CN108307314A - A kind of vehicle locating device - Google Patents
A kind of vehicle locating device Download PDFInfo
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- CN108307314A CN108307314A CN201610744218.7A CN201610744218A CN108307314A CN 108307314 A CN108307314 A CN 108307314A CN 201610744218 A CN201610744218 A CN 201610744218A CN 108307314 A CN108307314 A CN 108307314A
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Abstract
The present invention provides a kind of vehicle locating device, for solving the problems, such as that there is no a kind of consuming resource is less, accuracy is higher and can carry out the vehicle locating device of Global localization in the prior art.The device includes：Local positioning module obtains the local positioning result at vehicle current time for carrying out local positioning to vehicle；Target locating module, for according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture target positioning result, determine the target positioning result at vehicle current time.
Description
Technical field
The present embodiments relate to field of locating technology more particularly to a kind of vehicle locating devices.
Background technology
With the development of science and technology vehicle is more and more widely used in people’s lives.Wherein, in the prior art
In, it is commonly used and arrives vehicle positioning technology.Since the technology is conducive to preferably plan vehicle vehicle line, vehicle
Location technology is important.
Vehicle locating device so in the prior art can be mainly divided into following three classes：
The first kind：GPS positioning device, this device are based on global positioning system (Global Positioning
System, GPS) carry out Global localization.But GPS positioning device is utilized to position, it is easy to by number of satellite and position, big
Various influences such as shielding of gas-bearing formation condition, barrier, especially in complicated urban road environment, barrier is more, entirely
Office's positioning result error is larger.
Second class：High-precision map positioning device, global localization method of this device based on high-precision map carry out high
Precision Global localization.Although the accuracy of the Global localization information obtained using this method is higher, positioned using this method,
It needs model simultaneously continuous updating to road environment in advance, cost is higher, can expend more resource.
Third class：Local locating device, this positioning device are based on local locating method and carry out local positioning, such as vision
Odometer local locating method etc..But local locating method is only capable of getting vehicle in the relative position pass of local coordinate system
System, and the relative position relation can generate accumulated error with the increase of distance, in addition, since such methods can not provide
Location information in global coordinate system can bring difficulty to decision of the user in complex environment and route planning.
As shown in the above, there are a variety of different drawbacks in a variety of different positioning devices in the prior art, existing
Have in technology and there is no a kind of consuming resource is less, accuracy is higher and can carry out the vehicle locating device of Global localization.
Invention content
The embodiment of the present invention provides a kind of vehicle locating device, to solve that a kind of consuming resource is not present in the prior art
It is less, accuracy is higher and the problem of capable of carrying out the vehicle locating device of Global localization.
The present invention provides a kind of vehicle locating device, including：
Local positioning module obtains the local positioning result at vehicle current time for carrying out local positioning to vehicle；
Target locating module is used for the local positioning according to the vehicle current time as a result, and the vehicle history
The target positioning result at moment determines the target positioning result at vehicle current time.
Preferably, target locating module is used for：
When carrying out local positioning to vehicle, rough Global localization is carried out to the vehicle, obtains the vehicle current time
Global localization result；
Judge whether the accuracy of the Global localization result at the vehicle current time is less than default accuracy；If less than pre-
If accuracy, then according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture target positioning
As a result, determining the target positioning result at vehicle current time；If not less than default accuracy, by the vehicle current time
What Global localization result was determined as vehicle current time is targeted by result.
Preferably, target locating module is used for：
Using base station location and/or the method for wireless network WIFI positioning, rough Global localization is carried out to the vehicle.
Preferably, local positioning module is used for：
Using local locating method, local positioning is carried out to vehicle, obtains the local positioning result at vehicle current time；Its
In, the local positioning result at the vehicle current time includes the vehicle operation rail at last moment to the current time
Mark.
Preferably, target locating module is used for：
Obtain the target positioning result at second moment of target positioning result and vehicle at the first moment of the vehicle；Its
In, the first moment, the second moment, first moment was earlier than the second moment earlier than current time；The track is described the
The vehicle running orbit at two moment to the current time；
According to the track, the corresponding coordinate of target positioning result at the first moment, the target positioning result at the second moment
Corresponding coordinate determines the coordinate at the vehicle current time, the target positioning result as current time.
A kind of vehicle locating device provided in an embodiment of the present invention obtains vehicle and works as by carrying out local positioning to vehicle
The local positioning at preceding moment is as a result, then according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture
Target positioning result be not present in the prior art to determine the target positioning result at vehicle current time to solve
A kind of consuming resource is less, accuracy is higher and the problem of capable of carrying out the vehicle locating device of Global localization.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of vehicle positioning method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another vehicle positioning method provided in an embodiment of the present invention；
Fig. 3 is provided in an embodiment of the present invention by T1The vehicle running orbit figure at moment to current time；
Fig. 4 is vehicle T provided in an embodiment of the present invention1Position display figure of the moment in rectangular coordinate system；
Fig. 5 is vehicle driving trace provided in an embodiment of the present invention display figure；
Fig. 6 is another vehicle driving trace display figure provided in an embodiment of the present invention；
A kind of Fig. 7 structural schematic diagrams of vehicle locating device provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment 1
The present invention provides a kind of vehicle locating device, to solve to be not present in the prior art a kind of consuming resource it is less,
Accuracy is higher and the problem of capable of carrying out the vehicle locating device of Global localization.Wherein, which is based on one kind
Vehicle positioning method is realized.So embodiment 1 is described in detail for a kind of this vehicle positioning method.
For ease of description, hereafter executive agent in this way be vehicle-mounted console for, to the embodiment of this method
It is introduced.It is appreciated that it is a kind of illustrative explanation that the executive agent of this method, which is vehicle-mounted console, and should not be understood
For the restriction to this method.
The idiographic flow schematic diagram of this method is as shown in Figure 1, include the following steps：
Step 101, local positioning is carried out to vehicle, obtains the local positioning result at vehicle current time.
Vehicle-mounted console can utilize local locating method, carry out local positioning to vehicle, obtain vehicle current time
Local positioning result.Wherein, the local positioning result at the vehicle current time includes last moment to the current time
The vehicle running orbit.
Step 102, according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture target
Positioning result determines the target positioning result at the vehicle current time.
When vehicle-mounted console carries out local positioning to vehicle, rough Global localization can be carried out to the vehicle, obtain institute
The Global localization at vehicle current time is stated as a result, then judging that the accuracy of the Global localization result at the vehicle current time is
It is no to be less than default accuracy.If less than default accuracy, according to the local positioning at the vehicle current time as a result, and institute
The target positioning result for stating the vehicle historical juncture determines the target positioning result at vehicle current time；If accurate not less than default
Degree is then targeted by result by what the Global localization result at the vehicle current time was determined as vehicle current time.
Wherein, the method that vehicle-mounted console can utilize base station location and/or wireless network WIFI positioning, to the vehicle
Carry out rough Global localization.
Specifically, when vehicle-mounted console can obtain the target positioning result and vehicle the second at the first moment of the vehicle
The target positioning result at quarter, according to the track, the corresponding coordinate of target positioning result at the first moment, the target at the second moment
The corresponding coordinate of positioning result determines the coordinate at the vehicle current time, the target positioning result as current time.
Wherein, the first moment, the second moment, first moment was earlier than the second moment earlier than current time.The rail
Mark is the vehicle running orbit at second moment to the current time.
A kind of vehicle locating device provided by the invention is based on above-mentioned vehicle positioning method, by carrying out part to vehicle
Positioning, obtain vehicle current time local positioning as a result, then according to the local positioning at the vehicle current time as a result, and
The target positioning result of the vehicle historical juncture, it is existing to solve to determine the target positioning result at vehicle current time
Have in technology there is no a kind of consuming resource is less, accuracy is higher and can carry out asking for the vehicle locating device of Global localization
Topic.
Embodiment 2
The present invention provides a kind of vehicle locating device, to solve to be not present in the prior art a kind of consuming resource it is less,
Accuracy is higher and the problem of capable of carrying out the vehicle locating device of Global localization.Wherein, which is based on one kind
Vehicle positioning method is realized.So embodiment 2 is described in detail for a kind of this vehicle positioning method.
For ease of description, hereafter executive agent in this way be vehicle-mounted console for, to the embodiment of this method
It is introduced.It is appreciated that it is a kind of illustrative explanation that the executive agent of this method, which is vehicle-mounted console, and should not be understood
For the restriction to this method.
The idiographic flow schematic diagram of this method is as shown in Fig. 2, include the following steps：
Step 201, local positioning and rough Global localization are carried out to vehicle simultaneously respectively, obtains vehicle current time
Local positioning result and the Global localization result at vehicle current time.
Wherein, it is above-mentioned to vehicle carry out local positioning be relative to vehicle carry out Global localization for, ordinary circumstance
Under, Global localization is carried out to vehicle, specific location information of the current time vehicle in the whole world can be got, such as currently
The corresponding latitude and longitude coordinates in moment vehicle position, and local positioning is carried out to vehicle, the traveling rail of vehicle can only be got
Mark, and more specific location information of the current time vehicle in the whole world can not be got.
In embodiments of the present invention, vehicle-mounted console can utilize local locating method, carry out local positioning to vehicle, obtain
The local positioning result at pick-up current time.Wherein, vehicle-mounted console can be located at any position in vehicle car, this hair
Bright embodiment is to this without any restriction.In addition, the local positioning at vehicle current time is as a result, including last moment to currently
The vehicle running orbit at moment.For example, as shown in figure 3, the line between the midpoints Fig. 3 a and point b be last moment to it is current when
The vehicle running orbit at quarter.Arrow direction is for showing that vehicle is travelled from point a to point b in figure.
In practical applications, image collecting device, such as camera etc. can be installed at front windshield of vehicle in advance
Device, vehicle-mounted console can utilize the image information in image acquisition device vehicle traveling road, then according to vision
This local locating method of odometer gets vehicle driving trace by calculating accordingly.Wherein, onboard control console can be with
Local positioning is carried out to vehicle according to the first prefixed time interval.First prefixed time interval can be arbitrary time span.
In the embodiment of the present invention, by the as small as possible of the first prefixed time interval setting, such as 0.01 second~0.1 second etc., so as to
Get more accurate vehicle driving trace.
It should be strongly noted that local positioning is carried out to vehicle using this local locating method of visual odometry, though
Vehicle running orbit can be so got, but the absolute travel direction of vehicle can not be got, i.e., vehicle is now southern towards thing
Which northern direction running.
In the embodiment of the present invention, in order to which the Global localization at accurate vehicle current time can be got as a result, i.e. vehicle
The target positioning result at current time, when carrying out local positioning to vehicle, vehicle-mounted console can also carry out the vehicle rough
Global localization obtains the Global localization result at vehicle current time.
In the embodiment of the present invention 2, vehicle-mounted console can utilize the side of base station location and/or wireless network WIFI positioning
Method carries out rough Global localization to vehicle, obtains the Global localization result at vehicle current time.
Specifically, the method that vehicle-mounted console can utilize base station location and/or wireless network WIFI positioning, to vehicle into
The rough Global localization of row, obtains the Global localization result at vehicle current time.
Wherein, vehicle-mounted console carries out vehicle rough using base station location and/or the method for wireless network WIFI positioning
Global localization, the Global localization at the vehicle current time got is as a result, include the longitude and latitude of vehicle current time position
Coordinate.Onboard control console can carry out Global localization according to the second prefixed time interval to vehicle.Second prefixed time interval
Can be arbitrary time span, such as 0.1 second or 0.01 second etc..It should be strongly noted that the first prefixed time interval and
Two prefixed time intervals may be the same or different, and the embodiment of the present invention is to this without any restriction.
Vehicle-mounted console is using base station location and/or the method for wireless network WIFI positioning, in addition to that can get vehicle
Outside the Global localization result at current time, the accuracy of the Global localization result can also be got.Wherein, pass through base station location
And/or the method for wireless network WIFI positioning, the Global localization at the vehicle current time got as a result, by base station and/or
The influence of the factors such as quantity, density and the position arrangement of WIFI signal.Since in practical application, vehicle is in different geography
When position, the base station of surrounding and/or the quantity of WIFI signal, density, position arrangement are different, therefore, the vehicle got
The accuracy of the Global localization result at current time is also different.Wherein, the standard of the Global localization result at vehicle current time
Exactness is higher, shows that positioning is more accurate.
It should be strongly noted that carry out rough Global localization to the vehicle, do not suggest that using base station location and/or
The method of wireless network WIFI positioning, the accuracy of the Global localization result at the vehicle current time got be not high, wherein profit
With base station location and/or the method for wireless network WIFI positioning, the standard of the Global localization result at the vehicle current time got
Exactness is higher, only compared with the method for the Global localization in the prior art based on high-precision map, is based on high-precision map
Global localization the accuracy of Global localization result that gets of method it is more stable, utilize base station location and/or wireless network
The bat for the Global localization result that the method for WIFI positioning is got, is less than the Global localization based on high-precision map
The bat of Global localization result that gets of method.The method of Global localization based on high-precision map needs pre-
First model simultaneously continuous updating to road environment, cost is higher, can expend more resource.And referred in the embodiment of the present invention
Base station location and/or the method for wireless network WIFI positioning are without expending more resource, using already existing in real life
Base station and/or WIFI can carry out Global localization to vehicle, and the Global localization result precision finally got is higher, and should
Method saves resource.
Step 202, judge whether the accuracy of the Global localization result at the vehicle current time is less than default accuracy；
If less than default accuracy, 204 are thened follow the steps；If not less than default accuracy, 203 are thened follow the steps.
By step 201 it is found that vehicle-mounted console utilizes the method that base station location and/or wireless network WIFI are positioned, in addition to
The Global localization at vehicle current time can be got as a result, the accuracy of the Global localization result can also be got.So
Vehicle-mounted console can judge vehicle current time according to the accuracy of the Global localization result at the vehicle current time got
The accuracy of Global localization result whether be less than default accuracy；If less than default accuracy, 204 are thened follow the steps；If no
Less than default accuracy, 203 are thened follow the steps.
Step 203, the Global localization result at the vehicle current time is determined as to the target at vehicle current time to position
As a result.
Wherein it is possible to by by carrying out the vehicle that the accuracy that Global localization is got is not less than default accuracy to vehicle
The Global localization of historical juncture is as a result, be determined as the target positioning result of vehicle historical juncture.
Step 204, according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture target
Positioning result determines the target positioning result at the vehicle current time.
Wherein, it should be noted that if since carrying out Global localization to vehicle, until current time, can not obtain
It is not less than the Global localization of default accuracy to accuracy as a result, just abandoning those Global localization results, then just can not lead to
It crosses and executes step 203 and get being targeted by as a result, step 204 can not be executed in turn of vehicle historical juncture.
If since carrying out Global localization to vehicle, until current time, accuracy can be got not less than default
The Global localization of the historical juncture of accuracy as a result, and the accuracy of the Global localization result at vehicle current time be less than default standard
Exactness, then step 203 can be executed, the Global localization result that accuracy is not less than to the historical juncture of default accuracy determines
For being targeted by as a result, in addition can be by executing step 204, to obtain the target at vehicle current time for vehicle historical juncture
Positioning result.
If it should be strongly noted that carrying out local positioning to vehicle, the absolute travel direction of vehicle can not be got, that
If the target positioning result of a vehicle historical juncture can only be got, when just can not obtain current by executing step 204
That carves is targeted by as a result, in this case, only when getting the target positioning result of at least two vehicle historical junctures,
It just can be by executing step 204, to obtain the target positioning result at vehicle current time；If carrying out local positioning to vehicle,
The absolute travel direction of vehicle can be got, then the target positioning result of a vehicle historical juncture is only got,
To be targeted by result by execution step 204 acquisition current time.
(1) if carrying out local positioning to vehicle, the absolute travel direction of vehicle can not be got, a vehicle can only be got
When the target positioning result of historical juncture, why illustrate cannot be obtained currently under this case by executing step 204
Moment is targeted by result.
For example, as shown in figure 3, straightway between the point a in the figure and point b is vehicle from T1When moment drives to current
The vehicle running orbit at quarter, i.e. the local positioning result at vehicle current time.Wherein, T1Moment and current time be to vehicle into
The adjacent moment of row positioning.Wherein, the engineer's scale of Fig. 3 is 1:The length of straightway between 10, Fig. 3 midpoint a and point b is 0.5
Centimetre, therefore vehicle is from T1The distance that moment to current time travels in real world can be got, which is 5
Rice.And vehicle is by T1Moment drives to current time, is to which direction running of the four corners of the world, this can not know.
As shown in figure 4, the corresponding coordinates of point c in Fig. 4 are vehicle T1The target positioning result at moment is converted to straight
Coordinate in angular coordinate system.Wherein, coordinate system shown in Fig. 4 is using east as X-axis positive direction, with the north for Y-axis positive direction.By
It is less than default accuracy in the Global localization result precision at current time, then abandon should be as a result, do not show in Fig. 4.
Wherein, this software of Mapgis can be utilized in the embodiment of the present invention, by vehicle T1The target positioning result at moment is converted to directly
Coordinate in angular coordinate system.
Although can according to the point a in the point c and Fig. 3 in Fig. 4 and the line segment between point b, i.e. vehicle running orbit,
Determine that the distance between at least two and c points are equal to 5 meters of point in Fig. 4, but due to can not be in local positioning result
Know the absolute travel direction of vehicle, therefore, it is impossible in the above-mentioned point determined, determines that vehicle current time sits at right angle
The point at real place in mark system, thus the target positioning result at vehicle current time can not be obtained.Wherein, if in local positioning knot
Can know the absolute travel direction of vehicle in fruit, then can according to fig. 3 in the vehicle driving trace and vehicle that show
Absolute travel direction, for example travel eastwards, determine that the distance between one and c points are equal to 5 meters of point, and the point in Fig. 4
In the east of point c.By the coordinate transformation of the point at latitude and longitude coordinates, then when the latitude and longitude coordinates being converted into are that vehicle is current
The target positioning result at quarter.
(2) if to vehicle carry out local positioning, the absolute travel direction of vehicle can not be got, the following detailed description of how
Worked as to obtain vehicle by executing step 204 in the target positioning result for getting at least two vehicle historical junctures
If the target positioning result at preceding moment carries out local positioning to vehicle：
The target that onboard control console can obtain second moment of target positioning result and vehicle at the first moment of vehicle is fixed
Position is as a result, then fixed according to vehicle running orbit, the corresponding coordinate of target positioning result at the first moment, the target at the second moment
The corresponding coordinate of position result, determines the coordinate at vehicle current time, the target positioning result as vehicle current time.Wherein,
First moment, the second moment are earlier than current time, and the first moment is earlier than the second moment.In addition, vehicle running orbit is the
The vehicle running orbit at two moment to current time.It should be strongly noted that the first moment and the second moment, the second moment with
Current time can be adjacent positioned moment or non-adjacent positioning moment, and the present invention is to this without any restriction.
It should be strongly noted that when being positioned to vehicle using local locating method, due to by first it is default when
Between interval be arranged with the second prefixed time interval it is small as possible, it is possible to by the vehicle running orbit between the adjacent positioned moment
Regard straightway as.
The first situation：If the first moment and the second moment, the second moment and current time are the adjacent positioned moment, can
Using this software of Mapgis, the target positioning result at the first moment of vehicle, the target at the second moment of vehicle to be positioned respectively
As a result, and the Global localization result at vehicle current time be converted to the coordinate in rectangular coordinate system, for example, as shown in figure 5, figure
Point S in rectangular coordinate system in 51, point S2And point S3The respectively target positioning result, vehicle second at the first moment of vehicle
The target positioning result at moment and the Global localization result at vehicle current time are converted to the coordinate points in rectangular coordinate system.
Wherein, the vehicle running orbit at the first moment to the second moment can use point S1With point S2Between real segment indicate, due to vehicle
The accuracy of the Global localization result at current time is less than default accuracy, then the vehicle at the second moment to current time runs rail
Mark can use point S2With point S3Between phantom line segments indicate.
Then the vehicle running orbit for including according to local positioning result obtains the traveling at the second moment to current time
Distance and vehicle are by the vehicle traffic direction at the second moment to current time compared to vehicle by the first moment to the second moment
Vehicle traffic direction between deflection angle.For example, as shown in figure 5, the broken line in round frame in Fig. 5 is for indicating that part is fixed
The vehicle running orbit at the first moment to the current time that position result includes.Point d indicates the position of the first moment vehicle, point e
Indicate that the position of the second moment vehicle, point f indicate the position of current time vehicle.Straightway de is for indicating local positioning result
The vehicle running orbit at the first moment for including to the second moment, straightway ef is for indicating that local positioning result includes
The vehicle running orbit at the second moment to current time.Wherein, the distance in the real world represented by straightway ef, i.e., second
Angle between the extended line and straightway ef of the travel distance A at moment to current time, straightway de, i.e., when vehicle is by second
Be carved into the vehicle traffic direction at current time compared to vehicle by the first moment to the second moment vehicle traffic direction deflection
Angle beta.
Vehicle-mounted console determines a point S according to above-mentioned distance A and deflection angle β in above-mentioned rectangular coordinate system3＇
And its coordinate.Wherein, S3＇ and S2Between straightway and S1And S2Between straightway extended line formed angle be equal to β,
S3＇ and S2Between length of straigh line represented by real world in distance be equal to A.So by S3The coordinate transformation of ＇ is at longitude and latitude
Coordinate is spent, which is just the target positioning result at vehicle current time.
The second situation：If the first moment and the second moment and/or the second moment and current time are not adjacent positioned
It carves, the method in the first situation can be still continued to use, according to the deflection between the vehicle running orbit in local positioning result
Angle, and determine by the vehicle travel distance at the second moment to current time the target positioning result at vehicle current time.
But, it is not the adjacent positioned moment with current time due to the first moment and the second moment and/or the second moment, then true
Determine the deflection angle of vehicle traffic direction, and the process of the determining vehicle travel distance by the second moment to current time, with
The first situation is different.
Wherein it is possible to using this software of Mapgis, respectively by the target positioning result at the first moment of vehicle, vehicle second
The target positioning result at moment and the Global localization result at vehicle current time are converted to the coordinate in rectangular coordinate system, example
Such as, as shown in fig. 6, point S in rectangular coordinate system in Fig. 64, point S5And point S6The target at respectively the first moment of vehicle is fixed
Position result, the target positioning result at the second moment of vehicle and the Global localization result at vehicle current time conversion seat at a right angle
Coordinate points in mark system.Wherein, with solid line tie point S4With point S5, S is connected with dotted line5With point S6.It should be noted that point
S4, point S5And point S6Between, there are other points, those points are the first moment and the second moment, the second moment and current time
Between other history positioning the moment vehicle position.
Then according to the local positioning of vehicle as a result, determine straight line between the second moment of vehicle and current time away from
From, and determine straightway and the second moment that the first moment vehicle position is formed with the second moment vehicle position
Angle between the straightway that vehicle position and current time vehicle position are formed.For example, as shown in fig. 6, in Fig. 6
Round frame in point g, h, f be respectively the first moment, the second moment and current time vehicle position, determine straightway
Angle γ between the extended line and straightway hf of distance B and straightway gh in real world represented by hf, wherein
Since the extended line of the straightway gh in Fig. 6 is overlapped with straightway hf, γ is 0 degree, then just not showing γ in figure 6.It needs
It is noted that between point g, point h and point f, there are other points, those points are the first moment and the second moment, second
The vehicle position at other history positioning moment between moment and current time.
Vehicle-mounted console determines a point S according to B and γ in above-mentioned rectangular coordinate system6＇ and its coordinate.Wherein, directly
Line segment S5S6＇ and straightway S4S5Extended line formed angle be equal to γ, S6＇ and S5Between length of straigh line represented by it is true
Distance in the real world is equal to B.So by S6For the coordinate transformation of ＇ at latitude and longitude coordinates, which is just that vehicle is current
The target positioning result at moment.
In the embodiment of the present invention, a kind of vehicle locating device is also provided, to solve that a kind of consumption is not present in the prior art
Take that resource is less, accuracy is higher and the problem of capable of carrying out the vehicle locating device of Global localization.The specific signal of the device
Figure is as shown in fig. 7, include mainly following apparatus：
Local positioning module 71 obtains the local positioning result at vehicle current time for carrying out local positioning to vehicle；
Target locating module 72, for according to the local positioning at the vehicle current time as a result, and the vehicle go through
The target positioning result at history moment determines the target positioning result at vehicle current time.
In one embodiment, target locating module 72, is used for：
When carrying out local positioning to vehicle, rough Global localization is carried out to the vehicle, obtains the vehicle current time
Global localization result；
Judge whether the accuracy of the Global localization result at the vehicle current time is less than default accuracy；If less than pre-
If accuracy, then according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture target positioning
As a result, determining the target positioning result at vehicle current time；If not less than default accuracy, by the vehicle current time
What Global localization result was determined as vehicle current time is targeted by result.
In one embodiment, target locating module 72, is used for：
Using base station location and/or the method for wireless network WIFI positioning, rough Global localization is carried out to the vehicle.
In one embodiment, local positioning module 71, is used for：
Using local locating method, local positioning is carried out to vehicle, obtains the local positioning result at vehicle current time；Its
In, the local positioning result at the vehicle current time includes the vehicle operation rail at last moment to the current time
Mark.
In one embodiment, target locating module 72, is used for：
Obtain the target positioning result at second moment of target positioning result and vehicle at the first moment of the vehicle；Its
In, the first moment, the second moment, first moment was earlier than the second moment earlier than current time；The track is described the
The vehicle running orbit at two moment to the current time；
According to the track, the corresponding coordinate of target positioning result at the first moment, the target positioning result at the second moment
Corresponding coordinate determines the coordinate at the vehicle current time, the target positioning result as current time.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
It is physically separated with being or may not be, the component shown as unit may or may not be physics list
Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case of, you can to understand and implement.
A kind of vehicle positioning method and device provided in an embodiment of the present invention are obtained by carrying out local positioning to vehicle
The local positioning at vehicle current time as a result, then according to the local positioning at the vehicle current time as a result, and the vehicle go through
The target positioning result at history moment, to determine the target positioning result at vehicle current time, to solve in the prior art
That there is no a kind of consuming resources is less, accuracy is higher and the problem of capable of carrying out the vehicle locating device of Global localization.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (5)
1. a kind of vehicle locating device, which is characterized in that including：
Local positioning module obtains the local positioning result at vehicle current time for carrying out local positioning to vehicle；
Target locating module is used for the local positioning according to the vehicle current time as a result, and the vehicle historical juncture
Target positioning result, determine the target positioning result at vehicle current time.
2. device as described in claim 1, which is characterized in that target locating module is used for：
When carrying out local positioning to vehicle, rough Global localization is carried out to the vehicle, obtains the complete of the vehicle current time
Office's positioning result；
Judge whether the accuracy of the Global localization result at the vehicle current time is less than default accuracy；If less than default standard
Exactness, then according to the local positioning at the vehicle current time as a result, and the vehicle historical juncture target positioning result,
Determine the target positioning result at vehicle current time；If not less than default accuracy, by the overall situation at the vehicle current time
What positioning result was determined as vehicle current time is targeted by result.
3. device as claimed in claim 2, which is characterized in that target locating module is used for：
Using base station location and/or the method for wireless network WIFI positioning, rough Global localization is carried out to the vehicle.
4. device as described in claim 1, which is characterized in that local positioning module is used for：
Using local locating method, local positioning is carried out to vehicle, obtains the local positioning result at vehicle current time；Wherein,
The local positioning result at the vehicle current time includes the vehicle running orbit at last moment to the current time.
5. device as claimed in claim 4, which is characterized in that target locating module is used for：
Obtain the target positioning result at second moment of target positioning result and vehicle at the first moment of the vehicle；Wherein,
One moment, the second moment, first moment was earlier than the second moment earlier than current time；The track is second moment
To the vehicle running orbit at the current time；
It is corresponded to according to the track, the corresponding coordinate of target positioning result at the first moment, the target positioning result at the second moment
Coordinate, determine the coordinate at the vehicle current time, the target positioning result as current time.
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| CN201610744218.7A CN108307314A (en) | 2016-08-26 | 2016-08-26 | A kind of vehicle locating device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610744218.7A CN108307314A (en) | 2016-08-26 | 2016-08-26 | A kind of vehicle locating device |
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| CN108307314A true CN108307314A (en) | 2018-07-20 |
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| CN201610744218.7A Withdrawn CN108307314A (en) | 2016-08-26 | 2016-08-26 | A kind of vehicle locating device |
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| WO2021238283A1 (en) * | 2020-05-25 | 2021-12-02 | 华为技术有限公司 | Positioning method and positioning apparatus |
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