.

Fig. 5 is the flow chart of the vehicle positioning method of the application 3rd embodiment.

Fig. 6 is the flow chart of the vehicle positioning method of the application fourth embodiment.

Fig. 7 is the block diagram of the Vehicle positioning system of one embodiment of the application.

Fig. 8 is the block diagram of the Vehicle positioning system of another embodiment of the application.

Fig. 9 is the hardware architecture diagram for the smart machine that one embodiment of the application provides.

Figure 10 is the hardware architecture diagram for the smart machine that another embodiment of the application provides.

Figure 11 is the schematic diagram of the vehicle-mounted internet operating system of the application.

Embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on Embodiment in the application, those of ordinary skill in the art's all other embodiments obtained, belong to the application protection Scope.

One of core concept of the application is, there is provided a kind of vehicle positioning method and alignment system, in traditional positioning side On the basis of method, with reference to the fusion location algorithm of the sensors such as accelerometer, gyroscope, odometer, mutually assisted between sensor Make, mutually aid in, correct mutually.GPS can provide the consecutive tracking of system error-free, and the drift for being used for DR is detected, to prevent Only position error due to sensor systematic error in the dead reckoning of accumulated time it is increasing；And in the short time, DR's It is very accurate that positional increment calculates, compared with the displacement increment which will be used between GPS positioning twice, so as to filter out mistake GPS positioning.In this way, even if vehicle drives to underground garage, either the gps signal such as tunnel is not strong or position without gps signal Put.

Fig. 1 shows the flow that the location data of the Vehicle positioning system in one embodiment of the invention obtains.Vehicle location System is positioned using GPS positioning mode and DR positioning methods, such as including GPS positioning module and DR locating modules.Such as Fig. 1 The step of (6) and (7) shown in, the synthesis location data of the Vehicle positioning system of a certain moment t2 is by by the GPS at the moment Location data and DR location datas carry out COMPREHENSIVE CALCULATING acquisition.Wherein, as shown in step (4) and (5), GPS positioning data are The data that the GPS positioning mode at the moment is surveyed；DR location datas are the data of moment DR positioning methods actual measurement.

In embodiments of the present invention, the data of DR positioning methods actual measurement are that the vehicle of the previous moment t1 in step (3) is determined On the basis of the synthesis location data of position system, the sensor with reference to the DR positioning moulds inertial navigation sensor in the block of step (2) is defeated Go out acquisition.Due to the presence of step (1) sensor error offset mechanism so that the output of sensor is corrected, then is tied The synthesis location data that t1 moment DR location data and GPS positioning data obtain is closed, makes the actual measurement of the DR positioning methods at t2 moment Data are more accurate, final so that the synthesis location data of t2 moment Vehicle positioning systems is more accurate.

Fig. 2A shows the flow that the location data of the Vehicle positioning system in another embodiment of the present invention obtains, and Fig. 2 B are shown The application scenarios schematic diagram of the vehicle positioning method is shown.Vehicle positioning system is for example including vehicle localization module and map match Module.As shown in Figure 2 A and 2 B, have at some moment, such as on map and during an only road A, the positioning of map datum The positioning confidence level of confidence level, i.e. map-matching module is very high, can be obtained and GPS positioning data by map-matching module The site of road data matched somebody with somebody, such as step (1 ')；The data that GPS positioning module is surveyed at the moment are recycled as GPS positioning number According to such as step (2 '), the measured data of the site of road data in map-matching module and the GPS positioning module at the moment is defeated Enter COMPREHENSIVE CALCULATING module and carry out COMPREHENSIVE CALCULATING, such as step (3 '), utilize the site of road data correction GPS in map-matching module The measured data of positioning, so that the more accurate comprehensive location data of the moment Vehicle positioning system is obtained, such as step (4 '). Compares figure 2B is seen, at the t5 moment, the location data such as t5 of GPS positioning module actual measurement, but due to only having in map-matching module One road A, at this moment the confidence level of map-matching module is sufficiently high, can utilize the site of road data in path adaptation module, That is t5 ', corrects the measured data of GPS positioning, so that obtaining the more accurately comprehensive of the moment Vehicle positioning system positions number According to.Wherein, site of road data t5 ' is, for example, the immediate positional numbers of location data t5 with the moment on the road in map According to.

It is specifically described below by way of multiple embodiments.

First embodiment

Fig. 3 show the flow chart of the vehicle positioning method of first embodiment of the invention.As shown in figure 3, the present invention first Embodiment proposes a kind of vehicle positioning method, and applied to Vehicle positioning system, the Vehicle positioning system uses GPS positioning mode Positioned with DR positioning methods, described method includes following steps：

S301, obtains the error compensation value of the sensor when the first moment is using the positioning of DR positioning methods；

In this step, Vehicle positioning system is positioned using GPS positioning mode and DR positioning methods, such as comprising GPS positioning module and DR locating modules, DR positioning methods are positioned using inertial navigation sensor.The wherein positioning of sensor Error can be estimated by the synthesis location data of a certain moment Vehicle positioning system and the difference of the location data of DR positioning methods Draw.It is same it is estimated that the error compensation value of sensor in order to correct position error.In general sensor error compensates Value can be obtained directly in the output data of Vehicle positioning system.

S302, the output valve of sensor is corrected using the error compensation value, and the output valve is used for determining for the first moment The DR location datas at the second moment afterwards；

In this step, the output of the sensor of the error compensation value amendment DR locating modules of sensor can be utilized Value.Wherein described output valve is used for determining the DR location datas at the second moment.Such as sensor measures the acceleration at a certain moment For a, the error compensation value that Vehicle positioning system provides is a1, then the acceleration that the sensor exports after amendment is (a+ a1).The acceleration is used to participate in calculating the DR location datas for determining lower a moment for (a+a1).Can be clear and definite, the error of sensor Offset can not only be used for correcting acceleration, for the movement-state of sensor other vehicles that can be detected, such as angle Acceleration etc., can be corrected with the error compensation value of the sensor of previous step acquisition.

S303, obtains DR location data of the DR positioning methods at the second moment；

In this step, the synthesis location data at the first moment is to position number by the GPS positioning data and DR at the moment The location data drawn according to COMPREHENSIVE CALCULATING, is that relatively accurate after GPS positioning mode and DR positioning methods are corrected mutually is determined Position data.On the basis of the synthesis location data, exported for example, by the sensor between the first moment and the second moment, can To obtain the measured data of the DR positioning methods of subsequent time, the DR location datas using the measured data as the t2 moment.

S304, the GPS positioning data at the second moment are obtained using GPS positioning mode；

In this step, since GPS positioning mode obtains the positioning result of vehicle with typically lasting for by satellite, that is, exist Each moment can generate the location data of GPS actual measurements, can utilize the reality of the GPS modes at the second moment in this step Survey GPS positioning data of the location data as the moment.

S305, obtained for the second moment using the GPS positioning data and the DR location datas at the second moment at second moment Synthesis location data.

The GPS positioning data at the second above-mentioned moment and DR location datas, process in this step, can utilized comprehensive It is total to calculate the synthesis location data for obtaining Vehicle positioning system at the second moment.

The method for obtaining comprehensive location data using multiple and different positioning method has a variety of, selects the following two kinds side herein Case is introduced.

In the first scheme, step S305 can for example include following sub-step：

S305a, determines corresponding first weight of GPS positioning data at second moment, and determines second moment Corresponding second weight of DR location datas；

In this sub-step, the first weight and the second weight can be manual allocation or system is divided automatically Match somebody with somebody.Such as when gps signal is higher than a certain threshold value, can be corresponding to GPS positioning data the first weight distribution one compared with High value, is one relatively low value of the second weight distribution of DR location datas；When the sensor for detecting DR positioning methods Error level is relatively low and when gps signal is very weak, can be one of a relatively high value of the second weight distribution of DR location datas, and For one relatively low value of the first weight distribution corresponding to GPS positioning data.On the whole, first weight is believed with GPS The increase of number intensity and increase, second weight is as the error level of sensor increases and reduces, wherein the sensor Error level increase over time and increase.

S305b, is positioned using the GPS positioning data at second moment, first weight, the DR at second moment Synthesis location data of the Vehicle positioning system at the second moment described in data and second weight calculation.

In this sub-step, the weight that is obtained respectively according to GPS positioning data and DR location datas, can calculate and work as The synthesis location data at the second preceding moment.Such as calculated by equation below：

Comprehensive location data=(weight+DR location datas of GPS positioning data × first × second weight)/(the first weight+ Second weight).Details are not described herein.

In second scheme, step S305 can for example include following sub-step：

The GPS positioning data at second moment and the DR location datas at the second moment are inputted Kalman filtering by S305c Device；

S305d, obtains synthesis of the Vehicle positioning system at the second moment from the output data of the Kalman filter Location data.

In above-mentioned two sub-step, the GPS positioning data at the second moment and DR location datas can be inputted Kalman Wave filter, the synthesis location data of estimation is obtained using Kalman filter.Kalman filtering (Kalman filtering) one Kind utilizes linear system state equation, observes data by system input and output, the algorithm of optimal estimation is carried out to system mode. The synthesis location data for obtaining for the second moment using Kalman filter is known in those skilled in the art, is no longer gone to live in the household of one's in-laws on getting married herein State.

It is worth noting that, such as Kalman filter, the synthesis location data of Vehicle positioning system can not only be obtained, And sensor error compensation can be obtained at the same time.Sensor error compensation can carry out what sensor in step S302 exported Correct, equally repeat no more herein.

In vehicle positioning method provided in this embodiment, since the measured data of the DR positioning methods at t2 moment is to pass through What synthesis location data and the sensor output at t1 moment obtained, the synthesis location data and sensor output are by correcting Data, therefore the measured data of the DR positioning methods obtained is more accurate compared to without modified DR location datas, The DR location datas and GPS positioning data are subjected to COMPREHENSIVE CALCULATING, more accurate comprehensive location data can be obtained.

By above-mentioned, first embodiment of the invention proposes to provide a kind of vehicle positioning method, is obtaining DR positioning sides Formula corrects the sensing of DR positioning methods using the sensor error offset after the sensor error offset at the first moment Device exports；With reference to second moment of the Vehicle positioning system after synthesis location data and sensor the output acquisition at the moment DR location datas, and calculate the synthesis at the second moment jointly using the GPS positioning data and DR location datas at the second moment and determine Position data.In the above-mentioned vehicle positioning method that the embodiment of the present invention proposes, GPS positioning data and DR location datas are carried out Depth integration and mutually compensate for, accurate vehicle location is still provided in the case of no gps signal and network signal, is made Vehicle positioning system can either still can reliably working under navigational state in cruising condition.

Second embodiment

Fig. 4 show the flow chart of the vehicle positioning method of second embodiment of the invention.As shown in figure 4, the present invention second Embodiment proposes a kind of vehicle positioning method, and applied to Vehicle positioning system, the Vehicle positioning system uses GPS positioning mode Positioned with DR positioning methods, described method includes following steps：

S401, obtains the error compensation value of the sensor when the first moment is using the positioning of DR positioning methods；

S402, the output valve of sensor is corrected using the error compensation value, and the output valve is used for determining for the first moment The DR location datas at the second moment afterwards；

S403 obtains DR location data of the DR positioning methods at the second moment；

S404, the GPS positioning data at the second moment are obtained using GPS positioning mode；

S405, obtained for the second moment using the GPS positioning data and the DR location datas at the second moment at second moment Synthesis location data.

Above-mentioned steps S401 to S405 and the step S301 to S305 of a upper embodiment are same or similar, no longer superfluous herein State.The present embodiment introduces the difference with a upper embodiment.

In the present embodiment, in one case, at the time of the first above-mentioned moment and the second moment are continuous.First Between moment and the second moment, sensor is continuous work.In this case, repaiied using the sensor error offset The step of positive sensor output, includes：Corrected for the first moment to the biography between the second moment using the sensor error offset Sensor exports.That is, period --- the first moment and the second moment of working sensor are corrected using sensor error offset Between period error so that this period, the output of inner sensor was more accurate, thus the second moment obtain it is more accurate True synthesis location data.

Illustrated in one Application Example of the present embodiment by taking the situation of vehicle process of passing through tunnel as an example.At the first moment T1, vehicle traveling are higher than threshold value in open area, gps signal.The actual measurement number of the GPS positioning mode measured in this case According to the actual position and motion state with vehicle be very close to, the synthesis location data at the t1 moment of Vehicle positioning system Close to the actual position and motion state of vehicle.When t2 moment vehicle is driven in closing or semiclosed environment by opening When, GPS positioning mode declines in t2 moment accuracy, still, when due to the output of t1 to t2 moment DR sensors being by t1 Carve sensor error compensation it is modified, t1 to t2 period inner sensors the output phase for not having balanced situation more Accurately；The synthesis location data at t1 moment is also relatively accurate at the same time, therefore utilizes the DR at the two t2 moment calculated to determine The measured data of position mode is also relatively accurate.By the DR location datas at the relatively accurate t2 moment and accuracy under The GPS positioning data at the t2 moment of drop carry out COMPREHENSIVE CALCULATING, immediately bad in t2 moment gps signals, can also be aligned True synthesis positioning result.

Illustrated in one Application Example of the present embodiment in case of vehicle starts from underground garage.At this In the case of one kind, DR locating modules need to initialize during vehicle launch, and start eve and comprehensive location data is not present. In this case, comprehensive location data can be preserved in the historical data at the end of upper once positioning and sensor error is mended Repay.That is, it is described in the step S301 and S401 of the present invention at the time of the first above-mentioned moment can terminate for vehicle location The sensor error compensation at the first moment can be that the sensor error stored in historical data compensates, in step S303 and S403 The synthesis location data at the first moment can be the synthesis location data that stores in historical data.In this case, pass through The sensor error compensation stored in historical data and comprehensive location data, continue to provide relatively accurate DR location datas, from And the synthesis location data at relatively accurate Startup time is provided i.e. t2 moment.

In addition, except using after GPS positioning mode and DR positioning methods, map datum in GPS positioning module Position confidence level it is sufficiently high in the case of, i.e. in the case of the positioning confidence level of map-matching module is sufficiently high, can also utilize Road information in the map of the map-matching module of Vehicle positioning system participates in COMPREHENSIVE CALCULATING as input.As shown in Figure 4 A.

Therefore, in embodiments of the present invention, before step S405 carries out COMPREHENSIVE CALCULATING, which may be used also To include the following steps：

S400, obtains the site of road data in the map datum at the second moment；

In this step, for example, GPS positioning module generally includes vehicle localization module and including map-matching module, Vehicle localization module is used for the real time position that vehicle is obtained using gps signal, and map-matching module is used for the road on map Matched with the real time position of the vehicle detected.When the confidence level of map-matching module is sufficiently high, such as map In the case of a upper only road, the site of road data in the map datum at the second moment can be obtained, as input value Participate in the calculating of follow-up comprehensive location data.Wherein described site of road data be map datum in road on the first moment The immediate position data of synthesis location data.

Then step S405, i.e., obtained using the GPS positioning data and the DR location datas at the second moment at second moment Vehicle positioning system includes in the step of synthesis location data at the second moment：

S405a, utilizes the GPS positioning data at second moment, the DR location datas at the second moment and the second moment Site of road data obtain synthesis location data of the Vehicle positioning system at the second moment.

In this step, can be by the GPS positioning data at second moment, the DR location datas at the second moment and The site of road data three at two moment participates in COMPREHENSIVE CALCULATING, acquisition Vehicle positioning system is comprehensive the second moment as input Close location data.

In addition, in the present embodiment, intersection quality evaluation can also be carried out using GPS positioning module and DR locating modules, Whether evaluation point position is abnormal jump, so as to filter out the abnormal positioning jump points of GPS, position can also be passed to DR by GPS, Assessment DR whether due to calculate overlong time and big locating bias occurs.That is, the localization method of the present embodiment can also include Following steps：

S406a judges whether the difference of the GPS positioning data at the second moment and the DR location datas at the first moment is more than the Four threshold values；

S406b, when more than four threshold values, reduces corresponding second weight of the DR positioning methods；

And/or

S407a, judges whether the difference of the DR location datas at the second moment and the GPS positioning data at the first moment is more than the Five threshold values；

S407b, when more than five threshold values, reduces corresponding first weight of the GPS positioning mode.

By above-mentioned, second embodiment of the invention proposes to provide a kind of vehicle positioning method, is obtaining DR positioning sides Formula corrects the sensing of DR positioning methods using the sensor error offset after the sensor error offset at the first moment Device exports；With reference to second moment of the Vehicle positioning system after synthesis location data and sensor the output acquisition at the moment DR location datas, and calculate the synthesis at the second moment jointly using the GPS positioning data and DR location datas at the second moment and determine Position data.In the above-mentioned vehicle positioning method that the embodiment of the present invention proposes, GPS positioning data and DR location datas are carried out Depth integration and mutually compensate for, accurate vehicle location is still provided in the case of no gps signal and network signal, is made Vehicle positioning system can either still can reliably working under navigational state in cruising condition.

In addition, the embodiment of the present invention can also be by the site of road data in the map-matching module in GPS positioning module COMPREHENSIVE CALCULATING is participated in as input, obtains synthesis location data of the Vehicle positioning system at the second moment, it is fixed to further ensure The accuracy of position.

3rd embodiment

Fig. 5 show the flow chart of the vehicle positioning method of third embodiment of the invention.As shown in figure 5, the present invention the 3rd Embodiment proposes a kind of vehicle positioning method, and applied to Vehicle positioning system, the Vehicle positioning system can for example include car Locating module and map-matching module, described method includes following steps：

S501, at the first moment, when the positioning confidence level of map datum is higher than first threshold, detects vehicle localization module The first moment location data whether with the site of road Data Matching in map datum；

In this step, when the positioning confidence level of map datum is sufficiently high, it is believed that the actual fortune of vehicle Dynamic state actually only exists a kind of possibility, i.e., on the only possible unique road being present on map datum of vehicle.Therefore, may be used The point on unique road on map datum to be considered to the physical location of vehicle, the positioning number of vehicle is corrected with this According to.

With reference to shown in Fig. 2 B, in time t1 to t4 moment, the GPS positioning data of vehicle show that vehicle is along Yi Tiaodao Road A is travelled, and map datum is shown nearby without other roads at this time, or road A is a tunnel.In time t5 Carve, due to blocking, the reason such as position error, GPS positioning data show that vehicle is in and have left road A and vehicle under actual conditions Can not possibly leave the road A at this time.That is, in the case of the positioning confidence level of map-matching module, determining for vehicle is detected Position data and site of road data can confirm that vehicle, and whether there occurs locating bias.

In addition, above-mentioned " whether positioning data of vehicles matches with the road data of map-matching module " can include " car Position be located on the road of map " situation, or " position of vehicle is located on the road of map and the movement side of vehicle To identical with the direction of road " or " position of vehicle is located on the road of map and headstock direction is identical with road direction " etc. Situation.

The positioning confidence level of map datum can be calculated by existing algorithm, such as according to location data and vehicle The similarity degree for matching road obtains, i.e., is obtained according to location data to road distance and headstock direction with road direction angle etc. , details are not described herein.

S502, when the location data at first moment is mismatched with the site of road data, utilizes the road The location data of position data and vehicle at the second moment obtains synthesis location data of the vehicle at the second moment, wherein the road Road position data is the position data on the road with the distance of the location data at second moment within the specified range.

In this step, when judging that the road on GPS positioning data and map datum mismatches, i.e. GPS positioning Position be different from map on road on, then can utilize site of road data --- the above-mentioned spy i.e. in map on the road Positioning put to correct the position of GPS positioning, the position be, for example, on the road with the location data at second moment away from From position within the specified range.

For example, in fig. 2b, the position on the road being closely located to of t5 moment and GPS positioning is t5 ' points, the t5 ' points Such as can be that therefore the position of t5 ' points can be used to make with the immediate position on the road A in the position of t5 points on map For site of road data, COMPREHENSIVE CALCULATING is carried out with location data of the vehicle at the second moment, obtains Vehicle positioning system second The synthesis location data at moment.

In addition, in the present embodiment, above-mentioned " location data of the vehicle at the first moment " and " vehicle is determined the second moment Position data " can be the location data obtained by GPS positioning or the location data obtained by DR positioning, may be used also To be to position the location data that COMPREHENSIVE CALCULATING obtains by GPS positioning and DR, the present invention is not intended to limit, and details are not described herein.

In conclusion in the vehicle positioning method that third embodiment of the invention proposes, when the positioning confidence of map datum Degree is when be higher than first threshold, detect vehicle the first moment location data whether with the site of road data in map datum Match somebody with somebody；When location data and the site of road data at first moment mismatch, using the site of road data and Location data of the vehicle at the second moment obtains synthesis location data of the Vehicle positioning system at the second moment.The embodiment of the present invention Using the location data of the site of road data correction GPS positioning mode on road in map datum, in the confidence of map match Using the site of road data on map as input participation COMPREHENSIVE CALCULATING in the case that degree is very high, the precision of positioning is improved.

Fourth embodiment

Fig. 6 show the flow chart of the vehicle positioning method of fourth embodiment of the invention.As shown in fig. 6, the present invention the 4th Embodiment proposes a kind of vehicle positioning method, and applied to Vehicle positioning system, the Vehicle positioning system can for example include car Locating module and map-matching module, described method includes following steps：

S601, at the first moment, when the positioning confidence level of map datum is higher than first threshold, detection vehicle is at first The location data at quarter whether the site of road Data Matching with map datum；Wherein, location data example of the vehicle at the first moment The location data at the first moment such as exported for vehicle localization module, map datum is, for example, the data of map-matching module.

S602, when the location data at first moment is mismatched with the site of road data, utilizes the road The location data of position data and vehicle at the second moment obtains synthesis location data of the Vehicle positioning system at the second moment, its Described in site of road data be the position on the road with the distance of the location data at second moment within the specified range Put data.

Above-mentioned steps S601 and S602 and the step S501 and S502 of previous embodiment are same or similar, no longer superfluous herein State.The present embodiment highlights the difference with a upper embodiment.

In the first scheme, step S602 can for example include following sub-step：

S602a, determines corresponding first weight of location data at second moment, and determines the site of road data Corresponding second weight；

In this sub-step, the first weight and the second weight can be manual allocation or system is divided automatically Match somebody with somebody.Such as when gps signal is higher than a certain threshold value, can be corresponding to GPS positioning data the first weight distribution one compared with High value, is site of road data one relatively low value of corresponding second weight distribution；When detecting putting for map datum Reliability can be that the second weight distribution one of site of road data is of a relatively high higher than specified threshold and during very weak gps signal Value, and be one relatively low value of the first weight distribution corresponding to GPS positioning data.On the whole, first weight with The increase of GPS signal strength and increase, second weight increases with the increase of the confidence level of map datum.

S602b, utilizes the location data at second moment, first weight, site of road data and described Synthesis location data of the Vehicle positioning system described in second weight calculation at the second moment.

In this sub-step, the weight that is obtained respectively according to GPS positioning data and site of road data can calculate The synthesis location data at the second current moment.Such as calculated by equation below：

Comprehensive location data=(GPS positioning data × the first weight+site of road data × second weight)/(first power The weight of weight+the second).Details are not described herein.

In second scheme, step S602 can for example include following sub-step：

S602c：By the site of road data and the location data at the second moment input Kalman filter；

S602d, obtains synthesis of the Vehicle positioning system at the second moment from the output data of the Kalman filter Location data.

, can be by the location data at the second moment and the input Kalman's filter of site of road data in above-mentioned two sub-step Ripple device, the synthesis location data of estimation is obtained using Kalman filter.Kalman filtering (Kalman filtering) is a kind of Using linear system state equation, data are observed by system input and output, the algorithm of optimal estimation is carried out to system mode.Profit The synthesis location data for obtaining for the second moment with Kalman filter is known in those skilled in the art, is no longer gone to live in the household of one's in-laws on getting married herein State.

In addition, the positioning confidence level of the map datum can also be obtained from the output data of the Kalman filter , details are not described herein.

Alternatively, in this embodiment, while there can be the mechanism for judging whether matching occurs mistake, avoid continuously sending out Raw mistake.For example, when meeting following conditions a period of time, corresponding second weight of the site of road data is reduced, avoids positioning By band-offset：

In the location data and the location data at second moment at first moment, the direction of headstock and the road Corresponding road direction is not inconsistent in the position data of road；

In the location data at first moment between the site of road data at the position of vehicle and first moment First distance exceedes second threshold, and the position of vehicle and the road at second moment in the location data at second moment Second distance between position data is more than first distance；

The vehicle first moment and the location data at second moment increment and first moment with The difference of the increment of the site of road data at second moment is more than the 3rd threshold value.

In conclusion in the vehicle positioning method that fourth embodiment of the invention proposes, using on road in map datum Position data correct location data of the vehicle at the second moment, can be corrected in the case where the confidence level of map match is very high Positioning, improves the precision of positioning.

In addition, distributing weight by rational method in the present embodiment, the excellent of Vehicle positioning system can be neatly played The strong point of point and map datum, further increases the precision of positioning.

In addition, the mechanism for judging whether matching occurs mistake is provided in the present embodiment, when preset condition is met, System can reduce corresponding second weight of the site of road data, avoid positioning by band-offset, it is possible to reduce Wrong localization Occur.

Device embodiment one

Fig. 7 is the block diagram of the Vehicle positioning system of one embodiment of the application.It is illustrated in figure 7 a kind of vehicle of the application Alignment system 700, the Vehicle positioning system are positioned using GPS positioning mode and DR positioning methods, the system comprises：

Error compensation value acquisition module 701, for obtaining the sensor when being positioned using DR positioning methods at the first moment Error compensation value；

Correcting module 702, for correcting the output valve of sensor using the error compensation value, the output valve is used for true The DR location datas at fixed second moment；

DR location datas acquisition module 703, for obtaining DR location data of the DR locating modules at the second moment；

GPS positioning data acquisition module 704, for obtaining the GPS positioning data at the second moment using GPS positioning mode；

Comprehensive location data acquisition module 705, for the GPS positioning data using second moment and the second moment DR location datas obtain the synthesis location data at the second moment.

By above-mentioned, one embodiment of the invention proposes to provide a kind of Vehicle positioning system, is obtaining DR positioning methods After the sensor error offset at the first moment, the sensor of DR positioning methods is corrected using the sensor error offset Output；The DR at the second moment after being obtained with reference to synthesis location data and sensor output of the Vehicle positioning system at the moment Location data, and calculate the comprehensive of the second moment jointly using the GPS positioning data and DR location datas at the second moment and position Data.In the above-mentioned Vehicle positioning system that the embodiment of the present invention proposes, depth has been carried out to GPS positioning data and DR location datas Degree is merged and mutually compensated for, and accurate vehicle location is still provided in the case of no gps signal and network signal, makes car Alignment system can either still can reliably working under navigational state in cruising condition.

Alternatively, in one embodiment, the second moment after the sensor is at the first moment and the first moment it Between continuous firing when, the correcting module is used for：

Corrected for the first moment to the sensor output between the second moment using the error compensation value of the sensor.

Alternatively, in one embodiment, the error compensation value of the sensor at first moment and comprehensive location data are The error compensation value of the sensor stored in historical data and comprehensive location data.

Alternatively, in one embodiment, the comprehensive location data acquisition module includes：

First weight determination sub-module, corresponding first weight of GPS positioning data for determining second moment, and Determine corresponding second weight of DR location datas at second moment；

Comprehensive location data calculating sub module, for the GPS positioning data using second moment, first power The synthesis of weight, the DR location datas at second moment and Vehicle positioning system described in second weight calculation at the second moment Location data.

Alternatively, in one embodiment, first weight and second weight are determined according to GPS signal strength, when During the GPS signal strength increase, first weight is improved.

Alternatively, in one embodiment, first weight and second weight are true according to the error level of sensor It is fixed, when the error level increase of the sensor, reduce by second weight.

Alternatively, in one embodiment, first weight and second weight are according to GPS signal strength and sensor Error level determine, when the GPS signal strength increase and during the error level increase of the sensor, improve described the One weight simultaneously reduces by second weight.

First input module, for the DR location datas of the GPS positioning data at second moment and the second moment is defeated Enter Kalman filter；

First data acquisition module, exists for obtaining Vehicle positioning system from the output data of the Kalman filter The synthesis location data at the second moment.

Alternatively, in one embodiment, the error compensation value acquisition module is used for：

The sensor error compensation is obtained from the output data of the Kalman filter at first moment.

Alternatively, in one embodiment, the system also includes：

Site of road data acquisition module, the site of road data in map datum for obtaining for the second moment；

The comprehensive location data acquisition module is used for：

Utilize the road position of the GPS positioning data at second moment, the DR location datas at the second moment and the second moment Put data and obtain synthesis location data of the Vehicle positioning system at the second moment.

Alternatively, in one embodiment, the site of road data be map datum in road on the first moment The immediate position data of comprehensive location data.

Alternatively, in one embodiment, the system also includes：

First difference judgment module, for judging the GPS positioning data at the second moment and the DR location datas at the first moment Difference whether be more than the 4th threshold value；

First weight adjusts module, is corresponded to for when the difference is more than four threshold values, reducing the DR locating modules The second weight.

Alternatively, in one embodiment, the system also includes：

Second difference judgment module, for judging the DR location datas at the second moment and the GPS positioning data at the first moment Difference whether be more than the 5th threshold value；

Second weight adjusts module, is corresponded to for when the difference is more than five threshold values, reducing the GPS positioning module The first weight.

It can be seen from the above, the embodiment of the present invention can also be by the road position in the map-matching module in GPS positioning module Put data and participate in COMPREHENSIVE CALCULATING as input, obtain synthesis location data of the Vehicle positioning system at the second moment, further protect The accuracy of positioning is demonstrate,proved.

Device embodiment two

Fig. 8 is the block diagram of the Vehicle positioning system of another embodiment of the application.It is illustrated in figure 8 a kind of car of the application Alignment system, the system comprises：

Matching detection module 801, at the first moment, when the positioning confidence level of map datum is higher than first threshold, Detect vehicle the first moment location data whether with the site of road Data Matching in map datum；

Positioning result acquisition module 802, for when first moment location data and the site of road data not During matching, synthesis of the vehicle at the second moment is obtained using the location data of the site of road data and vehicle at the second moment Location data, wherein the site of road data are being specified for the distance on the road with the location data at second moment In the range of position data.

By above-mentioned, one embodiment of the invention proposes to provide a kind of Vehicle positioning system, utilizes road in map datum Position data on road corrects location data of the vehicle at the second moment, can in the case where the confidence level of map match is very high Positioning is corrected, improves the precision of positioning.

Alternatively, in one embodiment, the positioning result acquisition module includes：

Second weight determination sub-module, corresponding first weight of location data for determining second moment, and really Determine corresponding second weight of the site of road data；

Positioning result calculating sub module, for the location data, first weight, the road using second moment Synthesis location data of the Vehicle positioning system at the second moment described in road position data and second weight calculation.

Alternatively, in one embodiment, first weight is according to GPS signal strength and/or the error level of sensor Determine；Second weight is determined according to the positioning confidence level of the map datum.

Alternatively, in one embodiment, the system also includes the 3rd weight to adjust module,

When meeting following conditions for the moment, the 3rd weight adjustment module is used to reduce by second weight：

Increment and described the of the vehicle localization module in first moment and the location data at second moment The difference of the increment of the site of road data at one moment and second moment is more than the 3rd threshold value.

Second input submodule, for the site of road data and the location data at the second moment input Kalman to be filtered Ripple device；

Second data acquisition submodule, for obtaining Vehicle positioning system from the output data of the Kalman filter In the synthesis location data at the second moment.

Alternatively, in one embodiment, the positioning confidence level of the map datum is from the defeated of the Kalman filter Go out what is obtained in data.

Additionally optionally, weight is distributed by rational method in the present embodiment, can neatly plays vehicle location system The advantages of system and the strong point of map datum, further increase the precision of positioning.

Additionally optionally, the mechanism for judging whether matching occurs mistake is provided in the present embodiment, when meeting preset condition When, system can reduce corresponding second weight of the site of road data, avoid positioning by band-offset, it is possible to reduce positioning The generation of mistake.

For device embodiment, since it is substantially similar to embodiment of the method, so describe fairly simple, it is related Part illustrates referring to the part of embodiment of the method.

The embodiment of the present application additionally provides a kind of non-volatile readable storage medium, be stored with the storage medium one or Multiple modules (programs), when which is used in terminal device, can cause the terminal device to perform The instruction (instructions) of various method steps in the embodiment of the present application.

Fig. 9 is the hardware architecture diagram for the smart machine that one embodiment of the application provides, and the smart machine is for example, mutual Networking, automobile, mobile phone, tablet computer etc. are various to have the electronic equipment for calculating processing function.The smart machine include server and Intelligent terminal, the intelligent terminal using the various intelligent terminals described in above-described embodiment, including the equipment of the first user-association and The associated equipment of second user.As shown in figure 9, the smart machine can include input equipment 60, processor 61, output equipment 62nd, memory 63 and at least one communication bus 64.Communication bus 64 is used for realization the communication connection between element.Memory 63 High-speed RAM memory may be included, it is also possible to further include non-volatile memories NVM, for example, at least a magnetic disk storage, store Various programs can be stored in device 63, for completing various processing functions and realizing the method and step of the present embodiment.

Optionally, above-mentioned processor 61 for example can be central processing unit (Central Processing Unit, abbreviation CPU), application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable Logical device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are real Existing, which is coupled to above-mentioned input equipment 60 and output equipment 62 by wired or wireless connection.

Optionally, above-mentioned input equipment 60 can include a variety of input equipments, such as can include user oriented user Interface, device oriented equipment interface, the programmable interface of software, camera, code reader, touch-screen, audio input device, penetrate At least one of frequency reader, heating power sensing apparatus.Optionally, which can be used for equipment with setting The wireline interface that carries out data transmission between standby, can also be hardware insertion for carrying out data transmission between equipment and equipment Interface (such as USB interface, serial ports etc.)；Optionally, which for example can be user oriented control Button, the voice-input device for receiving phonetic entry and user receive the touch awareness apparatus (example of user's touch input Such as there is touch-screen, the Trackpad of touch sensing function)；Optionally, the programmable interface of above-mentioned software can be supplied User, which edits, either changes the entrance of program such as the input pin interface or input interface of chip；Optionally, above-mentioned receipts Sender can have rf chip, baseband processing chip and dual-mode antenna of communication function etc..The sounds such as microphone Frequency input equipment can receive voice data, radio frequency reader etc. and electronic tag can be identified by RFID modes, take the photograph As first-class image capture device can identify Quick Response Code etc. with shooting image, the scan input device such as code reader can scan bar code Deng.Output equipment 62 includes the output equipments such as display, sound equipment.The display be used for display interface display reminding information, Article demand information etc..

In the present embodiment, the processor of the smart machine includes being used to perform above-mentioned module, concrete function and technology effect Fruit is with reference to above-described embodiment, and details are not described herein again.

Figure 10 is a kind of block diagram for onboard system that one embodiment of the application provides.The onboard system 80 can be one integrated The equipment of multiple functions, for example, the onboard system can be vehicle-mounted computer, vehicle device etc., which can include above-mentioned Vehicle intelligent equipment.

With reference to Figure 10, onboard system 80 can include following one or more assemblies：Processing component 82, memory 84, electricity Source component 86, multimedia component 88, audio component 810, the interface 812 of input/output (I/O), sensor component 814, and Communication component 816.

Processing component 82 usually controls the integrated operation of onboard system 80, such as with display, call, data communication, The operation that camera operation and record operation are associated.Processing component 82 can refer to including one or more processors 821 to perform Order, to complete all or part of step of above-mentioned vehicle positioning method.In addition, processing component 82 can include one or more moulds Block, easy to the interaction between processing component 82 and other assemblies.For example, processing component 82 can include multi-media module, with side Just the interaction between multimedia component 88 and processing component 82.

Memory 84 is configured as storing various types of data to support the operation in onboard system 80.These data Example includes the instruction of any application program or method for being operated on onboard system 80, contact data, telephone directory number According to, message, picture, video etc..Memory 84 can by any kind of volatibility or non-volatile memory device or they Combination realize, as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM) are erasable Programmable read only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, quick flashing Memory, disk or CD.

Power supply module 86 provides electric power for the various assemblies of onboard system 80.Power supply module 86 can include power management system System, one or more power supplys, and other components associated with generating, managing and distributing electric power for onboard system 80.

Multimedia component 88 is included in the screen of one output interface of offer between the onboard system 80 and user. In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, Screen may be implemented as touch-screen, to receive input signal from the user.Touch panel includes one or more touch and passes Sensor is to sense the gesture on touch, slip and touch panel.The touch sensor can not only sense touch or slide dynamic The border of work, but also detection and the duration and pressure associated with the touch or slide operation.In certain embodiments, it is more Media component 88 can also include front camera.

Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike Wind (MIC), when onboard system 80 is in operator scheme, during such as call model, logging mode and speech recognition mode, microphone quilt It is configured to receive external audio signal.The received audio signal can be further stored in memory 84 or via communication set Part 816 is sent.In certain embodiments, audio component 810 further includes a loudspeaker, for exports audio signal.

I/O interfaces 812 provide interface between processing component 82 and peripheral interface module, and above-mentioned peripheral interface module can be with It is click wheel, button etc..These buttons may include but be not limited to：Volume button, start button and locking press button.

Sensor component 814 includes one or more sensors, for providing the state of various aspects for onboard system 80 Assessment.In certain embodiments, which can also include acceleration transducer, gyro sensor, magnetic sensing Device, pressure sensor or temperature sensor.

Communication component 816 is configured to facilitate the communication of wired or wireless way between onboard system 80 and other equipment. Onboard system 80 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.Show at one In example property embodiment, communication component 816 receives broadcast singal or broadcast from external broadcasting management system via broadcast channel Relevant information.In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, short to promote Cheng Tongxin.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module (UWB) technology, bluetooth (BT) technology and other technologies are realized.

In the exemplary embodiment, onboard system 800 can be by one or more application application-specific integrated circuit (ASIC), number Word signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing above-mentioned vehicle group traveling Method.

In above-mentioned Figure 10 on the description of general smart machine on the basis of, present invention also provides another implementation Example, the present embodiment specifically disclose a kind of vehicle intelligent equipment, are, for example, the electronic system and hand integrated in internet automobile Machine, tablet computer etc. are various to have the electronic equipment for calculating processing function.Optionally, which can be incorporated into In the central control system of the vehicles, such as it can be incorporated into the onboard system involved by above-described embodiment.Optionally, The onboard system can be the system that the vehicle device on vehicle integrates, such as onboard navigation system and/or vehicle entertainment system, also Can be comprising system vehicle device and vehicle other equipment such as sensor.Optionally, the vehicle-mounted intelligence for being used for the vehicles Energy equipment includes but not limited to：Control device that vehicle device equipment, the vehicles add after dispatching from the factory etc..

It can include specifically, this is used for vehicle intelligent equipment：Airborne input equipment, airborne processor, airborne output are set Standby and other optional equipments.It should be noted that " airborne input equipment ", " airborne output involved by the embodiment of the present application It is airborne in equipment ", " airborne processor ", can be " vehicle-mounted input equipment ", " the vehicle-mounted output equipment " being carried on vehicle And " in-vehicle processor ", it can also be and be carried on carry-on " airborne input equipment ", " airborne output equipment ", " airborne Processor ", can also be the equipment being carried on the other types vehicles, the embodiment of the present application to the implication of " airborne " not Limit.By taking the vehicles are vehicles as an example, which can be that vehicle-mounted input equipment, airborne processor can be In-vehicle processor, airborne output equipment can be vehicle-mounted output equipments.

Depending on the difference of the types of the vehicles installed, above-mentioned airborne processor can use various application specifics Integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), central processing unit (CPU), controller, microcontroller, microprocessor or other electricity Subcomponent is realized, and is used to perform the above method.Above-mentioned airborne processor is coupled to above-mentioned by in-car circuit or wireless connection Airborne input equipment and airborne output equipment.According to the method in the corresponding embodiments of above-mentioned Fig. 3 to 6, the in-vehicle processor, For obtaining the error compensation value of the sensor when being positioned using DR positioning methods at the first moment；Repaiied using the error compensation value The output valve of positive sensor；DR positioning methods are obtained using the output valve of the revised sensor and the error compensation value In the location data at the second moment；And obtained using the GPS positioning data at second moment and the DR location datas at the second moment Obtain the synthesis location data at the second moment；

Depending on the difference of the types of the vehicles installed, above-mentioned airborne output equipment can be can with user into The interface (such as voice broadcast equipment, loudspeaker, earphone etc.) of row interaction, alternatively, can also be handheld device with user etc. The transceiver being wirelessly transferred is established, which can be coupled to above-mentioned machine by in-car circuit or wireless mode Carry input equipment and airborne processor.According to the method in the corresponding embodiments of above-mentioned Fig. 3 to 6, the vehicle-mounted output equipment, is used In the synthesis location data for exporting second moment.

Depending on the difference of the types of the vehicles installed, above-mentioned airborne input equipment can include a variety of inputs and set It is standby, such as can include in user oriented vehicle-mounted user interface, device oriented mobile unit interface, transceiver at least One.Optionally, which can wired be connect for what is carried out data transmission between equipment and equipment Mouthful (such as on the console of vehicle with the line between car door on the connecting interface of automobile data recorder, the console of vehicle Road interface, vehicle console on the hardware interface between on-board air conditioner), can also be between equipment and equipment into Hardware insertion interface (such as USB interface, serial ports etc.), the safe carrying spigots that can also be vehicle, the vehicle hair of row data transfer Interface between the hardware facilities such as motivation and other control devices etc.；Optionally, the user oriented vehicle-mounted user interface is for example Can be the steering wheel control button for vehicle, the middle control control button for oversize vehicle or dilly, for receiving Phonetic entry voice-input device (for example, be placed in steering wheel or operate rudder on microphone, centralized voice collecting device, Etc.) and user receive the touch awareness apparatus of user's touch input and (such as touch-screen with touch sensing function, touch Control plate etc.)；Optionally, above-mentioned transceiver can be rf chip, the Base-Band Processing core for having in vehicle communication function Piece and dual-mode antenna etc..According to the method in the corresponding embodiments of above-mentioned Fig. 3 to 6, the vehicle-mounted input equipment is used to obtain The output valve of sensor.

The embodiment of the present application also provides a kind of processor readable storage medium, and have program stored therein instruction in storage medium, journey Sequence instruction is used to make processor perform the vehicle positioning method in above-described embodiment described in Fig. 3 to Fig. 6.The processor readable storage Medium is similar with above-mentioned non-volatile readable storage medium, therefore repeats no more.

On the basis of above-described embodiment, the application also provides a kind of vehicle-mounted internet operating system.People in the art Member is it is appreciated that the vehicle-mounted internet operating system can manage and control the hard of the smart machine shown in above-mentioned Fig. 9 or Figure 10 Part is either involved by the hardware of onboard system or the hardware and the application for Vehicle positioning system involved by the application Software resource computer program, be to run directly in above-mentioned smart machine or for internet automobile or above-mentioned Figure 10 institutes The software on onboard system being related to.The operating system can be that user arouses equipment or for the vehicles with above-mentioned voice Voice arouse the interface of equipment or the interface of hardware and other softwares.

The vehicle-mounted internet operating system that the application provides, can be handed over the module of other on vehicle or function device Mutually, to control the function of corresponding module or function device.

Specifically, by taking the vehicles in above-described embodiment are vehicle, vehicle intelligent equipment is the vehicle device on vehicle as an example, The vehicle-mounted internet operating system provided based on the application and the development of vehicle communication technology so that vehicle is no longer independently of logical Beyond communication network, vehicle can be interconnected network consisting with server-side or the webserver, so as to be formed vehicle-mounted mutual Networking.The vehicle-mounted internet system can provide voice communications services, positioning service, navigation Service, mobile internet access, car Emergency relief, vehicle data and management service, car entertainment service etc..

The structure diagram of the vehicle-mounted internet operating system provided the following detailed description of the application.Figure 11 is the application one The structure diagram for the vehicle-mounted internet operating system that embodiment provides.The vehicle-mounted internet operating system includes：

Acquiring unit 91, controls vehicle-mounted input equipment to obtain the output valve of sensor；

Processing unit 92, control in-vehicle processor obtain the mistake of the sensor when being positioned using DR positioning methods at the first moment Poor offset；The output valve of sensor is corrected using the error compensation value；Utilize the output valve of the revised sensor Location data of the DR positioning methods at the second moment is obtained with the error compensation value；And determined using the GPS at second moment Position data and the DR location datas at the second moment obtain the synthesis location data at the second moment；

Output unit 93, controls vehicle-mounted output equipment to export the synthesis location data at second moment.

Alternatively, the processing unit 92 controls the in-vehicle processor to correct the using the sensor error offset The output valve for the sensor being carved into for the moment between the second moment.

Alternatively, 92 control processor of processing unit determines the GPS positioning data at second moment corresponding One weight, and determine corresponding second weight of DR location datas at second moment；And determined using the GPS at second moment Position data, first weight, the DR location datas at second moment and vehicle location system described in second weight calculation Unite in the synthesis location data at the second moment.

Each embodiment in this specification is described by the way of progressive, what each embodiment stressed be with The difference of other embodiment, between each embodiment identical similar part mutually referring to.

It should be understood by those skilled in the art that, the embodiment of the embodiment of the present application can be provided as method, apparatus or calculate Machine program product.Therefore, the embodiment of the present application can use complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can use one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.

In a typical configuration, the computer equipment includes one or more processors (CPU), input/output Interface, network interface and memory.Memory may include the volatile memory in computer-readable medium, random access memory The form such as device (RAM) and/or Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Memory is to calculate The example of machine computer-readable recording medium.Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be with Realize that information stores by any method or technique.Information can be computer-readable instruction, data structure, the module of program or Other data.The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electrically erasable programmable read-only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc are read-only Memory (CD-ROM), digital versatile disc (DVD) or other optical storages, magnetic cassette tape, tape magnetic rigid disk storage or Other magnetic storage apparatus or any other non-transmission medium, the information that can be accessed by a computing device available for storage.According to Herein defines, and computer-readable medium does not include the computer readable media (transitory media) of non-standing, such as The data-signal and carrier wave of modulation.

The embodiment of the present application is with reference to according to the method for the embodiment of the present application, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that it can realize flowchart and/or the block diagram by computer program instructions In each flow and/or block and flowchart and/or the block diagram in flow and/or square frame combination.These can be provided Computer program instructions are set to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to produce a machine so that is held by the processor of computer or other programmable data processing terminal equipments Capable instruction is produced and is used for realization in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames The device for the function of specifying.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing terminal equipments In the computer-readable memory to work in a specific way so that the instruction being stored in the computer-readable memory produces bag The manufacture of command device is included, which realizes in one flow of flow chart or multiple flows and/or one side of block diagram The function of being specified in frame or multiple square frames.

These computer program instructions can be also loaded into computer or other programmable data processing terminal equipments so that Series of operation steps is performed on computer or other programmable terminal equipments to produce computer implemented processing, so that The instruction performed on computer or other programmable terminal equipments is provided and is used for realization in one flow of flow chart or multiple flows And/or specified in one square frame of block diagram or multiple square frames function the step of.

Although having been described for the preferred embodiment of the embodiment of the present application, those skilled in the art once know base This creative concept, then can make these embodiments other change and modification.So appended claims are intended to be construed to Including preferred embodiment and fall into all change and modification of the embodiment of the present application scope.

Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements are not only wrapped Those key elements are included, but also including other elements that are not explicitly listed, or further include as this process, method, article Or the key element that terminal device is intrinsic.In the absence of more restrictions, wanted by what sentence "including a ..." limited Element, it is not excluded that also there are other identical element in the process including the key element, method, article or terminal device.

Above to a kind of vehicle positioning method provided herein and Vehicle positioning system, it is described in detail, this Specific case is applied in text to be set forth the principle and embodiment of the application, the explanation of above example is only intended to Help understands the present processes and its core concept；Meanwhile for those of ordinary skill in the art, the think of according to the application Think, in specific embodiments and applications there will be changes, in conclusion this specification content should not be construed as pair The limitation of the application.

Claims

1. a kind of vehicle positioning method, applied to Vehicle positioning system, the Vehicle positioning system uses GPS positioning mode and DR Positioning method is positioned, it is characterised in that the described method includes：

The output valve of sensor is corrected using the error compensation value, the output valve is used for after determining first moment The DR location datas at the second moment；

Obtain DR location data of the DR positioning methods at the second moment；

The GPS positioning data at the second moment are obtained using GPS positioning mode；

The comprehensive of the second moment is obtained using the GPS positioning data and the DR location datas at the second moment at second moment to position Data.

2. the method as described in claim 1, it is characterised in that

It is described to be compensated using the sensor error when sensor continuous firing between the first moment and the second moment The step of output valve of value amendment sensor, includes：

Corrected for the first moment to the output valve of the sensor between the second moment using the sensor error offset.

3. the method as described in claim 1, it is characterised in that during using the GPS positioning data at second moment and second The DR location datas at quarter obtain Vehicle positioning system to be included in the step of synthesis location data at the second moment：

Determine corresponding first weight of GPS positioning data at second moment, and determine the DR positioning numbers at second moment According to corresponding second weight；

Utilize the GPS positioning data at second moment, first weight, the DR location datas at second moment and described Synthesis location data of the Vehicle positioning system described in second weight calculation at the second moment.

4. method as claimed in claim 3, it is characterised in that first weight and second weight are according to gps signal Intensity determines, when the GPS signal strength increase, improves first weight.

5. method as claimed in claim 3, it is characterised in that first weight and second weight are according to sensor Error level determines, when the error level increase of the sensor, reduces by second weight.

6. method as claimed in claim 3, it is characterised in that first weight and second weight are according to gps signal The error level of intensity and sensor determines, when the GPS signal strength increase and the sensor error level increase When, improve first weight and reduce by second weight.

7. the method as described in claim 1, it is characterised in that described to utilize the GPS positioning data at second moment and The DR location datas at two moment obtain Vehicle positioning system to be included in the step of synthesis location data at the second moment：

By the GPS positioning data at second moment and the DR location datas at the second moment input Kalman filter；

Synthesis location data of the Vehicle positioning system at the second moment is obtained from the output data of the Kalman filter.

8. the method for claim 7, it is characterised in that described to obtain DR of first moment using the acquisition of DR positioning methods The step of position-data sensor error compensation, includes：

9. the method as described in claim 1, it is characterised in that in the GPS positioning data and second using second moment The DR location datas at moment obtain Vehicle positioning system before the step of synthesis location data at the second moment, and the method is also Including：

Obtain the site of road data in the map datum at the second moment；

Then Vehicle positioning system is obtained the using the GPS positioning data and the DR location datas at the second moment at second moment The step of synthesis location data at two moment, includes：

Utilize the site of road number of the GPS positioning data at second moment, the DR location datas at the second moment and the second moment According to obtain Vehicle positioning system the second moment synthesis location data.

10. the method as described in claim 1, it is characterised in that the site of road data are on the road in map datum With the immediate position data of synthesis location data at the first moment.

11. the method as described in claim 1, it is characterised in that further include following steps：

Judge whether the difference of the GPS positioning data at the second moment and the DR location datas at the first moment is more than the 4th threshold value；

When more than four threshold values, corresponding second weight of the DR location datas is reduced.

12. the method as described in claim 1, it is characterised in that further include following steps：

Judge whether the difference of the DR location datas at the second moment and the GPS positioning data at the first moment is more than the 5th threshold value；

When more than five threshold values, corresponding first weight of the GPS positioning data is reduced.

A kind of 13. vehicle positioning method, applied to Vehicle positioning system, it is characterised in that the described method includes：

At the first moment, when the positioning confidence level of map datum is higher than first threshold, positioning of the detection vehicle at the first moment Data whether with the site of road Data Matching in map datum；

When location data and the site of road data at first moment mismatch, using the site of road data and Location data of the vehicle at the second moment obtains synthesis location data of the vehicle at the second moment, wherein the site of road data For the position data on the road with the distance of the location data at second moment within the specified range.

14. method as claimed in claim 13, it is characterised in that utilize the site of road data and second moment Location data obtains Vehicle positioning system to be included in the step of synthesis location data at the second moment：

Determine corresponding first weight of location data at second moment, and determine the site of road data corresponding second Weight；

Utilize the location data at second moment, first weight, the site of road data and the second weight meter Calculate synthesis location data of the Vehicle positioning system at the second moment.

15. method as claimed in claim 14, it is characterised in that first weight is according to GPS signal strength and/or sensing The error level of device determines；Second weight is determined according to the positioning confidence level of the map datum.

16. method as claimed in claim 13, it is characterised in that the method further includes：

When meeting following conditions a period of time, second weight is reduced：

In the location data and the location data at second moment at first moment, the direction of headstock and the road position Corresponding road direction in data is put not to be inconsistent；

In the location data at first moment between the site of road data at the position of vehicle and first moment first Distance exceedes second threshold, and the position of vehicle and the site of road at second moment in the location data at second moment Second distance between data is more than first distance；

The vehicle first moment and the location data at second moment increment and first moment with it is described The difference of the increment of the site of road data at the second moment is more than the 3rd threshold value.

17. method as claimed in claim 13, it is characterised in that using the site of road data and vehicle at the second moment Location data obtain Vehicle positioning system include in the step of synthesis location data at the second moment：

By the site of road data and the location data at the second moment input Kalman filter；

18. method as claimed in claim 17, it is characterised in that the positioning confidence level of the map datum is according to positioning result Obtained with the similarity degree of vehicle match road.

19. a kind of Vehicle positioning system, the Vehicle positioning system is positioned using GPS positioning mode and DR positioning methods, It is characterized in that, the system comprises：

Error compensation value acquisition module, for obtaining the error compensation of the sensor when being positioned using DR positioning methods at the first moment Value；

Correcting module, for correcting the output valve of sensor using the error compensation value, the output valve is used for determining described The DR location datas at the second moment after the first moment；

DR location data acquisition modules, for obtaining DR location data of the DR positioning methods at the second moment；

Comprehensive location data acquisition module, for the GPS positioning data using second moment and the DR at the second moment positioning Data obtain the synthesis location data at the second moment.

20. system as claimed in claim 19, it is characterised in that

When sensor continuous firing between the first moment and the second moment, the correcting module is used for：

21. system as claimed in claim 19, it is characterised in that the comprehensive location data acquisition module includes：

Comprehensive location data calculating sub module, for the GPS positioning data, first weight, institute using second moment State the second moment DR location datas and second weight calculation described in Vehicle positioning system the second moment comprehensive positioning Data.

22. method as claimed in claim 21, it is characterised in that first weight and second weight are believed according to GPS Number intensity determines, when the GPS signal strength increase, improves first weight.

23. method as claimed in claim 21, it is characterised in that first weight and second weight are according to sensor Error level determine, when the error level increase of the sensor, reduce by second weight.

24. method as claimed in claim 21, it is characterised in that first weight and second weight are believed according to GPS The error level of number intensity and sensor determines, when the GPS signal strength increase and the error level of the sensor increases Added-time, improves first weight and reduces by second weight.

25. system as claimed in claim 19, it is characterised in that the comprehensive location data acquisition module includes：

First input module, for by the DR location data input cards of the GPS positioning data at second moment and the second moment Thalmann filter；

First data acquisition module, for obtaining Vehicle positioning system from the output data of the Kalman filter second The synthesis location data at moment.

26. system as claimed in claim 25, it is characterised in that the error compensation value acquisition module is used for：

27. system as claimed in claim 19, it is characterised in that the system also includes：

The comprehensive location data acquisition module is used for：

28. system as claimed in claim 19, it is characterised in that the site of road data are on the road in map datum With the immediate position data of synthesis location data at the first moment.

29. system as claimed in claim 19, it is characterised in that the system also includes：

First difference judgment module, for judging the difference of the GPS positioning data at the second moment and the DR location datas at the first moment Whether value is more than the 4th threshold value；

First weight adjusts module, for when the difference is more than four threshold values, reducing the DR locating modules corresponding the Two weights.

30. system as claimed in claim 19, it is characterised in that the system also includes：

Second difference judgment module, for judging the difference of the DR location datas at the second moment and the GPS positioning data at the first moment Whether value is more than the 5th threshold value；

Second weight adjusts module, for when the difference is more than five threshold values, reducing the GPS positioning module corresponding the One weight.

A kind of 31. Vehicle positioning system, it is characterised in that the system comprises：

Positioning result acquisition module, for when location data and the site of road data at first moment mismatch, Comprehensive positioning number of the vehicle at the second moment is obtained using the location data of the site of road data and vehicle at the second moment According to, wherein the site of road data on the road with the distance of the location data at second moment within the specified range Position data.

32. system as claimed in claim 31, it is characterised in that the positioning result acquisition module includes：

Second weight determination sub-module, corresponding first weight of location data for determining second moment, and determine institute State corresponding second weight of site of road data；

Positioning result calculating sub module, for the location data, first weight, the road position using second moment Vehicle positioning system described in data and second weight calculation is put in the synthesis location data at the second moment.

33. system as claimed in claim 32, it is characterised in that first weight is according to GPS signal strength and/or sensing The error level of device determines；Second weight is determined according to the positioning confidence level of the map datum.

34. system as claimed in claim 31, it is characterised in that：The system also includes the 3rd weight to adjust module,

35. system as claimed in claim 31, it is characterised in that the positioning result acquisition module includes：

Second input submodule, for the site of road data and the location data at the second moment to be inputted Kalman filtering Device；

Second data acquisition submodule, for obtaining Vehicle positioning system from the output data of the Kalman filter the The synthesis location data at two moment.

36. system as claimed in claim 35, it is characterised in that the positioning confidence level of the map datum is according to positioning result Obtained with the similarity degree of vehicle match road.

A kind of 37. smart machine, it is characterised in that including：

One or more processors；

Memory；With

One or more modules, one or more of modules be stored in the memory and be configured to by one or Multiple processors perform, wherein, it is any described that one or more of modules are configured to carry out the claims 1-18 Method.

38. a kind of smart machine, it is characterised in that including input equipment, processor and output equipment：

The processor is used for the error compensation value for obtaining the sensor when being positioned using DR positioning methods at the first moment；Using institute State the output valve that error compensation value corrects sensor；Output valve and the error compensation value using the revised sensor Obtain location data of the DR positioning methods at the second moment；And the GPS positioning data using second moment and the second moment DR location datas obtain the second moment synthesis location data；

39. a kind of internet automobile, it is characterised in that including vehicle intelligent equipment, the vehicle intelligent equipment includes vehicle-mounted defeated Enter equipment, in-vehicle processor and vehicle-mounted output equipment,

The in-vehicle processor is used for the error compensation value for obtaining the sensor when being positioned using DR positioning methods at the first moment；Profit The output valve of sensor is corrected with the error compensation value；Mended using the output valve of the revised sensor and the error Repay value and obtain location data of the DR positioning methods at the second moment；And utilize the GPS positioning data and second at second moment The DR location datas at moment obtain the synthesis location data at the second moment；

The vehicle-mounted output equipment is coupled to the in-vehicle processor, for exporting the synthesis location data at second moment.

A kind of 40. vehicle-mounted internet operating system, it is characterised in that including：

Processing unit, control in-vehicle processor obtain the error compensation of the sensor when being positioned using DR positioning methods at the first moment Value；The output valve of sensor is corrected using the error compensation value；Utilize the output valve of the revised sensor and described Error compensation value obtains location data of the DR positioning methods at the second moment；And utilize the GPS positioning data at second moment The synthesis location data at the second moment is obtained with the DR location datas at the second moment；