CN108961811A - Parking lot vehicle positioning method, system, mobile terminal and storage medium - Google Patents
Parking lot vehicle positioning method, system, mobile terminal and storage medium Download PDFInfo
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- CN108961811A CN108961811A CN201710395296.5A CN201710395296A CN108961811A CN 108961811 A CN108961811 A CN 108961811A CN 201710395296 A CN201710395296 A CN 201710395296A CN 108961811 A CN108961811 A CN 108961811A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention provides a kind of parking lot vehicle positioning method, system, mobile terminal and storage medium, the described method includes: first order position fixing process: when any vehicle is station-keeping mode, determining the course angle of parking location, the entrance in parking lot, vehicle location and vehicle by vehicular map, GPS and vehicle location error is contracted to first error range；Second level position fixing process: by grating map, the athletic posture of vehicle and the travelable region of detection further determine that vehicle location and vehicle location error are contracted to the second error range that numerical value is respectively less than first error range；Third level position fixing process: vehicle location is further determined that by the athletic posture of landmark information and vehicle in terrestrial reference map and vehicle location error is contracted to the third error range that numerical value is respectively less than the second error range.The present invention effectively increases the positioning accuracy in parking lot, the autonomous parking for parking lot vehicle provides effective means by positioning step by step to vehicle.
Description
Technical field
The present invention relates to computer communication and network safety filed, more particularly to a kind of parking lot vehicle positioning method,
System, mobile terminal and storage medium.
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives or should
Patent discloses.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and being growing for parking lot scale, brings a series of the problem of parking with picking up the car, has become
The social concern that each large- and-medium size cities generally face in world wide.
Firstly, increasing in city vehicle, under traffic congestion more serious situation, the parking difficulty in city is big
It is big to increase.Many drivers feel to be difficult to control the technology of parking.Secondly, on the one hand car owner is faced with because finding parking stall when parking
And the distance of cruising gradually increased, the walking distance that car owner walks out parking lot is on the other hand also increased, the body of car owner is increased
Power, time and energy cost；Meanwhile the parking stall of large parking lot is numerous and instruction is not clear enough, boundless and indistinct parking stall is caused to seeking vehicle
Great puzzlement.
In today that vehicle development is more and more flourishing, the intelligence of vehicle is a main trend of vehicle future development, in reality
During existing vehicle autonomous parking, how effectively to obtain the map in parking lot and be to be badly in need of solution to the vehicle location in parking lot
Certainly the technical issues of.
Vehicle is in outdoor positioning mainly based on satellite positioning (including difference) technology at present.But it is easy to receive tall and big
The influence of building and trees is unable to reach perfect precision under many scenes.In addition, indoors without satellite-signal, it can not
Use satellite positioning.
Current indoor positioning technologies also have Wi-Fi, bluetooth, the wireless technologys such as UWB, but are related to house infrastructure
Installation, data acquisition and maintenance, therefore be restricted larger.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the embodiment provides a kind of parking lot vehicles
Localization method, the parking lot vehicle positioning method includes: first order position fixing process: when any vehicle is station-keeping mode,
The course angle of parking location, the entrance in parking lot, vehicle location and vehicle is determined by vehicular map, GPS and determines vehicle
Position error is contracted to first error range；Second level position fixing process: by grating map, the athletic posture of vehicle and detection
Travelable region, which further determines that vehicle location and vehicle location error is contracted to numerical value, is respectively less than the first error range
The second error range；Third level position fixing process: the athletic posture by landmark information and vehicle in terrestrial reference map is further
It determines vehicle location and vehicle location error is contracted to the third error range that numerical value is respectively less than second error range.
In one embodiment of the invention, the landmark information includes the angular coordinate on parking stall, the column in parking lot
Edge, column projection and anticollision strip edge.
In one embodiment of the invention, the travelable region includes straight trip road surface, entrance road surface and intersection road
Face.
In one embodiment of the invention, the athletic posture of the vehicle includes location information and course angle；According to direction
Disk corner, wheel pulse, the speed parameter of vehicle inertia measuring unit and GPS obtain the athletic posture of the vehicle.
The embodiment of the present invention also provides a kind of parking lot vehicle positioning system, the parking lot vehicle positioning system packet
Include: first order positioning unit determines parking location, parking by vehicular map, GPS when any vehicle is station-keeping mode
Vehicle location error is simultaneously contracted to first error range by the entrance of field, the course angle of vehicle location and vehicle；Second level positioning
Unit, by grating map, the athletic posture of vehicle and the travelable region of detection further determine that vehicle location and by vehicles
Position error is contracted to numerical value and is respectively less than the second error range of the first error range to pass through grating map, the fortune of vehicle
The travelable region of dynamic posture and detection, which further determines that vehicle location and vehicle location error is contracted to numerical value, to be respectively less than
Second error range of the first error range；Third level positioning unit passes through the landmark information and vehicle in terrestrial reference map
Athletic posture further determine that vehicle location and vehicle location error be contracted to numerical value and be respectively less than second error range
Third error range.
In one embodiment of the invention, the landmark information includes the angular coordinate on parking stall, the column in parking lot
Edge, column projection and anticollision strip edge.
In one embodiment of the invention, the travelable region includes straight trip road surface, entrance road surface and intersection road
Face.
In one embodiment of the invention, the athletic posture of the vehicle includes location information and course angle；According to direction
Disk corner, wheel pulse, the speed parameter of vehicle inertia measuring unit and GPS obtain the athletic posture of the vehicle.
The embodiment provides a kind of mobile terminal, including processor and memory, the memory is stored with
Program instruction, the processor operation program instruction realize the step in method as described above.
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.
As described above, parking lot vehicle positioning method, system, mobile terminal and storage medium of the invention have with following
Beneficial effect:
The embodiment of the present invention utilizes the athletic posture, vehicular map, the athletic posture for speculating vehicle of vehicle to change
Odometer, the travelable region of detection, GPS, grating map, terrestrial reference map step by step position vehicle, and it is fixed to effectively increase
Position precision, for vehicle according to vehicular map to and current vehicle positioning planning guidance path, realize autonomous parking.The present invention
Effective means, application value and market prospects with higher are provided for the autonomous parking of parking lot vehicle.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as the flow diagram of parking lot vehicle positioning method of the invention.
Fig. 2 is shown as the schematic diagram of parking lot grating map in parking lot map constructing method of the invention.
Fig. 3 is shown as the schematic diagram of parking lot terrestrial reference map in parking lot vehicle positioning method of the invention.
Fig. 4 is shown as the functional block diagram of parking lot vehicle positioning system of the invention.
Component label instructions
100 parking lot vehicle positioning systems
110 first order positioning units
120 second level positioning units
130 third level positioning units
S110~S130 step
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It please refers to Fig.1 to Fig.4.It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to
Cooperate the revealed content of specification, so that those skilled in the art understands and reads, being not intended to limit the invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, it should all still fall in disclosed skill
Art content obtains in the range of capable of covering.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
The purpose of the present embodiment is that a kind of parking lot vehicle positioning method, system, mobile terminal and storage medium are provided,
The technical issues of for solving to be difficult in the prior art effectively to the vehicle location in parking lot.The present invention described in detail below
Parking lot vehicle positioning method, system, the principle and embodiment of mobile terminal and storage medium, make those skilled in the art
It does not need creative work and is appreciated that parking lot vehicle positioning method, system, mobile terminal and storage medium of the invention.
Parking lot vehicle positioning method, system, mobile terminal and storage medium application are in interior provided by the present embodiment
And outdoor single-layer or multi-layer parking lot.
The method and system of parking lot vehicle location provided by the present embodiment uses the environment with time invariance special
Sign is used as cartographic information, can steadily realize positioning.The present embodiment uses two kinds of information, and one is have certain semantic letter
The terrestrial information of breath, for example the vertex on parking stall, column be in the projection on ground etc., its advantage is that positioning accuracy is higher.It is another
It is grating map, wherein the value of each grid mapping represents whether the region is that can travel road, its advantage is that orientable ruler
It spends larger.If there are a large amount of structuring repetitions in parking lot for the information only with the first information.For each sense
Know state, may all there are multiple matched positions in map.If only with second of information, dependent on sensor for
The detection accuracy that can travel road, cannot achieve high accuracy positioning.So the method that the present invention uses the positioning of 3 steps, gradually obtains
The initialized location of positioning improves positioning accuracy.
As shown in Figure 1, the embodiment provides a kind of parking lot vehicle positioning method, for being in any vehicle
When station-keeping mode, using the athletic posture of vehicle, vehicular map, for speculate vehicle athletic posture change odometer, institute
State grating map, the terrestrial reference map step by step positions vehicle, for vehicle according to vehicular map to and current vehicle
Positioning planning guidance path.In this present embodiment, position and the course angle that positioning is specific bit vehicle are carried out to vehicle.Namely
It says, in the present embodiment, the positioning to vehicle is to position step by step.Specifically, as shown in Figure 1, the parking lot vehicle positioning method
Include:
First order position fixing process: S110 when any vehicle is station-keeping mode, determines parking lot by vehicular map, GPS
Position, the entrance in parking lot, vehicle location and vehicle course angle and vehicle location error is contracted to first error range.
Specifically, first order positioning is that vehicle, road, outlet or inlet in parking lot are positioned using GPS.
Obtain the approximate location of vehicle.Specifically, the first order is that entrance serial number is judged in known vehicular map according to GPS coordinate,
According to the course angle of the preliminary vehicle of entranceway walking direction.The first order positioning can contract vehicle location error precision
As low as first error range, wherein the first error range is, for example, less than 5 meters.
S120, second level position fixing process: by grating map (as shown in Figure 2), the athletic posture of vehicle and detection
Travelable region, which further determines that vehicle location and vehicle location error is contracted to numerical value, is respectively less than the first error range
The second error range.
Specifically, in this present embodiment, the travelable region includes but is not limited to keep straight on road surface, entrance road surface and friendship
Prong road surface.The second level is located through the grating map and positions to the low precision of vehicle further progress, reduces position error,
In, the attribute of the grid institute overlay area is stored in grating map in each grid.Such as 1 represent road surface, 0 represents non-road surface.
For example, positioning the positions such as intersection by grating map.Usual position error is less than 50cm.Specifically, according to known grid
Lattice map calculates the position (packet of maximum probability in conjunction with vehicle movement odometer and sensing results in the range of the first step
Include course angle).Here perception, which specifically refers to vehicle body camera, can travel the testing result in region to road, and throw by anti-
Under shadow to the coordinate system of ground and parking lot map.By corresponding location algorithm calculate vehicle in map each position (including
Course angle) occur probability.
Vehicle location error precision can be contracted to the second error range by the second level positioning, wherein described second
Error range is, for example, less than 0.5 meter.
S130, third level position fixing process: as shown in figure 3, passing through landmark information and vehicle in terrestrial reference map (as shown in Figure 3)
Athletic posture further determine that vehicle location and vehicle location error be contracted to numerical value and be respectively less than the second error model
The third error range enclosed.
Specifically, in this present embodiment, third level positioning is further to carry out high accuracy positioning by terrestrial reference map, usually
Position error is less than 20cm.Specifically, according to known landmarks map, vehicle mileage meter, sensing results, in the range of second step
Calculate the position (including course angle) of maximum probability.Here perception is to detect determining for ground parking position according to camera image
Point, column etc. have the marker of accurate location.It also needs to be transformed into the coordinate of landmark information under the coordinate system of map.
Vehicle location error precision can be contracted to third error range by the third level positioning, wherein the third
Error range is, for example, less than 0.1 meter.
The above available location algorithm includes but is not limited to EKF (Extended Kalman filter) family, Grid filter (net
Lattice filtering), Particle filter (particle filter).The details of location algorithm is mature technology, is not also repeated herein.
In this present embodiment, the athletic posture of the vehicle includes but is not limited to location information and course angle.The fortune of vehicle
Dynamic appearance can be speculated that the odometer includes four-wheel rotational pulse and steering wheel angle by odometer, and it is opposite can to extrapolate vehicle
Transport attitudes vibration.Specifically, according to steering wheel angle, the speed parameter of wheel pulse, vehicle inertia measuring unit (IMU)
(such as acceleration, angular speed) and GPS obtain the athletic posture of the vehicle.The location information of vehicle, benefit are obtained using GPS
It is obtained with the speed parameter (such as acceleration, angular speed) of steering wheel angle, wheel pulse, vehicle inertia measuring unit (IMU)
The course angle of vehicle.
Course angle can use angular speed meter calculate, can also by vehicular four wheels rotational pulse and steering wheel angle,
It can be calculated, above-mentioned each data source can also be merged by Visual SLAM.It is available to position and course in this way
The prediction at angle.Since the acquisition of course angle is by as it is known to those skilled in the art that details are not described herein.
In this present embodiment, in position fixing process, in conjunction with camera perception as a result, being obtained again to position and course angle
Update.Prediction and update are the processes of continuous iteration.
In this present embodiment, the landmark information includes but is not limited to the angular coordinate on parking stall, the column in parking lot
Edge, column projection and anticollision strip edge.These the information that is marked in map refer specifically to the coordinate (x, y) on ground,
It may include the direction (x, y, theta) of terrestrial reference.Wherein, specified landmark information is extracted from the image of vehicle's surroundings is image
The technology of comparative maturity in process field, details are not described herein.
It is based partially on the map selection SIFT of vision, the landmark information of FAST etc.But these landmark informations are by environment
Variation is big.Time invariance is bad.So can not be stored in map.The present embodiment is in positioning, the landmark information packet of selection
Include the fixed point on parking stall, stud edge along and its in the projection on ground etc..
Wherein, the detection of the angular coordinate on parking stall can refer to any detection means in the prior art, be this field ratio
More mature technology.In this present embodiment, column Edge check has the anticollision strip of yellow black interval using parking lot major part column
This feature, extraction has identical 2D coordinate, but the equally spaced feature of height is detected.
The embodiment provides a kind of mobile terminal, including processor and memory, the memory is stored with
Program instruction, the processor operation program instruction realize the step in method as described above.The mobile terminal is, for example,
Smart phone, car-mounted terminal etc..
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.
To realize above-mentioned parking lot vehicle positioning method, as shown in figure 4, the present embodiment also correspondence provides a kind of parking lot
Vehicle positioning system 100, the parking lot vehicle positioning system 100 are used to utilize vehicle when any vehicle is station-keeping mode
Athletic posture, vehicular map, for speculate vehicle athletic posture change odometer, the grating map, the terrestrial reference
Map step by step positions vehicle, for vehicle according to vehicular map to and current vehicle positioning planning guidance path and control
Vehicle processed independently stops to specified parking stall.
Specifically, as shown in figure 4, the parking lot vehicle positioning system 100 includes: first order positioning unit 110, second
Grade positioning unit 120 and third level positioning unit 130.
The embodiment of the present invention parking lot vehicle positioning system 100 is described in detail below.
Specifically, in this present embodiment, the first order positioning unit 110 passes through when any vehicle is station-keeping mode
Vehicular map, GPS determine the course angle of parking location, the entrance in parking lot, vehicle location and vehicle and miss vehicle location
Difference is contracted to first error range.
Specifically, the first order positioning unit 110 be using GPS to vehicle road, outlet or entrance in parking lot
Place is positioned.Obtain the approximate location of vehicle.Specifically, the first order is sentenced in known vehicular map according to GPS coordinate
A mouthful serial number is broken, according to the preliminary course angle of entranceway walking direction.
Vehicle location error precision can be contracted to first error range by the first order positioning unit 110, wherein institute
Stating first error range is, for example, less than 5 meters.
Specifically, in this present embodiment, the second level positioning unit 120 passes through grating map (as shown in Figure 2), vehicle
Athletic posture and the travelable region of detection further determine that vehicle location and that vehicle location error is contracted to numerical value is equal
Less than the second error range of the first error range.
In this present embodiment, in this present embodiment, the second level positioning unit 120 and a parking lot map structuring system
It is connected, and obtains the grating map from parking lot map structuring system.The second level positioning unit 120 passes through the grid
Map positions the low precision of vehicle further progress, reduces position error, wherein store the grid in grating map in each grid
The attribute of lattice institute overlay area.Such as 1 represent road surface, 0 represents non-road surface.For example, positioning intersection by grating map
Equal positions.Usual position error is less than 50cm.Specifically, according to known grating map, in conjunction with vehicle movement odometer, and sense
Know as a result, calculating the position (including course angle) of maximum probability in the range of the first step.Here perception specifically refers to vehicle body
Camera can travel the testing result in region to road, and by back projection to ground and the coordinate system of parking lot map
Under.The vehicle probability that each position (including course angle) occurs in map is calculated by corresponding location algorithm.
Vehicle location error precision can be contracted to the second error range by the second level positioning unit 120, wherein institute
Stating the second error range is, for example, less than 1 meter.
Specifically, in this present embodiment, the third level positioning unit 130 passes through in terrestrial reference map (as shown in Figure 3)
The athletic posture of landmark information and vehicle, which further determines that vehicle location and vehicle location error is contracted to numerical value, is respectively less than institute
State the third error range of the second error range.
In this present embodiment, third level positioning unit 130 is further to carry out high accuracy positioning by terrestrial reference map, usually
Position error is less than 20cm.Specifically, according to known landmarks map, vehicle mileage meter, sensing results, in the range of second step
Calculate the position (including course angle) of maximum probability.Here perception is to detect determining for ground parking position according to camera image
Point, column etc. have the marker of accurate location.It also needs to be transformed into the coordinate of landmark information under the coordinate system of map.
Vehicle location error precision can be contracted to third error range by the third level positioning unit 130, wherein institute
Stating third error range is, for example, less than 0.1 meter.
The above available location algorithm includes but is not limited to EKF (Extended Kalman filter) family, Grid filter (net
Lattice filtering), Particle filter (particle filter).The details of location algorithm is mature technology, is not also repeated herein.
In this present embodiment, the third level positioning unit 130 is connected with a parking lot map structuring system, stops from described
Parking lot map structuring system obtains the terrestrial reference map.
In this present embodiment, the athletic posture of the vehicle includes location information and course angle.The movement appearance of vehicle can be by
Odometer speculates that the odometer includes four-wheel rotational pulse and steering wheel angle, can extrapolate vehicle and transport posture relatively
Variation.Specifically, (such as accelerated according to the speed parameter of steering wheel angle, wheel pulse, vehicle inertia measuring unit (IMU)
Degree, angular speed) and GPS obtain the athletic posture of the vehicle.The location information of vehicle, utilization orientation disk are obtained using GPS
Corner, wheel pulse, vehicle inertia measuring unit (IMU) speed parameter (such as acceleration, angular speed) obtain vehicle boat
To angle.
Course angle can use angular speed meter calculate, can also by vehicular four wheels rotational pulse and steering wheel angle,
It can be calculated, above-mentioned each data source can also be merged by Visual SLAM.It is available to position and course in this way
The prediction at angle.Since the acquisition of course angle is by as it is known to those skilled in the art that details are not described herein.
It in this present embodiment, can be in conjunction with camera perception as a result, obtaining the update to position and course angle again.Prediction
It is the process of continuous iteration with update.
In this present embodiment, the landmark information includes but is not limited to the angular coordinate on parking stall, the column in parking lot
Edge, column projection and anticollision strip edge.These the information that is marked in map refer specifically to the coordinate (x, y) on ground,
It may include the direction (x, y, theta) of terrestrial reference.Wherein, specified landmark information is extracted from the image of vehicle's surroundings is image
The technology of comparative maturity in process field, details are not described herein.
It is based partially on the map selection SIFT of vision, the landmark information of FAST etc.But these landmark informations are by environment
Variation is big.Time invariance is bad.So can not be stored in map.The present embodiment is in positioning, the landmark information packet of selection
Include the fixed point on parking stall, stud edge along and its in the projection on ground etc..
Wherein, the detection of the angular coordinate on parking stall can refer to any detection means in the prior art, be this field ratio
More mature technology.In this present embodiment, column Edge check utilizes parking lot using the landmark information in Visual SLAM
Most of column has this feature of the anticollision strip of yellow black interval, and extraction has identical 2D coordinate, but the equally spaced feature of height
It is detected.
In conclusion the embodiment of the present invention utilizes the athletic posture, vehicular map, the movement appearance for speculating vehicle of vehicle
Odometer, the travelable region of detection, GPS, grating map, the terrestrial reference map of state variation step by step position vehicle, effectively
Improve positioning accuracy, for vehicle according to vehicular map to and current vehicle positioning planning guidance path, realize autonomous pool
Vehicle.The present invention provides effective means, application value and market prospects with higher for the autonomous parking of parking lot vehicle.Institute
With the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of parking lot vehicle positioning method, it is characterised in that: the parking lot vehicle positioning method the following steps are included:
First order position fixing process: when any vehicle is station-keeping mode, parking location, parking are determined by vehicular map, GPS
Vehicle location error is simultaneously contracted to first error range by the entrance of field, the course angle of vehicle location and vehicle；
Second level position fixing process: by grating map, the athletic posture of vehicle and the travelable region of detection are further determined that
Vehicle location error is simultaneously contracted to the second error range that numerical value is respectively less than the first error range by vehicle location；
Third level position fixing process: vehicle location is further determined that by the athletic posture of landmark information and vehicle in terrestrial reference map
And vehicle location error is contracted to the third error range that numerical value is respectively less than second error range.
2. parking lot vehicle positioning method according to claim 1, it is characterised in that: the landmark information includes parking stall
Angular coordinate, the stud edge in parking lot is along, column projection and anticollision strip edge.
3. parking lot vehicle positioning method according to claim 1, it is characterised in that: the travelable region includes straight trip
Road surface, entrance road surface and intersection pavement.
4. parking lot vehicle positioning method according to claim 1, it is characterised in that: the athletic posture of the vehicle includes
Location information and course angle；It is obtained according to steering wheel angle, wheel pulse, the speed parameter of vehicle inertia measuring unit and GPS
Take the athletic posture of the vehicle.
5. a kind of parking lot vehicle positioning system, it is characterised in that: the parking lot vehicle positioning system includes:
First order positioning unit determines parking location, parking by vehicular map, GPS when any vehicle is station-keeping mode
Vehicle location error is simultaneously contracted to first error range by the entrance of field, the course angle of vehicle location and vehicle；
Second level positioning unit, by grating map, the athletic posture of vehicle and the travelable region of detection are further determined that
Vehicle location error simultaneously is contracted to numerical value and is respectively less than the second error range of the first error range to pass through grid by vehicle location
Lattice map, the athletic posture of vehicle and the travelable region of detection further determine that vehicle location and vehicle location error contract
As low as numerical value the second error range for being respectively less than the first error range；
Third level positioning unit further determines that vehicle location by the athletic posture of landmark information and vehicle in terrestrial reference map
And vehicle location error is contracted to the third error range that numerical value is respectively less than second error range.
6. parking lot vehicle positioning system according to claim 5, it is characterised in that: the landmark information includes parking stall
Angular coordinate, the stud edge in parking lot is along, column projection and anticollision strip edge.
7. parking lot vehicle positioning system according to claim 5, it is characterised in that: the travelable region includes straight trip
Road surface, entrance road surface and intersection pavement.
8. parking lot vehicle positioning system according to claim 5, it is characterised in that: the athletic posture of the vehicle includes
Location information and course angle；It is obtained according to steering wheel angle, wheel pulse, the speed parameter of vehicle inertia measuring unit and GPS
Take the athletic posture of the vehicle.
9. a kind of mobile terminal, including processor and memory, the memory are stored with program instruction, it is characterised in that: institute
State step of the processor operation program instruction realization in the method as described in Claims 1-4 any claim.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in Claims 1-4 any claim is realized when execution.
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| CN201710395296.5A CN108961811B (en) | 2017-05-25 | 2017-05-25 | Parking lot vehicle positioning method, system, mobile terminal and storage medium |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110942665A (en) * | 2019-12-16 | 2020-03-31 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN111145634A (en) * | 2019-12-31 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Method and device for correcting map |
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| CN111907516A (en) * | 2019-05-09 | 2020-11-10 | 广州汽车集团股份有限公司 | Full-automatic parking method and system |
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| CN111143440B (en) * | 2019-12-30 | 2023-07-25 | 北京中交兴路信息科技有限公司 | Vehicle parking behavior determining method, determining system and storage medium based on vehicle track |
| CN113129640A (en) * | 2019-12-31 | 2021-07-16 | 北京四维图新科技股份有限公司 | Automatic parking method and equipment |
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| CN113734150A (en) * | 2020-05-29 | 2021-12-03 | 北京新能源汽车股份有限公司 | Parking control method and device, control equipment and automobile |
| CN113734150B (en) * | 2020-05-29 | 2023-12-19 | 北京新能源汽车股份有限公司 | Parking control method and device, control equipment and automobile |
| CN112356826B (en) * | 2020-10-28 | 2022-02-01 | 惠州华阳通用电子有限公司 | Parking assisting method and storage medium |
| CN112356826A (en) * | 2020-10-28 | 2021-02-12 | 惠州华阳通用电子有限公司 | Parking assisting method and storage medium |
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