CN108415051A - Method for correcting error, device and the storage medium of vehicle position information - Google Patents
Method for correcting error, device and the storage medium of vehicle position information Download PDFInfo
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- CN108415051A CN108415051A CN201810215753.2A CN201810215753A CN108415051A CN 108415051 A CN108415051 A CN 108415051A CN 201810215753 A CN201810215753 A CN 201810215753A CN 108415051 A CN108415051 A CN 108415051A
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- information
- traffic
- gps
- gps information
- vehicle
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
Abstract
The present invention provides a kind of method for correcting error of vehicle position information, device and storage medium, this method：It detects the traffic in video data in current frame image and indicates information；Obtain the first global position system GPS information of vehicle；The traffic detected is indicated that information and first GPS information are sent to server；The second GPS information that the server indicates information and first GPS information transmission according to the traffic is received, and corrects the location information of the vehicle according to second GPS information.Method for correcting error, device and the storage medium of vehicle position information provided by the invention can improve the accuracy of vehicle position information.
Description
Technical field
The present invention relates to a kind of image detecting technique more particularly to method for correcting error of vehicle position information, device and storages
Medium.
Background technology
Currently, along with the raising of expanding economy and living standards of the people, automobile is played the part of in the daily life of user
More and more important role, in some services, needs accurately to know the location of vehicle.
In the prior art, vehicle-bone global positioning system (Global Positioning System are utilized mostly；GPS),
Referred to as satellite navigation and location system obtains the instantaneous position data of vehicle, instantaneous velocity is obtained by vehicle-mounted accelerometer, with certainly
The dynamic geographical location for carrying out integral and calculating and obtaining vehicle.It, will in the case where weather condition is good and GPS accuracy is enough
The accurate current geographic position for obtaining vehicle.When GPS inaccuracy, accelerometer estimation movement speed can be still utilized
Degree, to calculate vehicle approximate location.
But for needing the application environment of positioning vehicle position, in digital map navigation scene, due to for vehicle location
Accuracy requirement is high, using mode in the prior art, because of GPS in by vehicle operation and accelerometer precision and weather
It influences, the vehicle geographical location of acquisition can be made there are the accumulation of error, the location information so as to cause the vehicle of acquisition is inaccurate.
Invention content
To solve problems of the prior art, the present invention provides a kind of method for correcting error of vehicle position information, device
And storage medium, it is corrected with the location information to vehicle, improves the accuracy of vehicle position information.
In a first aspect, the embodiment of the present invention provides a kind of method for correcting error of vehicle position information, including：
It detects the traffic in video data in current frame image and indicates information；
Obtain the first global position system GPS information of vehicle；
The traffic detected is indicated that information and first GPS information are sent to server；
The second GPS information that the server indicates information and first GPS information transmission according to the traffic is received,
And the location information of the vehicle is corrected according to second GPS information.
Optionally, the traffic instruction information includes at least one of following information：Lane line, pavement markers, people
Row lateral road, traffic lights and traffic sign.
Optionally, the traffic instruction information includes lane line；
Traffic in the detection video data in current frame image indicates information, including：
The current frame image is filtered using sobel operators, obtains gradient image；
The gradient image is subjected to binary conversion treatment, obtains binary image；
Using hough transformation fitting a straight line section on the binary image, to detect the institute in the current frame image
State lane line.
Optionally, the traffic instruction information includes pavement markers；
Traffic in the detection video data in current frame image indicates information, including：
According to the lane line detected, image inverse perspective mapping IPM processing is carried out to the current frame image, is obtained
IPM images；
According to the IPM images, the pavement markers are detected.
Optionally, the position that the vehicle is corrected according to second GPS information, including：
First GPS information is updated to second GPS information.
Second aspect, the embodiment of the present invention provide a kind of method for correcting error of vehicle position information, including：
Receive the first GPS information of traffic the instruction information and vehicle of the transmission of the first car-mounted terminal, the traffic instruction letter
Breath the first car-mounted terminal current frame image in video data is detected to obtain；
The correspondence between information and GPS information is indicated according to pre-stored traffic, is determined and is believed in the first GPS
It ceases in surrounding preset range and indicates highest second GPS information of information matches degree with the traffic；
Second GPS information is sent to first car-mounted terminal, second GPS information is for correcting the vehicle
Position.
Optionally, the correspondence indicated according to pre-stored traffic between information and GPS information, determines in institute
It states before indicating highest second GPS information of information matches degree with the traffic in preset range around the first GPS information, it is described
Method further includes：
It is strong to receive the second traffic instruction information, third GPS information and GPS signal that at least one second car-mounted terminal is sent
Degree；
According to the GPS signal strength, the corresponding weighted value of the GPS signal strength is determined；
Information, the third GPS information and the weighted value are indicated according to second traffic, establish traffic instruction information
Correspondence between GPS information.
Optionally, the method further includes：
By clustering algorithm, the correspondence between information and GPS information, which carries out clustering processing, to be indicated to the traffic, with
The correspondence is updated.
The third aspect, the embodiment of the present invention provide a kind of deviation correcting device of vehicle position information, including：
Detection module indicates information for detecting the traffic in video data in current frame image；
Acquisition module, the first global position system GPS information for obtaining vehicle；
Sending module, for the traffic detected to be indicated that information and first GPS information are sent to server；
Receiving module indicates that information and first GPS information are sent for receiving the server according to the traffic
The second GPS information；
Processing module, the location information for correcting the vehicle according to second GPS information.
Optionally, the traffic instruction information includes at least one of following information：Lane line, pavement markers, people
Row lateral road, traffic lights and traffic sign.
Optionally, the traffic instruction information includes lane line；
The detection module, is specifically used for：
The current frame image is filtered using sobel operators, obtains gradient image；
The gradient image is subjected to binary conversion treatment, obtains binary image；
Using hough transformation fitting a straight line section on the binary image, to detect the institute in the current frame image
State lane line.
Optionally, the traffic instruction information includes pavement markers；
The detection module, is specifically used for：
According to the lane line detected, image inverse perspective mapping IPM processing is carried out to the current frame image, is obtained
IPM images；
According to the IPM images, the pavement markers are detected.
Optionally, the processing module, is specifically used for：
First GPS information is updated to second GPS information.
Fourth aspect, the embodiment of the present invention provide a kind of deviation correcting device of vehicle position information, including：
Receiving module, the first GPS information of traffic instruction information and vehicle for receiving the transmission of the first car-mounted terminal, institute
Traffic instruction information the first car-mounted terminal current frame image in video data is stated to be detected to obtain；
Determining module is determined for indicating the correspondence between information and GPS information according to pre-stored traffic
Around first GPS information highest second GPS information of information matches degree is indicated with the traffic in preset range；
Sending module, for second GPS information to be sent to first car-mounted terminal, second GPS information
Position for correcting the vehicle.
Optionally, described device further includes：Establish module；Wherein,
The receiving module is additionally operable to receive the second traffic instruction information that at least one second car-mounted terminal sends, the
Three GPS informations and GPS signal strength；
The determining module is additionally operable to, according to the GPS signal strength, determine the corresponding weighting of the GPS signal strength
Value；
It is described to establish module, it is additionally operable to indicate information, the third GPS information and the weighting according to second traffic
Value establishes the correspondence between traffic instruction information and GPS information.
Optionally, described device further includes：Processing module；Wherein,
The processing module, for by clustering algorithm, indicating the traffic the corresponding pass between information and GPS information
System carries out clustering processing, to be updated to the correspondence.
5th aspect, the embodiment of the present invention provide a kind of car-mounted terminal, including：
Processor；
Memory；And
Computer program；
Wherein, the computer program is stored in the memory, and is configured as being executed by the processor,
The computer program includes the instruction for executing method as described in relation to the first aspect.
6th aspect, the embodiment of the present invention provide a kind of server, including：
Processor；
Memory；And
Computer program；
Wherein, the computer program is stored in the memory, and is configured as being executed by the processor,
The computer program includes the instruction for executing the method as described in second aspect.
7th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, the computer-readable storage medium
Matter is stored with computer program, and the computer program makes car-mounted terminal execute the method described in first aspect.
Eighth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, the computer-readable storage medium
Matter is stored with computer program, and the computer program makes server execute the method described in second aspect.
Method for correcting error, device and the storage medium of vehicle position information provided by the invention, by detecting in video data
Traffic in current frame image indicates information, and obtains the first GPS information of vehicle, and the traffic detected is then indicated information
It is sent to server with the first GPS information, then receives server indicates information and the transmission of the first GPS information according to traffic second
GPS information, so as to correct the position of vehicle according to the second GPS information.Since car-mounted terminal is detecting current frame image
In traffic indicate information, and after getting the first GPS location of vehicle, which can be indicated information and the first GPS location
It is sent to server, server determines that the traffic indicates information pair according to the traffic instruction information received and the first GPS location
The second GPS information namely true GPS information answered, and the true GPS information determined is sent to car-mounted terminal, in this way, vehicle
Mounted terminal will can be corrected the location information of vehicle according to true GPS information, so as to realize precision navigation, improve
The accuracy of vehicle position information.
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 only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow diagram of the method for correcting error embodiment one of vehicle position information provided in an embodiment of the present invention；
Fig. 2 a are the schematic diagram carried out to current frame image before IPM processing；
Fig. 2 b are the schematic diagram carried out to current frame image after IPM processing；
Fig. 3 is the schematic diagram of crossing detection；
Fig. 4 is the flow diagram of the method for correcting error embodiment one of vehicle position information provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the deviation correcting device embodiment one of vehicle position information provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the deviation correcting device embodiment two of vehicle position information provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the deviation correcting device embodiment three of vehicle position information provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of car-mounted terminal provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of server provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The method for correcting error of vehicle position information provided in an embodiment of the present invention can be applied to need positioning vehicle position
In application scenarios, it is applied especially to in the higher scene of the accuracy requirement of vehicle position information, in digital map navigation scene.
Currently, being typically the instantaneous position data for obtaining vehicle using vehicle GPS, instantaneous speed is obtained by vehicle-mounted accelerometer
Degree, to carry out the geographical location that integral and calculating obtains vehicle automatically.In the case where weather condition is good and GPS accuracy is enough,
It will the accurate current geographic position for obtaining vehicle.When GPS inaccuracy, can still accelerometer be utilized to estimate
Movement velocity, to calculate vehicle approximate location.However, in aforesaid way, because of GPS in by vehicle operation and accelerometer essence
The influence of degree and weather, making the vehicle geographical location of acquisition, there are the accumulation of error, so as to cause the position of the vehicle of acquisition
Information is inaccurate.
The embodiment of the present invention considers the above problem, proposes a kind of method for correcting error of vehicle position information, vehicle in this method
Mounted terminal indicates information by detecting the traffic in video data in current frame image, and obtains the first GPS information of vehicle, so
The traffic detected is indicated that information and the first GPS information are sent to server afterwards, then receives server and indicates to believe according to traffic
The second GPS information that breath and the first GPS information are sent, so as to correct the position of vehicle according to the second GPS information.Due to vehicle
Traffic of the mounted terminal in detecting current frame image indicates information, and after getting the first GPS location of vehicle, can be by the friendship
Logical instruction information and the first GPS location are sent to server, and server indicates information and the first GPS according to the traffic received
It sets, determines traffic instruction corresponding second GPS information of information namely true GPS information, and the true GPS determined is believed
Breath is sent to car-mounted terminal, in this way, car-mounted terminal will can be corrected the location information of vehicle according to true GPS information,
So as to realize precision navigation, the accuracy of vehicle position information is improved.
Technical scheme of the present invention is described in detail with specific embodiment below.These specific implementations below
Example can be combined with each other, and same or analogous concept or process may be repeated no more in some embodiments.
Fig. 1 is the flow diagram of the method for correcting error embodiment one of vehicle position information provided in an embodiment of the present invention.This
Inventive embodiments provide a kind of method for correcting error of vehicle position information, and this method can be by arbitrarily executing vehicle position information
The device of method for correcting error executes, which can pass through software and or hardware realization.In the present embodiment, which can collect
At in car-mounted terminal.As shown in Figure 1, the method for correcting error of vehicle position information provided in an embodiment of the present invention includes following step
Suddenly：
Traffic in step 101, detection video data in current frame image indicates information.
In the present embodiment, the video data of vehicle-mounted camera meeting collection vehicle front region, and get the video counts
Current frame image in.The current frame image got is sent to car-mounted terminal by vehicle-mounted camera, and car-mounted terminal will be examined
Survey the traffic instruction information in the current frame image.Wherein, traffic instruction information includes at least one of following information：Vehicle
Diatom, pavement markers, crossing and traffic lights.
In one possible implementation, if traffic instruction information includes lane line, i.e., car-mounted terminal will detect current
It whether there is lane line in frame image.
During concrete implementation, car-mounted terminal detects the lane line in current frame image, can be in the following way
It carries out：Current frame image is filtered using sobel operators, obtains gradient image, gradient image is subjected to binary conversion treatment,
Binary image is obtained, using hough transformation fitting a straight line section on binary image, to detect the track in current frame image
Line.
Specifically, car-mounted terminal after fitting a straight line section, will utilize lane line using hough transformation on binary image
Possible shape, width and direction in the picture are filtered the straightway of fitting, to reject it is not possible that for the straight of lane line
Line, acquisition may be as the straight line of lane line, to obtain the lane line in current frame image.
Further, car-mounted terminal is after having detected lane line, it will detection pavement markers, and to the pavement marker
The classification of object is identified.In one possible implementation, if traffic instruction information includes pavement markers, detection regards
Traffic of the frequency in current frame image indicates that information includes：According to the lane line detected, figure is carried out to current frame image
As inverse perspective mapping (image perspective transformation；IPM it) handles, obtains IPM images；Schemed according to IPM
Picture detects pavement markers.
Specifically, Fig. 2 a be to current frame image carry out IPM processing before schematic diagram, Fig. 2 b be to current frame image into
Schematic diagram after row IPM processing can extract preset quantity point as shown in Fig. 2 a- Fig. 2 b on the lane line detected,
Image is done into IPM processing.Wherein, in order to carry out IPM processing, the value of preset quantity is typically larger than or is equal to 4, and preset quantity can
To be chosen according to actual conditions or experience, such as can be 4 or 6 etc..
It will be understood by those skilled in the art that during concrete implementation, the universal transformation of perspective transform can be utilized
Formula：IPM processing is carried out to current frame image.For IPM processing
Process, similar with processing procedure in the prior art, details are not described herein again.
After obtaining IPM images, the method that machine learning may be used is detected into pavement markers on IPM images.Tool
Body, the classifications of pavement markers may include straight trip, turns left, turn left to turn around, to left front, turn right, turn right turn around, to the right before
Side, turns left and turns around at straight and turning left, keeps straight on and turns right, turns right and turns around, and amounts to 11 kinds of classifications, will acquire on multiple first
The sample of 11 class road surface identifications is stated, such as 100000 can be acquired.Then histograms of oriented gradients (Histogram of are used
Oriented Gradient；HOG) histogram is described as the unity and coherence in writing of pavement markers, finally by the spy of 11 class samples of acquisition
Data are levied as input, are passed to Adasboost detectors.
Next, needing to carry out the identification of pavement markers, specifically, can be by the pavement markers detected from IPM
It deducts, and is normalized under pre-set dimension in image, such as normalized under 48x48 sizes, and the HOG for calculating normalized image is special
Sign is trained with support vector machines using obtained HOG features as input, will can obtain the type of pavement markers, such as obtain
The pavement markers that the current frame image includes are left-hand rotations etc..
In addition, in one possible implementation, car-mounted terminal also needs to whether there is people in detection current frame image
Row lateral road.It needs to illustrate, in order to improve the accuracy for the vehicle position information determined, car-mounted terminal can be examined only
It surveys and whether there is crossing in vehicle headstock front region image road surface.Specifically, Fig. 3 is the signal of crossing detection
Figure, as shown in figure 3, the a-quadrant that can be chosen in Fig. 3 is examined as crossing area to be tested, and using line detection method
The straight line number and rectilinear direction that a-quadrant includes are surveyed, such as sobel operators may be used, the image of a-quadrant is filtered, is obtained
Binary conversion treatment is carried out to gradient image, and by obtained gradient image, obtains binary image, hough transformation is recycled to exist
Fitting a straight line section on binary image.After the straightway in obtaining a-quadrant, it will determine that whether the quantity of straightway is more than pre-
If threshold value, and whether linear interval is less than preset value, if judging, the quantity of straightway is more than predetermined threshold value, and linear interval is small
In preset value, then illustrate that there are human nature lateral roads in a-quadrant, wherein predetermined threshold value can be for example 5, and preset value for example can be with
For the one third etc. of normal lane, for the specific value of predetermined threshold value and preset value, the embodiment of the present invention does not do this
Limitation.
In addition, car-mounted terminal, which can also detect, whether there is traffic lights in current frame image, wherein traffic lights size needs big
90x30 is will be greater than in preset value, such as high x wide.It needs to illustrate, in order to improve the vehicle position information determined
Accuracy, car-mounted terminal, which can be detected only, whether there is traffic lights on current driving direction.Specifically, with continued reference to shown in Fig. 3,
The regions D in Fig. 3 can be chosen as traffic lights detection zone, and detected in the regions D and whether deposited using the method for machine learning
In traffic lights.Such as：The sample of multiple traffic lights will be acquired first, such as can acquire 100000.Then HOG histograms are used
Unity and coherence in writing as traffic lights describes, and finally using the characteristic in the regions D of acquisition as input, is passed to Adasboost and detects
Device whether there is traffic lights to detect in the regions D.
Optionally, traffic instruction information can also include traffic sign, i.e. car-mounted terminal can not only detect lane line, road
Face marker, crossing and traffic lights can also detect traffic sign existing for the both sides of current driving direction, wherein the friendship
Logical mark includes 49 kinds of caution sign, 43 kinds of prohibitory sign, 29 kinds of Warning Mark etc..Specifically, with continued reference to shown in Fig. 3, it can
To choose the region B, C as traffic sign area to be tested, and detect to whether there is in the region B, C using machine learning method
Traffic sign, wherein in the way of machine learning method detection traffic sign, road marking is detected with using machine learning method
The mode of will object is similar, and details are not described herein again.
Step 102, the first global position system GPS information for obtaining vehicle.
In the present embodiment, car-mounted terminal can get first GPS information of the vehicle at current time using GPS,
In, the first GPS information includes latitude and longitude information, is such as got at current time, and vehicle is in north latitude 34.233, east longitude
108.911 position at.
The traffic detected is indicated that information and the first GPS information are sent to server by step 103.
In the present embodiment, traffic can be indicated information and got by car-mounted terminal after detecting traffic instruction information
The first GPS information be sent to server, i.e., will have correspondence between traffic instruction information and the first GPS.Need into
Row explanation, car-mounted terminal only need to send the instruction information of traffic present in current frame image to server.
Such as：If car-mounted terminal by detection, is got in current frame image, there are lane line, pavement markers and people's rows
Lateral road, and it is north latitude 34.233 to get the first GPS information, east longitude 108.911, then car-mounted terminal can be by lane line, road marking
Will object and crossing and north latitude 34.233, east longitude 108.911 are transmitted to the server in high in the clouds.
Step 104 receives the second GPS information that server indicates information and the transmission of the first GPS information according to traffic, and root
The location information of vehicle is corrected according to the second GPS information.
In the present embodiment, it can be previously stored between traffic instruction information and GPS by a large amount of sample in server
Correspondence, such as at some GPS location, there are which traffic to indicate information etc., such as in north latitude 34.233, east longitude
At 108.911 positions, there are lane line, pavement markers and crossings, at north latitude 34.235,108.913 position of east longitude,
There are pavement markers, crossing and traffic lights etc..When traffic is indicated that information and the first GPS are sent to service by car-mounted terminal
After device, server will indicate the correspondence between information and GPS according to pre-stored traffic, determine in the first GPS information
In surrounding preset range, if there is the highest traffic of traffic instruction information matches degree sent with car-mounted terminal and indicates information,
If in the presence of corresponding second GPS information of traffic instruction information is sent to car-mounted terminal.
Car-mounted terminal believes the position that vehicle is corrected according to second GPS information after receiving the second GPS information
Breath, specifically, can the second GPS information be updated to the first GPS information.Due to can utilize that car-mounted terminal itself obtains the
One GPS information and collected traffic indicate information, common to determine the second GPS information, so as to obtain the true GPS of vehicle
Information improves the accuracy of vehicle location.
Wherein, preset range can be chosen according to actual conditions or experience, such as can be chosen according to speed, should
Preset range is such as could be provided as 2m or 3m, and for the specific value of preset range, the embodiment of the present invention does not limit herein
System.
For example, if car-mounted terminal detects the traffic in current frame image, instruction information includes lane line, road surface
Marker, crossing and traffic lights, the first GPS information got are north latitude 34.233, and east longitude 108.911, server exists
After the above- mentioned information for receiving car-mounted terminal transmission, the corresponding pass between information and GPS will be indicated according to pre-stored traffic
System determines in north latitude 34.233,108.911 surrounding preset range of east longitude, if exists and lane line, pavement markers, people
Row lateral road and the matched road signs information of traffic lights, if server is found by inquiry in north latitude 34.232, east longitude
At 108.910 positions, exist with lane line, pavement markers, crossing and the matched road signs information of traffic lights, then will
North latitude 34.232, east longitude 108.910 is sent to car-mounted terminal as the second GPS information, in this way, car-mounted terminal can be by the first GPS
Information north latitude 34.233, east longitude 108.911 are updated to the second GPS information north latitude 34.232, east longitude 108.910.
The method for correcting error of vehicle position information provided in an embodiment of the present invention, car-mounted terminal by detect video data in when
Traffic in prior image frame indicates information, and obtains the first GPS information of vehicle, then by the traffic detected instruction information and
First GPS information is sent to server, then receives server indicates information and the transmission of the first GPS information according to traffic second
GPS information, so as to correct the position of vehicle according to the second GPS information.Since car-mounted terminal is detecting current frame image
In traffic indicate information, and after getting the first GPS location of vehicle, which can be indicated information and the first GPS location
It is sent to server, server determines that the traffic indicates information pair according to the traffic instruction information received and the first GPS location
The second GPS information namely true GPS information answered, and the true GPS information determined is sent to car-mounted terminal, in this way, vehicle
Mounted terminal will can be corrected the location information of vehicle according to true GPS information, so as to realize precision navigation, improve
The accuracy of vehicle position information.
Fig. 4 is the flow diagram of the method for correcting error embodiment one of vehicle position information provided in an embodiment of the present invention, this
Inventive embodiments provide a kind of method for correcting error of vehicle position information, and this method can be by arbitrarily executing vehicle position information
The device of method for correcting error executes, which can pass through software and or hardware realization.In the present embodiment, which can collect
At in the server.As shown in figure 4, the method for correcting error of vehicle position information provided in an embodiment of the present invention includes the following steps：
Step 401, the first GPS information for receiving traffic instruction information and vehicle that the first car-mounted terminal is sent, the traffic
Indicate that information is what the first car-mounted terminal current frame image in video data was detected.
In the present embodiment, the video data of vehicle-mounted camera meeting collection vehicle front region, and get the video counts
Current frame image in.The current frame image got is sent to the first car-mounted terminal, the first vehicle-mounted end by vehicle-mounted camera
End will detect the instruction information of the traffic in the current frame image.Wherein, the traffic instruction information include in following information extremely
Few one kind：Lane line, pavement markers, crossing and traffic lights.
In addition, the first car-mounted terminal can also utilize GPS get vehicle current time the first GPS information, wherein the
One GPS information includes latitude and longitude information.
Traffic of first car-mounted terminal in detecting current frame image indicates information, and get the first GPS information it
Afterwards, which can be indicated that information and the first GPS information are sent to server.
Step 402 indicates the correspondence between information and GPS information according to pre-stored traffic, determines first
Around GPS information highest second GPS information of information matches degree is indicated with traffic in preset range.
In one possible implementation, server needs first to establish traffic instruction information between determining the 2nd GPS
Correspondence between GPS information.Specifically, server will receive the second traffic of at least one second car-mounted terminal transmission
Instruction information, third GPS information and GPS signal strength determine the corresponding weighting of GPS signal strength according to GPS signal strength
Value, and information, third GPS information and weighted value are indicated according to the second traffic, it establishes between traffic instruction information and GPS information
Correspondence.
Wherein, at least one second vehicle-mounted terminal equipment in the process of moving, can detect current time in the picture
The second traffic indicate information, the third GPS information and current GPS signal strength information residing for current vehicle are sent to clothes
Business device, server is after receiving these information, it will indicates information according to the second traffic, determines that third GPS information corresponds to
Position at the presence or absence of lane line, with the presence or absence of pavement markers, with the presence or absence of crossing and whether there is traffic lights.It lifts
For example, for same third GPS information, include if having more than the traffic instruction information that 50% the second car-mounted terminal reports
There are pavement markers, it is determined that go out at the corresponding position of third GPS information that there are pavement markers, if having more than the of 70%
Include crossing in the traffic instruction information that two car-mounted terminals report, it is determined that go out the corresponding position of third GPS information
There are crossings at place, if it includes traffic sign to have more than in the traffic instruction information that 50% the second car-mounted terminal reports,
It then determines that there are traffic signs at the corresponding position of third GPS information, is reported if having more than 70% the second car-mounted terminal
Traffic instruction information in include traffic lights, it is determined that go out at the corresponding position of third GPS information that there are traffic lights.
In another example：For same third GPS information, if the traffic instruction for thering is the second car-mounted terminal no more than 5% to report
Do not include pavement markers in information, it is determined that go out and pavement markers are not present at the corresponding position of third GPS information, if
There is the traffic that the second car-mounted terminal no more than 5% reports to indicate that in information include crossing, it is determined that go out the 3rd GPS
Crossing is not present at the corresponding position of information, if the traffic instruction information for thering is the second car-mounted terminal no more than 5% to report
In include traffic sign, it is determined that go out at the corresponding position of third GPS information be not present traffic sign, be no more than if having
Include traffic lights in the traffic instruction information that 5% the second car-mounted terminal reports, it is determined that it is corresponding to go out the third GPS information
Traffic lights are not present at position.
In addition, server can also determine the corresponding weighted value of GPS signal strength according to current GPS signal strength,
In, if GPS signal strength is strong, illustrate that the information accuracy that second car-mounted terminal reports is higher, at this point, the GPS signal
The corresponding weighted value of intensity is then higher, can be such as 80%, if GPS signal strength is weak, illustrate on second car-mounted terminal
The information accuracy of report is relatively low, at this point, the corresponding weighted value of the GPS signal strength is then relatively low, such as can be 40%.
Server is after determining the corresponding weighted value of GPS signal strength, by what is sent according to multiple second car-mounted terminals
Second traffic indicates information, third GPS information weighted value corresponding with the GPS signal strength determined, establishes traffic instruction letter
Correspondence between breath and GPS information.Optionally, may include the structured message of following form in server：GPS information
(longitude, latitude, lane line, pavement markers, crossing, traffic sign, traffic lights).As GPS information (east longitude 108.911,
North latitude 34.233, lane line have, pavement markers have, crossing has, traffic sign without, traffic lights without) GPS information (east longitude
108.913, north latitude 34.235, lane line have, pavement markers without, crossing has, traffic sign has, traffic lights have) etc..
In addition, optional, in order to improve the accuracy of vehicle position information, server is after at regular intervals, meeting
By clustering algorithm, the correspondence between information and GPS information, which carries out clustering processing, to be indicated to traffic, with to correspondence into
Row update.For example, by K-Means clustering algorithms, can gather to the correspondence established before after 12 hours
Certain testing results are merged processing by class processing.
In the present embodiment, server indicates the first of information and vehicle in the traffic for receiving the transmission of the first car-mounted terminal
After GPS information, the correspondence between information and GPS will be indicated according to pre-stored traffic, determined in the first GPS information week
It encloses in preset range, if there is the highest traffic instruction of traffic instruction information matches degree sent with the first car-mounted terminal and believe
Breath, and if it exists, corresponding second GPS information of traffic instruction information is then sent to the first car-mounted terminal.
Wherein, preset range can be chosen according to actual conditions or experience, such as can be chosen according to speed, should
Preset range is such as could be provided as 2m or 3m, and for the specific value of preset range, the embodiment of the present invention does not limit herein
System.
For example, if the first car-mounted terminal detect the traffic in current frame image instruction information include lane line,
Pavement markers, crossing and traffic lights, the first GPS information got are north latitude 34.233, east longitude 108.911, service
Device will be indicated according to pre-stored traffic between information and GPS after the above- mentioned information for receiving the transmission of the first car-mounted terminal
Correspondence, determine in north latitude 34.233,108.911 surrounding preset range of east longitude, if exist with lane line, road marking
Will object, crossing and the matched road signs information of traffic lights, if server by inquiry, is found in north latitude 34.232, east
At 108.910 positions, exist with lane line, pavement markers, crossing and the matched road signs information of traffic lights, then
By north latitude 34.232, east longitude 108.910 is sent to the first car-mounted terminal as the second GPS information.
In addition, server can be compared in conjunction with the data that car-mounted terminal in the default distance that vehicle has already passed through uploads
It is right, and the various signal geographical locations preserved in database are combined, the most possible position of current vehicle is calculated, can such as be tied
1 kilometer of data uploaded of past that vehicle has already passed through are closed to be compared.Such as：Server can search and current location,
That is the corresponding position of the most matched traffic instruction information of the first GPS information, if the second GPS information is found, by what is found
Second GPS information is directly returned to car-mounted terminal, to carry out the correction of vehicle location.Match with current location if not finding
The second GPS information, then data were uploaded according to 1 kilometer of past and were matched.Wherein, if passing by be matched in 1 kilometer second
GPS information is less than 3, then without correction, if the second GPS information being matched in 1 kilometer of past is greater than or equal to 3,
The prediction of current location is carried out according to uplink time and GPS information.
Second GPS information is sent to the first car-mounted terminal by step 403, and the second GPS information is used to correct the position of vehicle
It sets.
In the present embodiment, which can be sent to by server after determining the second GPS information
One car-mounted terminal, the first car-mounted terminal will correct vehicle after receiving the second GPS information according to second GPS information
Location information, specifically, the first GPS information can be updated to the second GPS information, such as：First car-mounted terminal can be by first
GPS information north latitude 34.233, east longitude 108.911 are updated to the second GPS information north latitude 34.232, east longitude 108.910.Due to can be with
The first GPS information obtained using car-mounted terminal itself and collected traffic indicate information, common to determine the second GPS information,
So as to obtain the true GPS information of vehicle, the accuracy of vehicle location is improved.
The method for correcting error of vehicle position information provided in an embodiment of the present invention receives the traffic that the first car-mounted terminal is sent and refers to
Show that information and the first GPS information of vehicle, the traffic indicate that information is the first car-mounted terminal present frame figure in video data
As being detected to obtain, the correspondence between information and GPS information is indicated according to pre-stored traffic, by determining
It indicates highest second GPS information of information matches degree around first GPS information in preset range with traffic, and the 2nd GPS is believed
Breath is sent to the first car-mounted terminal, and the second GPS information is used to correct the position of vehicle.Since car-mounted terminal is detecting present frame
Traffic in image indicates information, and after getting the first GPS location of vehicle, can the traffic be indicated information and the first GPS
Position is sent to server, and server determines traffic instruction letter according to the traffic instruction information received and the first GPS location
Corresponding second GPS information namely true GPS information are ceased, and the true GPS information determined is sent to car-mounted terminal, this
Sample, car-mounted terminal will can be corrected the location information of vehicle according to true GPS information, accurately led so as to realize
Boat, improves the accuracy of vehicle position information.
Fig. 5 is the structural schematic diagram of the deviation correcting device embodiment one of vehicle position information provided in an embodiment of the present invention.It should
The deviation correcting device of vehicle position information can be independent car-mounted terminal, or the device being integrated in car-mounted terminal, it should
Device can be realized by way of software, hardware or software and hardware combining.As shown in figure 5, the device includes：
Detection module 11 is used to detect the traffic instruction information in video data in current frame image；
Acquisition module 12 is used to obtain the first global position system GPS information of vehicle；
The traffic instruction information and first GPS information that sending module 13 is used to detect are sent to service
Device；
Receiving module 14 indicates that information and first GPS information are sent for receiving the server according to the traffic
The second GPS information；
Processing module 15 is used to correct the location information of the vehicle according to second GPS information.
It is real can to execute above-mentioned method shown in FIG. 1 for the deviation correcting device of vehicle position information provided in an embodiment of the present invention
Example is applied, implementing principle and technical effect are similar, and details are not described herein.
Optionally, the traffic instruction information includes at least one of following information：Lane line, pavement markers, people
Row lateral road, traffic lights and traffic sign.
Optionally, the traffic instruction information includes lane line；
The detection module 11, is specifically used for：
The current frame image is filtered using sobel operators, obtains gradient image；
The gradient image is subjected to binary conversion treatment, obtains binary image；
Using hough transformation fitting a straight line section on the binary image, to detect the institute in the current frame image
State lane line.
Optionally, the traffic instruction information includes pavement markers；
The detection module 11, is specifically used for：
According to the lane line detected, image inverse perspective mapping IPM processing is carried out to the current frame image, is obtained
IPM images；
According to the IPM images, the pavement markers are detected.
Optionally, the processing module 15, is specifically used for：
First GPS information is updated to second GPS information.
It is real can to execute above-mentioned method shown in FIG. 1 for the deviation correcting device of vehicle position information provided in an embodiment of the present invention
Example is applied, implementing principle and technical effect are similar, and details are not described herein.
Fig. 6 is the structural schematic diagram of the deviation correcting device embodiment two of vehicle position information provided in an embodiment of the present invention.It should
The deviation correcting device of vehicle position information can be independent server, or integrated device in the server, the device
It can be realized by way of software, hardware or software and hardware combining.As shown in fig. 6, the device includes：
Receiving module 21 is used to receive the first GPS information of traffic the instruction information and vehicle of the first car-mounted terminal transmission,
Traffic instruction information the first car-mounted terminal current frame image in video data is detected to obtain；
Determining module 22 is used to, according to the correspondence between pre-stored traffic instruction information and GPS information, determine
Highest second GPS information of information matches degree is indicated with the traffic in preset range around first GPS information；
Sending module 23 is used to second GPS information being sent to first car-mounted terminal, second GPS information
Position for correcting the vehicle.
It is real can to execute above-mentioned method shown in Fig. 4 for the deviation correcting device of vehicle position information provided in an embodiment of the present invention
Example is applied, implementing principle and technical effect are similar, and details are not described herein.
Fig. 7 is the structural schematic diagram of the deviation correcting device embodiment three of vehicle position information provided in an embodiment of the present invention,
On the basis of embodiment illustrated in fig. 6, described device further includes：Establish module 24.
The receiving module 21 is additionally operable to receive the second traffic instruction information that at least one second car-mounted terminal sends, the
Three GPS informations and GPS signal strength；
The determining module 22 is additionally operable to, according to the GPS signal strength, determine the corresponding weighting of the GPS signal strength
Value；
It is described establish module 24 be additionally operable to according to second traffic indicate information, the third GPS information and it is described plus
Weights establish the correspondence between traffic instruction information and GPS information.
Optionally, processing module 25 is used for through clustering algorithm, and pair between information and GPS information is indicated to the traffic
It should be related to carry out clustering processing, to be updated to the correspondence.
It is real can to execute above-mentioned method shown in Fig. 4 for the deviation correcting device of vehicle position information provided in an embodiment of the present invention
Example is applied, implementing principle and technical effect are similar, and details are not described herein.
Fig. 8 is the structural schematic diagram of car-mounted terminal provided in an embodiment of the present invention.As shown in figure 8, the car-mounted terminal can be with
Including transmitter 80, processor 81, memory 82, receiver 84 and at least one communication bus 83.Communication bus 83 is for real
Communication connection between existing element.Memory 82 may include high-speed RAM memory, it is also possible to further include non-volatile memories
NVM, for example, at least a magnetic disk storage can store various computer programs in memory 82, for completing various processing
Function and the method and step for realizing aforementioned embodiment illustrated in fig. 1.
Fig. 9 is the structural schematic diagram of server provided in an embodiment of the present invention.As shown in figure 9, the server may include
Transmitter 90, processor 91, memory 92, receiver 94 and at least one communication bus 93.Communication bus 93 is for realizing member
Communication connection between part.Memory 92 may include high-speed RAM memory, it is also possible to further include non-volatile memories NVM, example
Such as at least one magnetic disk storage, various computer programs can be stored in memory 92, for complete various processing functions with
And realize the method and step of aforementioned embodiment illustrated in fig. 4.
The embodiment of the present invention also provides a kind of computer readable storage medium, wherein computer-readable recording medium storage
There are computer program, the computer program that server is made to execute entangling for the vehicle position information that aforementioned any embodiment provides
Folk prescription method.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (14)
1. a kind of method for correcting error of vehicle position information, which is characterized in that including：
It detects the traffic in video data in current frame image and indicates information；
Obtain the first global position system GPS information of vehicle；
The traffic detected is indicated that information and first GPS information are sent to server；
Receive the second GPS information that the server indicates information and first GPS information transmission according to the traffic, and root
The location information of the vehicle is corrected according to second GPS information.
2. according to the method described in claim 1, it is characterized in that, the traffic instruction information include in following information at least
It is a kind of：Lane line, pavement markers, crossing, traffic lights and traffic sign.
3. according to the method described in claim 2, it is characterized in that, traffic instruction information includes lane line；
Traffic in the detection video data in current frame image indicates information, including：
The current frame image is filtered using sobel operators, obtains gradient image；
The gradient image is subjected to binary conversion treatment, obtains binary image；
Using hough transformation fitting a straight line section on the binary image, to detect the vehicle in the current frame image
Diatom.
4. according to the method described in claim 3, it is characterized in that, traffic instruction information includes pavement markers；
Traffic in the detection video data in current frame image indicates information, including：
According to the lane line detected, image inverse perspective mapping IPM processing is carried out to the current frame image, obtains IPM
Image；
According to the IPM images, the pavement markers are detected.
5. according to claim 1-4 any one of them methods, which is characterized in that described to be corrected according to second GPS information
The position of the vehicle, including：
First GPS information is updated to second GPS information.
6. a kind of method for correcting error of vehicle position information, which is characterized in that including：
The first GPS information of traffic the instruction information and vehicle of the transmission of the first car-mounted terminal is received, the traffic instruction information is
What the first car-mounted terminal current frame image in video data was detected；
The correspondence between information and GPS information is indicated according to pre-stored traffic, is determined in first GPS information week
It encloses in preset range and indicates highest second GPS information of information matches degree with the traffic；
Second GPS information is sent to first car-mounted terminal, second GPS information is for correcting the vehicle
Position.
7. according to the method described in claim 6, it is characterized in that, described indicate information and GPS according to pre-stored traffic
Correspondence between information, it is determining to indicate information matches with the traffic in preset range around first GPS information
It spends before highest second GPS information, the method further includes：
Receive the second traffic instruction information, third GPS information and GPS signal strength that at least one second car-mounted terminal is sent；
According to the GPS signal strength, the corresponding weighted value of the GPS signal strength is determined；
Indicate information, the third GPS information and the weighted value according to second traffic, establish traffic instruction information and
Correspondence between GPS information.
8. the method according to the description of claim 7 is characterized in that the method further includes：
By clustering algorithm, the correspondence between information and GPS information, which carries out clustering processing, to be indicated to the traffic, with to institute
Correspondence is stated to be updated.
9. a kind of deviation correcting device of vehicle position information, which is characterized in that including：
Detection module indicates information for detecting the traffic in video data in current frame image；
Acquisition module, the first global position system GPS information for obtaining vehicle；
Sending module, for the traffic detected to be indicated that information and first GPS information are sent to server；
Receiving module, indicate that information and first GPS information send according to the traffic for receiving the server the
Two GPS informations；
Processing module, the location information for correcting the vehicle according to second GPS information.
10. a kind of deviation correcting device of vehicle position information, which is characterized in that including：
Receiving module, the first GPS information of traffic instruction information and vehicle for receiving the transmission of the first car-mounted terminal, the friendship
Logical instruction information the first car-mounted terminal current frame image in video data is detected to obtain；
Determining module is determined for indicating the correspondence between information and GPS information according to pre-stored traffic described
Around first GPS information highest second GPS information of information matches degree is indicated with the traffic in preset range；
Sending module, for second GPS information to be sent to first car-mounted terminal, second GPS information is used for
Correct the position of the vehicle.
11. a kind of car-mounted terminal, which is characterized in that including：
Processor；
Memory；And
Computer program；
Wherein, the computer program is stored in the memory, and is configured as being executed by the processor, described
Computer program includes the instruction for executing method as described in any one in claim 1-5.
12. a kind of server, which is characterized in that including：
Processor；
Memory；And
Computer program；
Wherein, the computer program is stored in the memory, and is configured as being executed by the processor, described
Computer program includes for executing the instruction such as claim 6-8 any one of them methods.
13. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence, the computer program make server perform claim require 1-5 any one of them methods.
14. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence, the computer program make server perform claim require 6-8 any one of them methods.
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Application publication date: 20180817 |