CN107945572A - A kind of vehicle positioning method, system and parking assistance method - Google Patents

Abstract

This application discloses a kind of vehicle positioning method, system and parking assistance method, which includes：Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain corresponding array features information；Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot.The application is equipped with the positioning unit being laid with different array features in advance on the different zones position in parking lot, after vehicle enters parking lot, the characteristic information of positioning unit array on the corresponding car park areas position of current vehicle can be identified, since the array features information currently identified is corresponded with the car park areas position where current vehicle, so the above-mentioned array features information identified can be utilized to determine the car park areas position where current vehicle, thus the application can get position of the vehicle in parking lot, so as to improve parking efficiency of the vehicle in parking lot.

Description

A kind of vehicle positioning method, system and parking assistance method

Technical field

The present invention relates to vehicle positioning technology field, more particularly to a kind of vehicle positioning method, system and auxiliary square of parking Method.

Background technology

Currently, with the fast development of Vehicle Industry, the quantity of vehicle is constantly increasing in society, is parked in parking lot Vehicle is also more and more.Present vehicle in Parking, often occur due to the light is dusky, the visual field is easily blocked etc. because Element and cause to be difficult to determine specific location of the current vehicle in parking lot, seriously affected parking efficiency.

In summary as can be seen that how to get position of the vehicle in parking lot, to lift vehicle in parking lot Parking efficiency be current urgent problem to be solved.

The content of the invention

In view of this, can it is an object of the invention to provide a kind of vehicle positioning method, system and parking assistance method Position of the vehicle in parking lot is got, so as to improve parking efficiency of the vehicle in parking lot.Its concrete scheme is as follows：

In a first aspect, the invention discloses a kind of vehicle positioning method, for being positioned to the vehicle in parking lot, institute State the different zones position in parking lot and be equipped with the positioning unit being laid with different array features, the described method includes：

Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain corresponding array Characteristic information；

Position corresponding with the array features information is obtained, to obtain position of the vehicle in parking lot.

Determined in the present solution, being equipped with advance on the different zones position in parking lot with what different array features were laid with Bit location, can be to the positioning unit on the corresponding car park areas position of current vehicle after vehicle enters parking lot The characteristic information of array is identified, due to the array features information and the parking place where current vehicle that currently identify Domain position corresponds, it is possible to where determining current vehicle using the above-mentioned array features information identified Car park areas position, namely obtain vehicle exact position in parking lot.Exist that is, vehicle can be got in this programme Position in parking lot, so as to improve parking efficiency of the vehicle in parking lot.

Optionally, the positioning unit being laid with the parking lot includes magnet unit, luminescence unit, reflecting unit and fever Any one or more in unit.

Can be magnet unit, luminescence unit, reflective in the present solution, specifically limited for the construction of positioning unit Any one or more in unit and heat-generating units.

Optionally, the array features information, including the relative position in positioning unit array between all positioning units Appointing in the pattern characteristics information formed between the physical characteristic information of information, each positioning unit itself and all positioning units Meaning is one or more.

In the present solution, having carried out specific restriction for the content of array features information, can include in positioning unit array The physical characteristic information of relative position information, each positioning unit itself between all positioning units and all positioning units it Between any one or more information in the pattern characteristics information that forms.

Optionally, when the positioning unit being laid with parking lot is magnet unit, the physical features letter of magnet unit itself Breath includes magnetic pole type and/or magnetic flux size；

When the positioning unit being laid with parking lot is luminescence unit, the physical characteristic information of luminescence unit itself includes light Any one or more in line wavelength, luminous intensity, light-emitting area size；

When the positioning unit being laid with parking lot is reflecting unit, the physical characteristic information of reflecting unit itself is included instead Any one or more in optical wavelength, intensity of light reflection, reflective area size；

When the positioning unit being laid with parking lot is heat-generating units, the physical characteristic information of heat-generating units itself includes heat Radiation intensity and/or heating area.

In the present solution, specific restriction is carried out for the physical characteristic information corresponding to different types of positioning unit.

Optionally, the characteristic information of the positioning unit array on the corresponding car park areas position of the identification vehicle, obtains To corresponding array features information, including：

Identify the characteristic information of the current positioning unit array on just corresponding car park areas position of vehicle, obtain corresponding Array features information.

In the present solution, the positioning unit array of identified characteristic information is specifically vehicle currently just corresponding car park areas Positioning unit array on position.

Optionally, the characteristic information of the positioning unit array on the corresponding car park areas position of the identification vehicle, obtains To corresponding array features information, including：

Identify the feature letter of the positioning unit array on vehicle car park areas position corresponding in preset time period Breath, obtains corresponding array features information；

Wherein, the preset time period is the period from past any instant to current time.

In the present solution, the positioning unit array of identified characteristic information is specifically that vehicle is corresponding in preset time period Positioning unit array on car park areas position.

Optionally, it is described to obtain position corresponding with the array features information, to obtain position of the vehicle in parking lot Put, including：

The array features information is sent to parking lot server；Wherein, the parking lot server gets described After array features information, according to default coding rule, the array features information is correspondingly encoded, obtains characterization institute The coded strings of array features information are stated, are then closed according to the mapping between default car park areas position and the coded strings System, determines car park areas position corresponding with the coded strings；

Obtain the car park areas position corresponding with the coded strings that the parking lot server is sent.

This programme sends array features information to parking lot server, to combine parking place in the server of parking lot Mapping relations between domain position and coded strings determine position of the vehicle in parking lot.

Optionally, it is described to obtain position corresponding with the array features information, to obtain position of the vehicle in parking lot Put, including：

The coding rule sent according to parking lot server, correspondingly encodes the array features information, is obtained Characterize the coded strings of the array features information；

Mapping relations between the car park areas position sent according to the parking lot server and the coded strings, really Make car park areas position corresponding with the coded strings.

In the present solution, between coding rule and car park areas position and coded strings that acquisition parking lot server is sent Mapping relations, directly to determine position of the vehicle in parking lot local using the above-mentioned information got.

Optionally, it is described to obtain position corresponding with the array features information, to obtain position of the vehicle in parking lot Put, including：

The array features information is sent to parking lot server, so that the parking lot server stops according to default Mapping relations between yard area position and the array features information, determine stop corresponding with the array features information Yard area position；

Obtain the car park areas position corresponding with the array features information that the parking lot server is sent.

This programme sends array features information to parking lot server, to combine parking place in the server of parking lot Mapping relations between domain position and array features information determine position of the vehicle in parking lot.

Optionally, it is described to obtain position corresponding with the array features information, to obtain position of the vehicle in parking lot Put, including：

Mapping relations between the car park areas position sent according to parking lot server and the array features information, Determine car park areas position corresponding with the array features information.

In the present solution, obtain the mapping between the car park areas position of parking lot server transmission and array features information Relation, directly to determine position of the vehicle in parking lot local using the above-mentioned information got.

Second aspect, the invention discloses a kind of vehicle positioning method, for being positioned to the vehicle in parking lot, institute State the different zones position in parking lot and be equipped with the positioning unit being laid with different array features, the described method includes：

The feature letter of positioning unit array where obtaining the vehicle that the vehicle is sent on car park areas position Breath, obtains corresponding array features information；

According to the array features information, position of the vehicle in parking lot is determined, and the position is sent to institute State vehicle.

Wherein, this programme has the beneficial effect identical with aforementioned vehicle localization method.

The third aspect, the invention discloses a kind of parking assistance method, parks for the vehicle in aid parking field, Different zones position in the parking lot is equipped with the positioning unit being laid with different array features, the method bag Include：

Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain corresponding array Characteristic information；

According to array features information, position of the vehicle in parking lot is determined；

According to position of the vehicle in parking lot and predetermined target parking position, corresponding parking circuit is generated；

Parking manoeuvres are carried out using the position of the parking circuit and vehicle in parking lot.

Determined in the present solution, being equipped with advance on the different zones position in parking lot with what different array features were laid with Bit location, can be to the positioning unit on the corresponding car park areas position of current vehicle after vehicle enters parking lot The characteristic information of array is identified, due to the array features information and the parking place where current vehicle that currently identify Domain position corresponds, it is possible to where determining current vehicle using the above-mentioned array features information identified Car park areas position, namely vehicle exact position in parking lot is obtained, so that it is definite in parking lot according to vehicle Position and predetermined target parking position can generate rational parking circuit, then be existed according to above-mentioned parking circuit and vehicle Corresponding parking manoeuvres can be unfolded in position in parking lot.That is, vehicle can be got in this programme in parking lot Rational parking circuit, and parking manoeuvres are carried out according to the parking circuit, so as to lift parking efficiency of the vehicle in parking lot.

Fourth aspect, the invention discloses a kind of Vehicle positioning system, applied on vehicle, including array identifier, place Manage device and memory；Wherein, following steps are realized when the processor performs the computer program preserved in the memory：

The feature of the positioning unit array on the corresponding car park areas position of vehicle is identified by the array identifier Information, obtains corresponding array features information；

Position corresponding with the array features information is obtained, to obtain position of the vehicle in parking lot.

Wherein, this programme has the beneficial effect identical with aforementioned vehicle localization method.

5th aspect, the invention discloses a kind of Vehicle positioning system, including on the different zones position in parking lot The positioning unit being laid with different array features, further include parking lot server；Wherein, the parking lot server bag Include processor and memory；Wherein, following step is realized when the processor performs the computer program preserved in the memory Suddenly：

The feature letter of positioning unit array where obtaining the vehicle that the vehicle is sent on car park areas position Breath, obtains corresponding array features information；

According to the array features information, position of the vehicle in parking lot is determined, and the position is sent to institute State vehicle.

Wherein, this programme has the beneficial effect identical with aforementioned vehicle localization method.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.

Fig. 1 is a kind of vehicle positioning method flow chart disclosed by the embodiments of the present invention；

Fig. 2 is a kind of specific vehicle positioning method flow chart disclosed by the embodiments of the present invention；

Fig. 3 is a kind of parking lot magnetite overall distribution schematic diagram disclosed by the embodiments of the present invention；

Fig. 4 is a kind of specific vehicle positioning method flow chart disclosed by the embodiments of the present invention；

Fig. 5 is a kind of specific vehicle positioning method flow chart disclosed by the embodiments of the present invention；

Fig. 6 is a kind of specific vehicle positioning method flow chart disclosed by the embodiments of the present invention；

Fig. 7 is a kind of specific vehicle positioning method flow chart disclosed by the embodiments of the present invention；

Fig. 8 is a kind of parking assistance method flow chart disclosed by the embodiments of the present invention；

Fig. 9 is a kind of circuit determination process schematic diagram that stops disclosed by the embodiments of the present invention

Embodiment

Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.

The embodiment of the invention discloses a kind of vehicle positioning method, for being positioned to the vehicle in parking lot, parking Different zones position in is equipped with the positioning unit being laid with different array features, shown in Figure 1, the above method Including：

Step S11：Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain phase The array features information answered.

In the present embodiment, the positioning list with different array features is equipped with the different zones position of inner part of parking lot Member.It is understood that can both select to set bit location on the different zones position upper berth on parking lot ground in the present embodiment, It can also select to set bit location on the different zones position upper berth of parking lot ceiling, it might even be possible to which simultaneous selection is in parking lot Ground and the different zones position upper berth of ceiling setting bit location.Certainly, except can be set on ground and ceiling upper berth Bit location, the present embodiment can also select to set bit location on different load-bearing pillar and/or the wall upper berths of inner part of parking lot.

It is understood that in the present embodiment, before the different zones position upper berth in parking lot setting bit location, it is necessary to First different regions is divided in parking lot, in order to subsequently on the corresponding parking location of different zones with different arrays Feature is laid with positioning unit.In the present embodiment, the above-mentioned process that different regions is divided in parking lot, can specifically include： Determine the corresponding array area size of positioning unit array, vehicle in parking lot can be sailed according to above-mentioned array area size The place crossed carries out region division, and so that the region area size and above-mentioned array surface in each region obtained after region division Product size is consistent, so as to obtain multiple and different regions, then according to above-mentioned zone division result in parking lot electronically Corresponding regional location coordinate is marked on figure.

In the present embodiment, in parking lot be laid with positioning unit can include magnet unit, luminescence unit, reflecting unit and Any one or more in heat-generating units.That is, in the present embodiment, magnet unit, luminescence unit, reflective list both can be only spread Member or heat-generating units, can also be laid with above-mentioned any two kinds even two or more positioning units at the same time.It is understood that stop The what kind of positioning unit of parking lot laid inside, just needs to utilize corresponding characteristic information identification mould in above-mentioned steps S11 The characteristic information of positioning unit array is identified in block.

In a kind of embodiment, the positioning unit array on the corresponding car park areas position of above-mentioned identification vehicle Characteristic information, obtain corresponding array features information, specifically include：Identify vehicle currently just corresponding car park areas position On positioning unit array characteristic information, obtain corresponding array features information.That is, feature letter is identified in the present embodiment The positioning unit array of breath can be specifically positioning unit array of the vehicle currently on just corresponding car park areas position.Can be with Understanding, the positioning unit array of identified characteristic information herein is a kind of positioning unit array of space correlation, that is, It is a kind of current positioning unit array of just corresponding car park areas position correspondence with vehicle.

In another embodiment, the positioning unit battle array on the corresponding car park areas position of above-mentioned identification vehicle The characteristic information of row, obtains corresponding array features information, including：Identify vehicle parking lot corresponding in preset time period The characteristic information of positioning unit array on regional location, obtains corresponding array features information；Wherein, preset time period be from Period of the past any instant to current time.That is, the positioning unit array tool of characteristic information is identified in the present embodiment Body can also be the positioning unit array on the car park areas position that vehicle is passed through in preset time period, so equivalent to What the size in each region divided in advance in parking lot in the present embodiment passed through with vehicle in above-mentioned preset time period The size of car park areas is consistent, all positioning in the car park areas that vehicle passes through in above-mentioned preset time period Unit constitutes a complete positioning unit array, after the array features information for having identified the positioning unit array, Bian Keli Corresponding car park areas position is determined with the array features information, and then obtains position of the vehicle currently in parking lot. Due to above-mentioned positioning unit array be not be inscribed by vehicle at one by car park areas position on positioning unit Form, but all positioning units on the car park areas position passed through in a period of time by vehicle are formed, this In the case of, even if suitably reducing the positioning unit laying density in each positioning unit array, it can not also influence follow-up car The determination process of position.That is, by present embodiment, the laying that can efficiently reduce positioning unit in parking lot is close Degree, so as to reduce the laying total amount of positioning unit, reaches the effect for reducing and being laid with cost.

It should be further noted that the array features information in the present embodiment, can specifically include positioning unit array In relative position information between all positioning units, the physical characteristic information of each positioning unit itself and all positioning units Between any one or more in the pattern characteristics information that forms.Wherein, above-mentioned relative position information includes but not limited to fixed Relative position size and relative orientation information between bit location.In addition, above-mentioned physical characteristic information includes but not limited to magnetism Characteristic parameter, electrical property feature parameter, optical signature parameter, mechanical characteristics parameter and thermal characteristics parameter etc..Secondly, above-mentioned pattern Characteristic parameter includes but not limited to pattern form feature and pattern magnitude feature.

Step S12：Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot.

In the first embodiment, above-mentioned acquisition position corresponding with array features information, is existed with obtaining vehicle Position in parking lot, can specifically include：

Array features information is sent to parking lot server, then obtain that parking lot server sends with coded strings pair The car park areas position answered.Wherein, after parking lot server gets array features information, according to default coding rule, Array characteristic information is correspondingly encoded, obtains the coded strings of characterization array characteristic information, then according to default parking Mapping relations between field areas position and coded strings, determine car park areas position corresponding with coded strings.

That is, the present embodiment can send array features information to parking lot server, with the server of parking lot Position of the vehicle in parking lot is determined with reference to the mapping relations between car park areas position and coded strings.

In second of embodiment, above-mentioned acquisition position corresponding with array features information, is existed with obtaining vehicle Position in parking lot, can specifically include：

The coding rule sent according to parking lot server, correspondingly encodes array characteristic information, is characterized The coded strings of array features information；Mapping between the car park areas position sent according to parking lot server and coded strings is closed System, determines car park areas position corresponding with coded strings.

That is, the present embodiment can obtain the coding rule and car park areas position and coding that parking lot server is sent Mapping relations between string, directly to determine position of the vehicle in parking lot local using the above-mentioned information got.

In the third embodiment, above-mentioned acquisition position corresponding with array features information, is existed with obtaining vehicle Position in parking lot, can specifically include：

Array features information is sent to parking lot server, so that parking lot server is according to default car park areas Mapping relations between position and array features information, determine car park areas position corresponding with array features information；Obtain The car park areas position corresponding with array features information for taking parking lot server to send.

That is, the present embodiment can send array features information to parking lot server, with the server of parking lot Position of the vehicle in parking lot is determined with reference to the mapping relations between car park areas position and array features information.

In the 4th kind of embodiment, above-mentioned acquisition position corresponding with array features information, is existed with obtaining vehicle Position in parking lot, can specifically include：

Mapping relations between the car park areas position sent according to parking lot server and array features information, determine Go out car park areas position corresponding with array features information.

That is, the present embodiment can obtain car park areas position and array features information that parking lot server sends it Between mapping relations, with using the above-mentioned information got in local directly definite position of the vehicle in parking lot.

Carried out as it can be seen that the embodiment of the present invention is equipped with the different zones position in parking lot in advance with different array features The positioning unit of laying, can be on the corresponding car park areas position of current vehicle after vehicle enters parking lot The characteristic information of positioning unit array is identified, due to the array features information that currently identifies with where current vehicle Car park areas position corresponds, it is possible to determines current vehicle using the above-mentioned array features information identified Car park areas position where, namely obtain vehicle exact position in parking lot.That is, the embodiment of the present invention can Position of the vehicle in parking lot is got, so as to improve parking efficiency of the vehicle in parking lot.

On the basis of previous embodiment, the embodiment of the invention discloses a kind of specific vehicle positioning method, for pair Vehicle in parking lot is positioned, and the different zones position in the parking lot is equipped with what is be laid with different array features Magnet unit, shown in Figure 2, the above method includes：

Step S21：Identify the characteristic information of the magnet unit array on the corresponding car park areas position of vehicle, obtain phase The array features information answered.

In the present embodiment, the corresponding array features information of magnet unit array, including be magnetic in magnet unit array Formed between the physical characteristic information of relative position information, each magnet unit itself between unit and all magnet units Any one or more in pattern characteristics information.

In the present embodiment, the above-mentioned magnet unit physical characteristic information of itself includes magnetic pole type and/or magnetic flux size. Wherein, above-mentioned magnetic pole type includes N poles and S poles.

It is understood that be magnet unit by positioning unit in this present embodiment, so in above-mentioned steps S21, The specific characteristic information for needing to detect identification magnet unit array using the magnetic field sensor being pre-installed on vehicle.Its In, above-mentioned magnetic field sensor can be area array sensor or line array sensor.

It is understood that the magnet unit in the present embodiment includes but not limited to magnetite and electromagnet.Wherein, above-mentioned magnetic Stone includes the magnet being made of various magnetic materials, such as ferrite lattice.In addition, when above-mentioned magnet unit is electromagnet, this Embodiment can also be according to actual needs, regularly or aperiodically by varying current direction and/or the mode of size of current Correspondingly to change the magnetic pole type of electromagnet and/or magnetic flux size.

Step S22：Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot.

The corresponding contents disclosed in previous embodiment are may be referred on the more detailed processes of above-mentioned steps S22, herein No longer repeated.

The vehicle positioning method in the embodiment of the present invention is described in detail by taking magnetite as an example below.

It is shown in Figure 3, substantial amounts of magnetite is laid with the different zones position on parking lot ground in advance, each In the corresponding magnetite array of regional location, the N poles of a part of magnetite upward S poles downward, another part magnetite then S poles N poles upward Downward, it is also, different between the magnetic pole type feature information towards upper magnetic pole of magnetite array on different zones position.Separately Outside, it should be pointed out that Fig. 3 orbicular spots represent N poles S magnetites extremely directed downwardly upward, and side's point represents S poles N magnetic extremely directed downwardly upward Stone.

After vehicle enters parking lot, the magnetic field sensor installed in advance under underbody can be utilized, identifies current vehicle The magnetic pole type feature information towards upper magnetic pole of magnetite array on corresponding car park areas position, wherein, above-mentioned magnetic field passes Sensor specifically disposably can so detect the magnetite in an area surface with area array sensor, also may be used certainly To be line array sensor, so then need to be scanned detection to the magnetite in an area surface by the movement of vehicle.

, can be extremely special to the N in above-mentioned magnetic pole type feature information after above-mentioned magnetic pole type feature information is obtained Reference breath is encoded, and obtains encoded radio " 1 ", and the S poles characteristic information in above-mentioned magnetic pole type feature information is encoded, Encoded radio " 0 " is obtained, is then put in order according to each magnetic pole type in above-mentioned magnetic pole type feature information, to above-mentioned coding The each encoded radio obtained afterwards is correspondingly sorted, so as to obtain the real-time coding string of forms such as " 10011100 ", is connect According to the mapping relations between default car park areas position and coded strings, determine corresponding with above-mentioned real-time coding string Car park areas position, so as to obtain position of the vehicle in parking lot.

On the basis of previous embodiment, the embodiment of the invention discloses a kind of specific vehicle positioning method, for pair Vehicle in parking lot is positioned, and the different zones position in the parking lot is equipped with what is be laid with different array features Luminescence unit, shown in Figure 4, the above method includes：

Step S31：Identify the characteristic information of the array of light emitting cells on the corresponding car park areas position of vehicle, obtain phase The array features information answered.

In the present embodiment, the corresponding array features information of array of light emitting cells, including in array of light emitting cells it is all shine Formed between the physical characteristic information of relative position information, each luminescence unit itself between unit and all luminescence units Any one or more in pattern characteristics information.

In the present embodiment, the above-mentioned luminescence unit physical characteristic information of itself includes wavelength of light, luminous intensity, light-emitting area Accumulate any one or more in size.

It is understood that be luminescence unit by positioning unit in this present embodiment, so in above-mentioned steps S31, The specific characteristic information for needing to detect identification array of light emitting cells using the light sensor being pre-installed on vehicle.Its In, above-mentioned light sensor can be area array sensor or line array sensor.

It is understood that the luminescence unit in the present embodiment includes various types of light sources, such as infrared light supply and routine Visible light source, in order to avoid being disturbed be subject to extraneous visible light ray, the present embodiment preferentially using infrared light supply as upper State luminescence unit.In addition, the present embodiment can also be according to actual needs, regularly or aperiodically by varying the work of light source Parameter correspondingly changes wavelength of light, luminous intensity and light-emitting area size etc..

Step S32：Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot.

The corresponding contents disclosed in previous embodiment are may be referred on the more detailed processes of above-mentioned steps S32, herein No longer repeated.

The vehicle positioning method in the embodiment of the present invention is described in detail by taking LED light as an example below.

In the present embodiment, substantial amounts of LED light is laid with the different zones position on parking lot ground in advance, each In the corresponding LED light array of regional location, the strength grade for the light intensity that a part of LED light produces is 1 grade, another part LED light produce light intensity strength grade be 2 grades, also, on different zones position LED light array light intensity feature It is different between information.It is understood that above-mentioned 1 grade needs have sufficiently large difference between 2 grades of light intensity Property, so that optical sensor can recognize that the difference between 1 grade and 2 grades of fiber strengths., can after vehicle enters parking lot Using the optical sensor installed in advance under underbody, to identify the LED light on the corresponding car park areas position of current vehicle The light intensity characteristic information of array, wherein, above-mentioned optical sensor specifically can be with area array sensor, so can be disposably LED light in one area surface is detected, naturally it is also possible to be line array sensor, so then need the movement by vehicle To be scanned detection to the LED light in an area surface.

, can be to 1 grade of light in above-mentioned light intensity characteristic information after above-mentioned light intensity characteristic information is obtained The corresponding characteristic information of line strength is encoded, and obtains encoded radio " 1 ", and to 2 grades of light in above-mentioned light intensity characteristic information The corresponding characteristic information of line strength is encoded, and obtains encoded radio " 0 ", then according to each in above-mentioned light intensity characteristic information Light intensity puts in order, and is correspondingly sorted to each encoded radio obtained after above-mentioned coding, so as to obtain such as The real-time coding string of forms such as " 10101101 ", is closed then according to the mapping between default car park areas position and coded strings System, determines car park areas position corresponding with above-mentioned real-time coding string, so as to obtain position of the vehicle in parking lot.

On the basis of previous embodiment, the embodiment of the invention discloses a kind of specific vehicle positioning method, for pair Vehicle in parking lot is positioned, and the different zones position in the parking lot is equipped with what is be laid with different array features Reflecting unit, shown in Figure 5, the above method includes：

Step S41：Identify the characteristic information of the reflecting unit array on the corresponding car park areas position of vehicle, obtain phase The array features information answered.

In the present embodiment, the corresponding array features information of reflecting unit array, including in reflecting unit array it is all reflective Formed between the physical characteristic information of relative position information, each reflecting unit itself between unit and all reflecting units Any one or more in pattern characteristics information.

In the present embodiment, the above-mentioned reflecting unit physical characteristic information of itself includes reflective wavelength, intensity of light reflection, reflective surface Accumulate any one or more in size.

It is understood that be reflecting unit by positioning unit in this present embodiment, so in above-mentioned steps S41, The specific characteristic information for needing to detect identification reflecting unit array using the light sensor being pre-installed on vehicle.Its In, above-mentioned light sensor can be area array sensor or line array sensor.

It is understood that the reflecting unit in the present embodiment is reflective including being prepared by various types of reflectorized materials Piece.

Step S42：Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot.

The corresponding contents disclosed in previous embodiment are may be referred on the more detailed processes of above-mentioned steps S42, herein No longer repeated.

The vehicle positioning method in the embodiment of the present invention is described in detail by taking reflecting piece as an example below.

In the present embodiment, substantial amounts of reflecting piece is laid with the different zones position on parking lot ground in advance, every In the corresponding reflective chip arrays of a regional location, the reflective area size of a part of reflecting piece is the first size, another portion The reflective area size of point reflecting piece is second area size, also, on different zones position reflective chip arrays reflective area It is different between characteristic information.It is understood that need to have between above-mentioned first size and second area size Sufficiently large otherness, so that imaging sensor can recognize that the difference between the first size and second area size Not.

After vehicle enters parking lot, the imaging sensor installed in advance under underbody can be utilized, identifies current vehicle The reflective area characteristic information of reflective chip arrays on corresponding car park areas position, wherein, above-mentioned image sensing implement body So disposably the reflecting piece in an area surface can be detected, naturally it is also possible to be line with area array sensor Array sensor, so then needs to be scanned detection to the reflecting piece in an area surface by the movement of vehicle.

After above-mentioned reflective area characteristic information is obtained, can in above-mentioned reflective area characteristic information with the first face The corresponding characteristic information of product size is encoded, and obtains encoded radio " 1 ", and in above-mentioned reflective area characteristic information with the second face The corresponding characteristic information of product size is encoded, and obtains encoded radio " 0 ", then according to each in above-mentioned reflective area characteristic information Reflective area puts in order, and is correspondingly sorted to each encoded radio obtained after above-mentioned coding, so as to obtain such as The real-time coding string of forms such as " 00100111 ", is closed then according to the mapping between default car park areas position and coded strings System, determines car park areas position corresponding with above-mentioned real-time coding string, so as to obtain position of the vehicle in parking lot.

On the basis of previous embodiment, the embodiment of the invention discloses a kind of specific vehicle positioning method, for pair Vehicle in parking lot is positioned, and the different zones position in the parking lot is equipped with what is be laid with different array features Heat-generating units, shown in Figure 6, the above method includes：

Step S51：Identify the characteristic information of the heat-generating units array on the corresponding car park areas position of vehicle, obtain phase The array features information answered.

In the present embodiment, the corresponding array features information of heat-generating units array, including all fevers in heat-generating units array Formed between the physical characteristic information of relative position information, each heat-generating units itself between unit and all heat-generating units Any one or more in pattern characteristics information.

In the present embodiment, the above-mentioned heat-generating units physical characteristic information of itself includes caloradiance and/or heating area.

It is understood that be heat-generating units by positioning unit in this present embodiment, so in above-mentioned steps S51, The specific characteristic information for needing to detect identification heat-generating units array using the thermal radiation sensor being pre-installed on vehicle.Its In, above-mentioned thermal radiation sensor can be area array sensor or line array sensor.

It is understood that the heat-generating units in the present embodiment include the heater being made of various types of resistive elements Part.In addition, the present embodiment regularly or aperiodically can also correspondingly become according to actual needs by varying size of current More caloradiance, or correspondingly change heating area by varying the quantity of energization resistance.

Step S52：Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot.

The corresponding contents disclosed in previous embodiment are may be referred on the more detailed processes of above-mentioned steps S52, herein No longer repeated.

The vehicle positioning method in the embodiment of the present invention is described in detail by taking heating resistor as an example below.

In the present embodiment, substantial amounts of heating resistor has been laid with the different zones position on parking lot ground in advance, In each corresponding heating resistor array of regional location, the radiation intensity of a part of heating resistor is the first intensity, another part The radiation intensity of heating resistor is the second intensity, also, the radiation intensity feature of heating resistor array is believed on different zones position It is different between breath.It is understood that need that there is sufficiently large otherness between above-mentioned first intensity and the second intensity, So that thermal radiation sensor can recognize that the difference between the first intensity and the second intensity.

After vehicle enters parking lot, the thermal radiation sensor installed in advance under underbody can be utilized, identifies current vehicle The radiation intensity characteristic information of heating resistor array on corresponding car park areas position, wherein, above-mentioned heat radiation sensing Implement body disposably can so detect the heating resistor in an area surface, certainly with area array sensor It can be line array sensor, so then need to be scanned spy to the heating resistor in an area surface by the movement of vehicle Survey.

After above-mentioned radiation intensity characteristic information is obtained, can in above-mentioned radiation intensity characteristic information with the last the first Spend corresponding characteristic information to be encoded, obtain encoded radio " 1 ", and in above-mentioned radiation intensity characteristic information with the second intensity pair The characteristic information answered is encoded, and obtains encoded radio " 0 ", then according to each radiation intensity in above-mentioned radiation intensity characteristic information Put in order, correspondingly sorted to each encoded radio obtained after above-mentioned coding, so as to obtain such as " 11100101 " Etc. the real-time coding string of form, then according to the mapping relations between default car park areas position and coded strings, determine Car park areas position corresponding with above-mentioned real-time coding string, so as to obtain position of the vehicle in parking lot.

Further, the embodiment of the invention also discloses a kind of vehicle positioning method, for the vehicle in parking lot into Row positions, and the different zones position in the parking lot is equipped with the positioning unit being laid with different array features, referring to Fig. 7 Shown, the above method includes：

Step S61：The feature letter of positioning unit array where obtaining the vehicle that vehicle is sent on car park areas position Breath, obtains corresponding array features information.

It is understood that before the array features information that vehicle is sent is obtained, vehicle need first to recognize it is current from The characteristic information of the reflecting unit array on car park areas position where body.On above-mentioned vehicle identification array features information Specific steps may be referred to corresponding contents disclosed in previous embodiment, no longer repeated herein.

Step S62：According to array features information, position of the vehicle in parking lot is determined, and the position is sent to car .

It is above-mentioned according to array features information in a kind of embodiment, determine position of the vehicle in parking lot, have Body can include：According to default coding rule, array characteristic information is correspondingly encoded, obtains characterization array feature letter The coded strings of breath, then according to the mapping relations between default car park areas position and coded strings, are determined and coded strings Corresponding car park areas position.

That is, the vehicle in the present embodiment can send array features information to parking lot server, with parking lot In server position of the vehicle in parking lot is determined with reference to the mapping relations between car park areas position and coded strings.

It is above-mentioned according to array features information in another embodiment, determine position of the vehicle in parking lot Put, can specifically include：According to the mapping relations between default car park areas position and array features information, determine with The corresponding car park areas position of array features information.

That is, the vehicle in the present embodiment can send array features information to parking lot server, with parking lot Determine vehicle in parking lot with reference to the mapping relations between car park areas position and array features information in server Position.

Further, the embodiment of the invention also discloses a kind of parking assistance method, for the vehicle in aid parking field Park, the different zones position in parking lot is equipped with the positioning unit being laid with different array features, referring to Fig. 8 Shown, the above method includes：

Step S71：Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain phase The array features information answered.

Step S72：According to array features information, position of the vehicle in parking lot is determined.

Detailed process on above-mentioned steps S71 and S72 may be referred to the corresponding contents disclosed in previous embodiment, herein No longer repeated.

Step S73：According to position of the vehicle in parking lot and predetermined target parking position, generation stops accordingly Fare road.

It is understood that the present embodiment can implement above-mentioned steps S73 in parking lot server side, to obtain Stop circuit, then sends parking circuit to vehicle.Certainly, the parking lot server in the present embodiment can also be first by advance Definite target parking position is sent to vehicle, then implements above-mentioned steps S73 in the side where vehicle.

In order to avoid there is being assigned to the situation on the parking stall that area is too small or area is excessive, the present embodiment is in above-mentioned step Before rapid S73, it can further include：According to the vehicle of vehicle, determine to be adapted to the vehicle from current residual parking stall Parking stall, obtain target parking position.

The situation for seizing same parking stall in order to avoid there are more cars occurs, in the present embodiment, above-mentioned according to car Position and predetermined target parking position in parking lot, can also be into one before generating corresponding parking circuit Step includes：Then it is different vehicles from current residual parking stall when needing to stop there are more cars at the same time in parking lot Determine different parking stalls.

Certainly, it is contemplated that some parking stalls are that driver pre-purchase in actual conditions, in this case, above-mentioned The determination process of target parking position is specifically after driver bought parking stall, and relevant parking space information and information of vehicles are led Enter system database, when needing to perform above-mentioned steps S73, corresponding parking can be transferred out from system database Position information, resulting in above-mentioned target parking position.

It is above-mentioned to be existed according to vehicle in the present embodiment in order to avoid vehicle is assigned to the too small current circuit of line width Position and predetermined target parking position in parking lot, generate corresponding parking circuit, can specifically include：Determine All current circuits between position and predetermined target parking position of the vehicle in parking lot, then according to vehicle Vehicle, determines the current circuit for being adapted to the vehicle, so as to obtain above-mentioned parking circuit from all current circuits.

In the present embodiment, above-mentioned parking circuit can specifically mark the positioning unit array of car park areas position Characteristic information circuit.That is, the parking circuit in the present embodiment can be using the characteristic information of positioning unit array come The circuit characterized, mark has the feature letter of the positioning unit array of car park areas position on each place on line Breath, when position of the above-mentioned vehicle got in parking lot is being shown with parking circuit on the map of parking lot, Si Jike Can be clearly seen whether current vehicle has deviated from the tracks of parking circuit, so as to facilitate driver to carry out traveling orientation Correspondingly adjust.It is understood that above-mentioned parking lot map is particular by each of the conventional chambers map in parking lot The electronic map obtained after corresponding positioning unit array features information is marked on regional location.

It should be noted that in order to improve the difference degree between parking lot inside lane and parking stall, facilitate vehicle or department Identification of the machine to track and parking stall, the present embodiment can make the feature of the positioning unit array on parking stall in process of deployment It is more obvious, such as the identification on parking stall can be lifted by way of increasing the laying density of positioning unit on parking stall Degree.

Step S74：Using stopping, the position of circuit and vehicle in parking lot carries out parking manoeuvres.

It is above-mentioned to carry out the behaviour that parks using the position of circuit and vehicle in parking lot of stopping in a kind of embodiment Make, can specifically include：Parking circuit and vehicle are run over to position of the vehicle in parking lot in journey in parking lot The display device being transmitted on vehicle, so that driver carries out accordingly according to the position of parking circuit and vehicle in parking lot Ground parking manoeuvres.That is, the present embodiment can be by above-mentioned parking circuit and vehicle on location transmission to the vehicle in parking lot Display device, driving vehicle under the guide for the parking circuit that driver shows in a display device, and in the mistake of driver driving Cheng Zhong, position meeting real-time Transmission of the vehicle in parking lot is into above-mentioned display device, when driver has found to show in display device Vehicle location deviate above-mentioned parking circuit when, driver can drive in time vehicle be returned to parking circuit on.In order to avoid There is the circuit substantial deviation phenomenon caused by driver watches the display screen in display device not in time, in the present embodiment, After monitoring that above-mentioned parking circuit is deviateed in position of the vehicle in parking lot, corresponding prompting message can also be produced, with The vehicle location for reminding driver current has had deviated from parking circuit.

It is above-mentioned to be parked using the position of circuit and vehicle in parking lot of stopping in another embodiment Operation, can specifically include：Vehicle in journey is run in parking lot in parking lot according to parking circuit and vehicle Position, produces corresponding automatic parking control command, the control loop being then transmitted to automatic parking control command in vehicle, To control control loop driving vehicle to drive towards corresponding target parking position.It is understood that when control loop gets parking The position of circuit and vehicle in parking lot, then can be according between real time position of the car two in parking lot and parking circuit Real-time relative position relation, produces corresponding automatic parking control command, to control vehicle to move ahead along above-mentioned parking circuit, and It is finally reached target parking position.

In the embodiment of the present invention, it is equipped with the different zones position in parking lot is spread with different array features in advance If positioning unit, can be on the corresponding car park areas position of current vehicle after vehicle is parked into parking lot The characteristic information of positioning unit array be identified, due to the array features information that currently identifies with where current vehicle Car park areas position correspond, it is possible to determined currently using the above-mentioned array features information identified Car park areas position where vehicle, namely position of the vehicle in parking lot is obtained, and then according to vehicle in parking lot Accurate location and predetermined target parking position can generate rational parking circuit, then according to above-mentioned parking circuit and Corresponding parking manoeuvres can be unfolded in position of the vehicle in parking lot.Stopping that is, the present embodiment can get vehicle Reasonably parking circuit, and carry out parking manoeuvres according to the parking circuit, stops so as to lift vehicle in parking lot in parking lot Car efficiency.

In the present embodiment, if above-mentioned positioning unit is magnetite, after definite position of the vehicle in parking lot, root According to position of the above-mentioned vehicle in parking lot and vehicle target parking position definite from all remaining empty parking spaces is in advance based on, The corresponding parking circuit of generation, also, above-mentioned parking circuit is specifically that mark has parking place on each place on line The circuit of the magnetic pole type feature information of the magnetite array of domain position, is finally based on above-mentioned parking circuit and vehicle in parking lot Position corresponding parking manoeuvres are unfolded.It is understood that when control loop get parking circuit and vehicle stopping Position in parking lot, then can close according to the real-time relative position between real time position of the car two in parking lot and parking circuit System, produces corresponding automatic parking control command, to control vehicle to move ahead along above-mentioned parking circuit, and is finally reached target and stops Parking stall.In order to avoid vehicle is assigned to the too small current circuit of line width, the present embodiment specifically can be in the following manner To determine parking circuit：First determine all current circuits between position and target parking position of the vehicle in parking lot, Then according to the vehicle of vehicle, the current circuit for being adapted to the vehicle is determined from all current circuits, so as to obtain above-mentioned stop Fare road.As shown in figure 9, current vehicle position is between target parking position, there are two current circuits, respectively circuit 1 and line Road 2, where it is assumed that the line width of circuit 1 is too small, the line width of circuit 2 meets actual demand, then final system can be from upper State and circuit 2 is picked out in two current circuits as final parking circuit.

In the present embodiment, if above-mentioned positioning unit is LED light, after definite position of the vehicle in parking lot, According to position of the above-mentioned vehicle in parking lot and it is in advance based on vehicle target parking definite from all remaining empty parking spaces Position, generates corresponding parking circuit, also, above-mentioned parking circuit is specifically that mark has parking lot on each place on line The circuit of the light intensity characteristic information of the LED light array of regional location, is finally based on above-mentioned parking circuit and vehicle and stops Corresponding parking manoeuvres are unfolded in position in.It is understood that when control loop gets parking circuit and vehicle Position in parking lot, then can be according to the position opposite in real time between real time position of the car two in parking lot and parking circuit Relation is put, produces corresponding automatic parking control command, to control vehicle to move ahead along above-mentioned parking circuit, and is finally reached mesh Mark parking stall.

In the present embodiment, if above-mentioned positioning unit is reflecting piece, after definite position of the vehicle in parking lot, According to position of the above-mentioned vehicle in parking lot and it is in advance based on vehicle target parking definite from all remaining empty parking spaces Position, generates corresponding parking circuit, also, above-mentioned parking circuit is specifically that mark has parking lot on each place on line The circuit of the reflective area characteristic information of the reflective chip arrays of regional location, is finally based on above-mentioned parking circuit and vehicle and stops Corresponding parking manoeuvres are unfolded in position in.It is understood that when control loop gets parking circuit and vehicle Position in parking lot, then can be according to the position opposite in real time between real time position of the car two in parking lot and parking circuit Relation is put, produces corresponding automatic parking control command, to control vehicle to move ahead along above-mentioned parking circuit, and is finally reached mesh Mark parking stall.

In the present embodiment, if above-mentioned positioning unit is heating resistor, definite position of the vehicle in parking lot it Afterwards, according to position of the above-mentioned vehicle in parking lot and it is in advance based on the target that vehicle determines from all remaining empty parking spaces and stops Parking stall, generates corresponding parking circuit, also, above-mentioned parking circuit is specifically that mark has parking on each place on line The circuit of the radiation intensity characteristic information of the heating resistor array of field areas position, is finally based on above-mentioned parking circuit and vehicle and exists Corresponding parking manoeuvres are unfolded in position in parking lot.It is understood that when control loop get parking circuit and Position of the vehicle in parking lot, then can be according to the real-time phase between real time position of the car two in parking lot and parking circuit To position relationship, corresponding automatic parking control command is produced, to control vehicle to move ahead along above-mentioned parking circuit, and is finally reached To target parking position.

Further, the invention also discloses a kind of Vehicle positioning system, applied on vehicle, including array identifier, Processor and memory；Wherein, following steps are realized when processor performs the computer program preserved in memory：

The characteristic information of the positioning unit array on the corresponding car park areas position of vehicle is identified by array identifier, Obtain corresponding array features information；Position corresponding with array features information is obtained, to obtain position of the vehicle in parking lot Put.

The more specific process for each step that processor on above-mentioned vehicle performs may be referred in previous embodiment Disclosed corresponding contents, are no longer repeated herein.

Further, the invention also discloses another Vehicle positioning system, including positioned at the different zones position in parking lot The positioning unit being laid with different array features put, further includes parking lot server；Wherein, parking lot server bag Include processor and memory；Wherein, following steps are realized when processor performs the computer program preserved in memory：

The characteristic information of positioning unit array where obtaining the vehicle that vehicle is sent on car park areas position, obtains phase The array features information answered；According to array features information, position of the vehicle in parking lot is determined, and the position is sent to car .

The more specific process for each step that processor on above-mentioned parking lot server performs may be referred to foregoing Corresponding contents disclosed in embodiment, are no longer repeated herein.

Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is other The difference of embodiment, between each embodiment same or similar part mutually referring to.For dress disclosed in embodiment For putting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part Explanation.

Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty Technical staff can realize described function to each specific application using distinct methods, but this realization should not Think beyond the scope of this invention.

Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology In any other form of storage medium well known in field.

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 equipment including a series of elements not only include that A little key elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged Except also there are other identical element in the process, method, article or apparatus that includes the element.

Detailed Jie has been carried out to a kind of vehicle positioning method, system and parking assistance method provided by the present invention above Continue, specific case used herein is set forth the principle of the present invention and embodiment, and the explanation of above example is only It is the method and its core concept for being used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to this hair Bright thought, there will be changes in specific embodiments and applications, in conclusion this specification content should not manage Solve as limitation of the present invention.

Claims (14)

1. a kind of vehicle positioning method, it is characterised in that for being positioned to the vehicle in parking lot, in the parking lot Different zones position is equipped with the positioning unit being laid with different array features, the described method includes：

Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain corresponding array features Information；

Position corresponding with the array features information is obtained, to obtain position of the vehicle in parking lot.

2. vehicle positioning method according to claim 1, it is characterised in that the positioning unit bag being laid with the parking lot Include any one or more in magnet unit, luminescence unit, reflecting unit and heat-generating units.

3. vehicle positioning method according to claim 2, it is characterised in that

The array features information, including relative position information, Mei Geding in positioning unit array between all positioning units In the pattern characteristics information formed between the physical characteristic information of bit location itself and all positioning units any one or it is more Kind.

4. vehicle positioning method according to claim 3, it is characterised in that

When the positioning unit being laid with parking lot is magnet unit, the physical characteristic information of magnet unit itself includes magnetic pole class Type and/or magnetic flux size；

When the positioning unit being laid with parking lot is luminescence unit, the physical characteristic information of luminescence unit itself includes light ripple Any one or more in length, luminous intensity, light-emitting area size；

When the positioning unit being laid with parking lot is reflecting unit, the physical characteristic information of reflecting unit itself includes reflective ripple Any one or more in length, intensity of light reflection, reflective area size；

When the positioning unit being laid with parking lot is heat-generating units, the physical characteristic information of heat-generating units itself includes heat radiation Intensity and/or heating area.

5. vehicle positioning method according to claim 1, it is characterised in that described to identify the corresponding car park areas of vehicle The characteristic information of positioning unit array on position, obtains corresponding array features information, including：

Identify the characteristic information of the current positioning unit array on just corresponding car park areas position of vehicle, obtain corresponding battle array Row characteristic information.

6. vehicle positioning method according to claim 1, it is characterised in that described to identify the corresponding car park areas of vehicle The characteristic information of positioning unit array on position, obtains corresponding array features information, including：

Identify the characteristic information of the positioning unit array on vehicle car park areas position corresponding in preset time period, obtain To corresponding array features information；

Wherein, the preset time period is the period from past any instant to current time.

7. vehicle positioning method according to any one of claims 1 to 6, it is characterised in that the acquisition and the array The corresponding position of characteristic information, to obtain position of the vehicle in parking lot, including：

The array features information is sent to parking lot server；Wherein, the parking lot server gets the array After characteristic information, according to default coding rule, the array features information is correspondingly encoded, obtains characterizing the battle array The coded strings of row characteristic information, then according to the mapping relations between default car park areas position and the coded strings, really Make car park areas position corresponding with the coded strings；

Obtain the car park areas position corresponding with the coded strings that the parking lot server is sent.

8. vehicle positioning method according to any one of claims 1 to 6, it is characterised in that the acquisition and the array The corresponding position of characteristic information, to obtain position of the vehicle in parking lot, including：

The coding rule sent according to parking lot server, correspondingly encodes the array features information, is characterized The coded strings of the array features information；

Mapping relations between the car park areas position sent according to the parking lot server and the coded strings, are determined Car park areas position corresponding with the coded strings.

9. vehicle positioning method according to any one of claims 1 to 6, it is characterised in that the acquisition and the array The corresponding position of characteristic information, to obtain position of the vehicle in parking lot, including：

The array features information is sent to parking lot server, so that the parking lot server is according to default parking lot Mapping relations between regional location and the array features information, determine parking lot corresponding with the array features information Regional location；

Obtain the car park areas position corresponding with the array features information that the parking lot server is sent.

10. vehicle positioning method according to any one of claims 1 to 6, it is characterised in that the acquisition and the array The corresponding position of characteristic information, to obtain position of the vehicle in parking lot, including：

Mapping relations between the car park areas position sent according to parking lot server and the array features information, determine Go out car park areas position corresponding with the array features information.

11. a kind of vehicle positioning method, it is characterised in that for being positioned to the vehicle in parking lot, in the parking lot Different zones position be equipped with the positioning unit that is laid with different array features, the described method includes：

The characteristic information of positioning unit array where obtaining the vehicle that the vehicle is sent on car park areas position, obtains To corresponding array features information；

According to the array features information, position of the vehicle in parking lot is determined, and the position is sent to the car .

A kind of 12. parking assistance method, it is characterised in that park for the vehicle in aid parking field, the parking lot Interior different zones position is equipped with the positioning unit being laid with different array features, the described method includes：

Identify the characteristic information of the positioning unit array on the corresponding car park areas position of vehicle, obtain corresponding array features Information；

According to array features information, position of the vehicle in parking lot is determined；

According to position of the vehicle in parking lot and predetermined target parking position, corresponding parking circuit is generated；

Parking manoeuvres are carried out using the position of the parking circuit and vehicle in parking lot.

A kind of 13. Vehicle positioning system, it is characterised in that applied on vehicle, including array identifier, processor and storage Device；Wherein, following steps are realized when the processor performs the computer program preserved in the memory：

The characteristic information of the positioning unit array on the corresponding car park areas position of vehicle is identified by the array identifier, Obtain corresponding array features information；

Position corresponding with the array features information is obtained, to obtain position of the vehicle in parking lot.

A kind of 14. Vehicle positioning system, it is characterised in that including on the different zones position in parking lot with different arrays The positioning unit that feature is laid with, further includes parking lot server；Wherein, the parking lot server includes processor and deposits Reservoir；Wherein, following steps are realized when the processor performs the computer program preserved in the memory：

The characteristic information of positioning unit array where obtaining the vehicle that the vehicle is sent on car park areas position, obtains To corresponding array features information；

According to the array features information, position of the vehicle in parking lot is determined, and the position is sent to the car .