CN108225367A - A kind of positioning navigation method for shed space - Google Patents
A kind of positioning navigation method for shed space Download PDFInfo
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- CN108225367A CN108225367A CN201711479387.3A CN201711479387A CN108225367A CN 108225367 A CN108225367 A CN 108225367A CN 201711479387 A CN201711479387 A CN 201711479387A CN 108225367 A CN108225367 A CN 108225367A
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- space
- shed space
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- shed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3623—Destination input or retrieval using a camera or code reader, e.g. for optical or magnetic codes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of positioning navigation method for shed space, and shed space has the channel of setting, channel is provided with mark unit, method includes the following steps：During traveling person advances along channel, the photo in camera shooting traveling front；It determines the maximum mark unit in photo, and identifies the mark of the mark unit；Using the map of shed space, by identifying the installation site for determining mark unit in shed space；Determine position of the traveling person in shed space.The present invention also provides a kind of continuous navigation methods for non-obstructing space and shed space.Positioning navigation method provided by the present invention for shed space and the continuous navigation method for non-obstructing space and shed space, installation site of the mark unit in shed space is determined by the mark of identification, and then determine that traveling person in the position of shed space, need not carry out PERCOM peripheral communication in navigation procedure.
Description
Technical field
The present invention relates to automotive fields, and in particular to for the positioning navigation method of shed space and for non-obstructing space
With the continuous navigation method of shed space.
Background technology
At present, GPS has been widely used in navigation, however for shed space, for example, interior, underground parking, tunnel,
Viaduct, overhead lower section, due to being difficult to receive GPS signal or GPS signal is very faint, it is impossible to which accurate navigation positions.
Therefore, it is current urgent problem to be solved how navigation to be accurately positioned in shed space.
For example, for underground parking, particularly in the big shopping centre of vehicle flowrate or tourist district, even if there is parking lot management
The scene guiding of member, for huge, unfamiliar parking lot, car owners need to take a long time the idle parking stall of searching；
And be likely to be proactively found and stopped by other car owners during idle parking stall is found, have to find idle vehicle again again
Position, parking efficiency are low.
There are following several ways to find parking stall at present：
(1) artificial guidance method：This mode is commonly used in the huge occasion of the wagon flows such as hospital, i.e., in garage port by special
Personnel lead into that parking stall；
(2) indicator light signal method：In the parking lot of very well equipped, the whether idle indicator light in instruction parking stall and every is had
The vacant quantity information in a line parking stall, for driver after vacant parking stall number is seen, corresponding parking stall is found in lamp prompting as indicated；
(3) Wi-Fi/BT positioning modes：Wi-Fi or BT signal projectors are disposed by fixed position inside, pass through mobile phone
Etc. terminals receive its signal, and according to the power of signal and triangulation location principle, determine current location.
Artificial guidance method, it is less efficient, and high labor cost, poor user experience；Indicator light method, accuracy is low and failure rate
It is high；Wi-Fi/BT positioning modes, of high cost and infrastructure rebuilding are big.
Invention content
For problems of the prior art, the problem to be solved in the present invention is to provide a kind of determines for shed space
By the channel setting mark unit of the setting along shed space, the photograph in front of advancing is shot using camera for position air navigation aid
Piece determines installation site of the mark unit in shed space, and then determine traveling person in shed space by the mark of identification
Position, PERCOM peripheral communication need not be carried out in navigation procedure.
The present invention provide a kind of positioning navigation method for shed space, shed space have setting channel, along lead to
Road is provided with multiple mark units, and each unit that identifies includes unique mark, corresponding to peace of the mark unit in shed space
Holding position, method include the following steps：
During traveling person advances along channel, the photo in camera shooting traveling front；
It determines the maximum mark unit in photo, and identifies the mark of the mark unit；
The map of shed space is utilized, by identifying the installation site for determining mark unit in shed space；
Determine position of the traveling person in shed space.
Further, it is determined that traveling person is in the position of shed space, it is further comprising the steps of：
Identify unit the position of shed space for traveling person in the position of shed space.
Further, it is determined that traveling person is in the position of shed space, it is further comprising the steps of：
It estimates traveling person and identifies the first distance between unit；
Mark unit is adjusted into the first distance along the direction opposite to the traveling direction in the position of shed space, is obtained
Position is traveling person in the position of shed space.
Further, camera is monocular cam, and camera uses setting focal length f when shooting the photo in front of advancing,
It estimates traveling person and identifies the first distance between unit, include the following steps：
According to setting focal length f with identify unit in photo into image size, determine the first distance.
Further, camera is monocular cam, and camera uses setting focal length f when shooting the photo in front of advancing,
It identifies unit and includes two mark subelements spacing for the first setting spacing, estimate first between traveling person and mark unit
Distance includes the following steps：
Determine second distance of two mark subelements in photo；
According to setting focal length f and second distance, the first distance is determined.
Further, camera is binocular camera, including left side camera and the right side camera that optical axis distance is q,
The photo in camera shooting traveling front, includes the following steps：
Camera shoots the left photo in front of advancing to set focal length f on the left of use；
Meanwhile camera shoots the right photograph in front of advancing to set focal length f on the right side of use.
Further, it estimates traveling person and identifies the first distance between unit, include the following steps：
Calculate parallax d of the point on mark unit in left photo and right photograph；
- the first distance z=f*q/d.
The present invention also provides a kind of continuous navigation methods for non-obstructing space and shed space, include the following steps：
During the air navigation aid for using non-obstructing space, traveling person enters shed space, above-mentioned to be used to cover sky
Between positioning navigation method；
During being navigated in shed space using the positioning navigation method for shed space, traveling person from
Shed space is opened, is switched to the navigation in non-obstructing space.
Compared with prior art, provided by the present invention for the positioning navigation method of shed space and for non-obstructing space
With the continuous navigation method of shed space, have the advantages that：Mark is set by the channel of the setting along shed space
Unit shoots the photo in front of advancing using camera, and peace of the mark unit in shed space is determined by the mark of identification
Holding position, and then determine that traveling person in the position of shed space, need not carry out PERCOM peripheral communication in navigation procedure.
Description of the drawings
Fig. 1 is the signal of the application scenarios of the positioning navigation method for shed space of one embodiment of the present of invention
Figure；
Fig. 2 is the signal of the application scenarios of the positioning navigation method for shed space of an alternative embodiment of the invention
Figure.
Specific embodiment
The application scenarios of the positioning navigation method for shed space of one embodiment of the present of invention, as shown in Figure 1, tool
Body is underground parking, is shed space, enters underground parking when car owner drives vehicle, can not receive GPS signal, need
The positioning navigation method for shed space to be used to navigate to the parking stall of reservation.
From figure 1 it appears that shed space-underground parking has channel P1, P2 of setting, vehicle enters parking lot
The parking stall of reservation must be reached along channel P1, P2 traveling of setting afterwards.
Channel P1 is provided with mark unit M11, M12 and M13, channel P2 is provided with mark unit M21, M22, M23
And M24, each unit that identifies includes unique mark, corresponding to installation site of the mark unit in shed space.
Mark unit is provided with the unit of figure, word, number or coding towards the close direction of vehicle, in the present embodiment
Using number as identifying, the mark and mark unit that identify unit are recorded in the correspondence of the installation site of shed space
On the map in parking lot.The unit of coding, such as Quick Response Code, bar code etc. can certainly be used.
Car owner can download the map in parking lot or download map when entering parking lot in advance.
In the present embodiment, along the mark unit of channel P1, P2 setting, each pair for identifying unit and being set to channel P1, P2
Claim on axis (for channel P1, P2 of one-way trip as shown in Figure 1), and above channel P1, P2, setting height is convenient for vehicle
Camera in takes.
In other examples, can also by identify unit be arranged on channel the support column of one or both sides on, only
To use camera that can take.
In other examples, channel is opposing traffic, mark unit can be set on the symmetry axis of channel, just
Reverse side is both provided with mark unit, and the two can be that mark is identical or mark is different.Using the identical mark of mark
Know unit, it has not been convenient to distinguish the close direction of vehicle.
After vehicle enters underground parking：
During vehicle is advanced along channel, the photo in camera shooting traveling front；
It determines the maximum mark unit in photo, and identifies the mark of the mark unit；
The map of shed space is utilized, by identifying the installation site for determining mark unit in shed space；
Determine position of the vehicle in shed space.
Specifically, for example, the parking stall of reservation between M22 and M23 left side.
Vehicle is located at position shown in FIG. 1, and the shooting of vehicle-mounted forward sight camera is advanced the photo in front, in the photo of shooting
Mark unit M11, M12, M13 can be included, wherein mark unit M11 is nearest apart from vehicle, the image formed in photo is maximum；
The image is identified, identifies the mark " 11 " of mark unit M11；Using the map of shed space, according to mark " 11 "
Installation sites of the mark unit M11 in parking lot is determined, so that it is determined that current location of the vehicle in parking lot, then provides
Corresponding navigation directions.
When vehicle continues to travel along channel P1, during to below M11, M11 exceed the shooting visual angle of forward sight camera, shoots
Photo in only comprising mark unit M12, M13, wherein mark unit M12 is nearest apart from vehicle, the image formed in photo
It is maximum；The image is identified, identifies the mark " 12 " of mark unit M12；Using the map of shed space, according to mark
" 12 " determine installation sites of the mark unit M12 in parking lot, so that it is determined that current location of the vehicle in parking lot, then
Provide corresponding navigation directions.
Can be included when vehicle is bent to according to navigation directions right-hand rotation on channel P2, in the photo of shooting mark unit M21,
Wherein the image that mark unit M21 is formed in photo is maximum, working as vehicle is determined according to mark unit M21 by M22, M23, M24
Front position；Vehicle continues to move forward, and the current location of vehicle is determined according to mark unit M22, the parking stall preengage at this time is located at
The left front of vehicle.
In entire navigation procedure, vehicle need to only take maximum mark without communicating with external server by identification
Know unit, you can the position of vehicle is determined, by guiding vehicle to the parking stall specified.
And for underground parking, set and safeguard that mark unit is relatively simple along channel, it can be with low cost
Mode makes car owner be quickly found out idle or reservation parking stall, improves parking efficiency, car owner is facilitated to stop.
In the present embodiment, it is believed that mark unit in the position of shed space is vehicle in the position of shed space.
Certainly it is positioned such that and, this is because when only M11 is located at vehicle front, can be just photographed there are deviation, and vehicle travels
When below to M11, since M11 has exceeded the shooting visual angle of camera, M11 is not appeared in photo.
In another embodiment, determine that vehicle in the position of shed space, includes the following steps：
It estimates vehicle and identifies the first distance between unit；
Mark unit is adjusted into the first distance along the direction opposite to the traveling direction in the position of shed space, is obtained
Position is traveling person in the position of shed space.
By using the current location of the first distance correction vehicle, vehicle more accurately current location is obtained so that positioning
Navigation is more accurate.
Specifically, vehicle-mounted forward sight camera is monocular cam, and camera is used when shooting the photo in front of advancing and set
Fixed-focus estimates vehicle and identifies the first distance between unit, include the following steps away from f：
According to setting focal length f with identify unit in photo into image size, determine the first distance.
For example, can store one by survey obtain tables of data, including multi-group data, every group include focal length,
Identify unit in photo institute into image length/width and vehicle and identify unit between the first distance.
In navigation procedure, by set focal length f with identify unit in photo institute into image length/width, inquire
The tables of data determines vehicle and identifies the first distance between unit.By using the current location of the first distance correction vehicle,
Obtain vehicle more accurately current location.
In yet another embodiment, camera is monocular cam, and camera is used when shooting the photo in front of advancing and set
For fixed-focus away from f, mark unit includes two mark subelements of the spacing for the first setting spacing, such as 1 meter, estimation vehicle and mark
The first distance between unit, includes the following steps：
Determine second distance of two mark subelements in photo；
According to setting focal length f and second distance, the first distance is determined.
Specifically, one can also be stored by surveying the tables of data obtained, including multi-group data, every group of data include coke
Away from the first distances between, two second distances and vehicle of the mark subelements in photo and mark unit.
In navigation procedure, by setting second distance of the two mark subelements of focal length f in photo, the data are inquired
Table determines vehicle and identifies the first distance between unit.By using the current location of the first distance correction vehicle, vehicle is obtained
More accurately current location.
In yet another embodiment, it is q including optical axis distance as shown in Fig. 2, vehicle-mounted forward sight camera is binocular camera
Left side camera CL and right side camera CR, the central point of left side camera CL is A, and the central point of right side camera CR is B.
The photo in camera shooting traveling front, includes the following steps：
Camera CL shoots the left photo in front of advancing to set focal length f on the left of use；
Meanwhile camera CR shoots the right photograph in front of advancing to set focal length f on the right side of use.
It estimates vehicle and identifies the first distance between unit M11, be approximately mark unit M11 and binocular camera shooting head plane
Distance, include the following steps：
Calculate parallax ds of the point S on mark unit M11 in left photo and right photograph：
D=EC+DF,
According to the similitude of triangle ACE and SOA and BDF and SOB, can obtain：
D=f*q/z；
- f and q may be considered preset parameter, the first distance z=f*q/d.
When this navigation mode can be applied equally to car owner's pick-up, traveling person is pedestrian at this time, and car owner is used on mobile phone
Navigation application, shot using the camera of mobile phone, identify the mark in the maximum mark unit in photo；So as to really
Determine position of the car owner in shed space.
This navigation mode can be applied equally to robot navigation, such as large warehoused space, and traveling person is machine at this time
Device people.
The positioning navigation method for shed space in the present embodiment, can be used for other indoor scenes, such as greatly
Type exhibition, recruitment fair etc. can be used for tunnel, viaduct or overhead lower section, more accurate fixed by identifying unit progress
Position navigation.
In addition a navigation application is used in non-obstructing space, into shed space, needs to start another navigation application,
Such as the doorway of museum, startup navigation not only make troubles, it is also possible to cause gathering around for entrance to the use of user indoors
It is stifled.
The continuous navigation method for non-obstructing space and shed space of one embodiment of the present of invention, including following step
Suddenly：
During the air navigation aid for using non-obstructing space, traveling person enters shed space, above-mentioned to be used to cover sky
Between positioning navigation method；
During being navigated in shed space using the positioning navigation method for shed space, traveling person from
Shed space is opened, is switched to the navigation in non-obstructing space.
Although the present invention has been disclosed in the preferred embodiments as above, present invention is not limited to this.Any art technology
Personnel, the various changes made without departing from the spirit and scope of the present invention and modification, should all be included in the protection model of the present invention
In enclosing, therefore protection scope of the present invention should be subject to claim limited range.
Claims (8)
1. a kind of positioning navigation method for shed space, which is characterized in that the shed space has the channel of setting, edge
Channel is provided with multiple mark units, and each unit that identifies includes unique mark, corresponding to mark unit in shed space
Installation site, the described method comprises the following steps：
During traveling person advances along channel, the photo in camera shooting traveling front；
It determines the maximum mark unit in photo, and identifies the mark of the mark unit；
The map of shed space is utilized, installation site of the mark unit in shed space is determined by the mark；
Determine position of the traveling person in shed space.
2. it to be used for the positioning navigation method of shed space as described in claim 1, which is characterized in that determine that traveling person is being covered
The position in space, includes the following steps：
It is described mark unit the position of shed space for traveling person in the position of shed space.
3. it to be used for the positioning navigation method of shed space as described in claim 1, which is characterized in that determine that traveling person is being covered
The position in space, includes the following steps：
Estimate the first distance between traveling person and the mark unit；
The mark unit is adjusted into the first distance along the direction opposite to the traveling direction in the position of shed space, is obtained
Position is traveling person in the position of shed space.
4. it to be used for the positioning navigation method of shed space as claimed in claim 3, which is characterized in that camera is imaged for monocular
Head, camera uses when shooting the photo in front of advancing sets focal length f, and first between estimation traveling person and the mark unit
Distance includes the following steps：
According to setting focal length f with it is described mark unit in photo into image size, determine the first distance.
5. it to be used for the positioning navigation method of shed space as claimed in claim 3, which is characterized in that camera is imaged for monocular
Head using setting focal length f when camera shoots the photo in front of advancing, identifies unit and includes two of spacing for the first setting spacing
A mark subelement is estimated the first distance between traveling person and the mark unit, is included the following steps：
Determine second distance of two mark subelements in photo；
According to setting focal length f and second distance, the first distance is determined.
6. it to be used for the positioning navigation method of shed space as claimed in claim 3, which is characterized in that camera is binocular camera shooting
Head, including left side camera and the right side camera that optical axis distance is q, the photo in camera shooting traveling front, including following
Step：
Camera shoots the left photo in front of advancing to set focal length f on the left of use；
Meanwhile camera shoots the right photograph in front of advancing to set focal length f on the right side of use.
7. as claimed in claim 6 be used for shed space positioning navigation method, which is characterized in that estimation traveling person with it is described
The first distance between unit is identified, is included the following steps：
Calculate parallax d of the point on the mark unit in left photo and right photograph；
- the first distance z=f*q/d.
A kind of 8. continuous navigation method for non-obstructing space and shed space, which is characterized in that the method includes following
Step：
During the air navigation aid for using non-obstructing space, traveling person enters shed space, is switched to claim 1-7
Any one of them is used for the positioning navigation method of shed space；
During being navigated in shed space using the positioning navigation method for shed space, traveling person leaves screening
Space is covered, is switched to the navigation in non-obstructing space.
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| CN201711479387.3A CN108225367A (en) | 2017-12-29 | 2017-12-29 | A kind of positioning navigation method for shed space |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110675647A (en) * | 2018-07-03 | 2020-01-10 | 方文淋 | Method for guiding designated parking space of underground parking lot |
| WO2020177492A1 (en) * | 2019-03-05 | 2020-09-10 | 于毅欣 | Indoor or inter-building positioning and navigating method and apparatus, computer readable and writable medium, and electronic device |
| CN111664829A (en) * | 2019-03-08 | 2020-09-15 | 上海博泰悦臻电子设备制造有限公司 | Correction method, correction device and computer storage medium |
| WO2021036210A1 (en) * | 2019-08-23 | 2021-03-04 | 华为技术有限公司 | Positioning method and positioning device |
| CN112644479A (en) * | 2021-01-07 | 2021-04-13 | 广州小鹏自动驾驶科技有限公司 | Parking control method and device |
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Address after: 200082 538 Dalian Road, Yangpu District, Shanghai Applicant after: Mainland Investment (China) Co., Ltd. Address before: 200082 538 Dalian Road, Yangpu District, Shanghai Applicant before: Continental Automotive Asia Pacific (Beijing) Co., Ltd. |
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Application publication date: 20180629 |