CN108981729A - Vehicle positioning method and device - Google Patents
Vehicle positioning method and device Download PDFInfo
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- CN108981729A CN108981729A CN201710407858.3A CN201710407858A CN108981729A CN 108981729 A CN108981729 A CN 108981729A CN 201710407858 A CN201710407858 A CN 201710407858A CN 108981729 A CN108981729 A CN 108981729A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The present invention proposes a kind of vehicle positioning method and device, wherein method includes: the reference model for obtaining each lane, wherein, the reference model, be according to reference vehicle in lane when driving, the normal acceleration with reference to vehicle direction perpendicular to the ground changes over time generation；When target vehicle when driving, the normal acceleration for measuring the target vehicle changes over time process, to obtain test sample；Target lane according to the similarity degree between the test sample and the reference model in each lane, where determining the target vehicle in each lane.In this way, can reduce influence of the environmental factor to lane identification accuracy, the precision and reliability of lane identification and positioning are improved, solves the problems, such as interference of the recognition accuracy vulnerable to environmental change in the prior art.
Description
Technical field
The present invention relates to intelligent navigation technology field more particularly to a kind of vehicle positioning methods and device.
Background technique
With the development of airmanship, requirement of the user to navigation equipment is higher and higher, and starting to desire to navigate through equipment can
The services such as more accurate road prompt, such as lane change prompting, branch road etc. are provided, thus, vehicle current line how is accurately positioned
The lane sailed becomes urgent problem to be solved.
In the related technology, the technologies such as computer vision and image procossing are typically based on and carry out road Identification, are passed using image
Sensor carries out real-time monitoring to the road of vehicle front, and associated picture Processing Algorithm is recycled to carry out collected road conditions image
Processing, finally by the symbolic characteristic such as lane line in lane, identifies the lane of vehicle current driving.
However, the existing roads recognition method based on computer vision and image procossing, recognition accuracy becomes vulnerable to environment
The interference of change, light is weak, low visibility, traffic congestion when, acquired picture quality is poor, so that lane be made to know
Other accuracy rate reduces.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of vehicle positioning method, to reduce environmental factor to lane
The influence of recognition accuracy improves the precision and reliability of lane identification and positioning, solves recognition accuracy in the prior art
The problem of interference vulnerable to environmental change.
Second object of the present invention is to propose a kind of automobile navigation method.
Third object of the present invention is to propose a kind of vehicle locating device.
Fourth object of the present invention is to propose a kind of vehicle navigation apparatus.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
6th purpose of the invention is to propose another non-transitorycomputer readable storage medium.
7th purpose of the invention is to propose a kind of computer program product.
8th purpose of the invention is to propose another computer program product.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of vehicle positioning method, comprising:
Obtain the reference model in each lane, wherein the reference model, be according to reference vehicle in lane when driving,
The normal acceleration with reference to vehicle direction perpendicular to the ground changes over time generation；
When target vehicle when driving, the normal acceleration for measuring the target vehicle changes over time process, to be surveyed
Sample sheet；
According to the similarity degree between the test sample and the reference model in each lane, the mesh is determined from each lane
Mark the target lane where vehicle.
The vehicle positioning method of the embodiment of the present invention, by obtaining the reference model in each lane, when target vehicle when driving,
The normal acceleration of measurement target vehicle changes over time process, to obtain test sample, according to test sample and each lane
Similarity between reference model, the target lane where determining target vehicle in each lane.Thereby, it is possible to reduce environment because
Influence of the element to lane identification accuracy improves the precision and reliability of lane identification and positioning.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of automobile navigation method, comprising:
Using vehicle positioning method described in first aspect embodiment, target vehicle is positioned, with from the target
Target lane in target road section where vehicle, where determining；
Target road section and the target lane where the target vehicle, navigate to the target vehicle.
The automobile navigation method of the embodiment of the present invention positions target vehicle by using vehicle positioning method, with
Target lane where being determined from the target road section where target vehicle, according to the target road section and target where target vehicle
Lane navigates to target vehicle.Thereby, it is possible to the lanes based on positioning to navigate, and be that user's real-time recommendation is optimal
Vehicle line improves navigation precision, promotes user experience.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of vehicle locating device, comprising:
Module is obtained, for obtaining the reference model in each lane, wherein the reference model is existed according to reference vehicle
In lane when driving, the normal acceleration with reference to vehicle direction perpendicular to the ground changes over time generation；
Measurement module, for working as target vehicle when driving, the normal acceleration for measuring the target vehicle is changed over time
Process, to obtain test sample；
Determining module, for according to the similarity degree between the test sample and the reference model in each lane, from each vehicle
The target lane where the target vehicle is determined in road.
The vehicle locating device of the embodiment of the present invention, by obtaining the reference model in each lane, when target vehicle when driving,
The normal acceleration of measurement target vehicle changes over time process, to obtain test sample, according to test sample and each lane
Similarity between reference model, the target lane where determining target vehicle in each lane.Thereby, it is possible to reduce environment because
Influence of the element to lane identification accuracy improves the precision and reliability of lane identification and positioning.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of vehicle navigation apparatus, comprising:
Locating module, for being positioned to target vehicle using vehicle locating device described in third aspect embodiment,
With the target lane from the target road section where the target vehicle, where determining；
Navigation module, for according to where the target vehicle target road section and the target lane, to the target
Vehicle navigates.
The vehicle navigation apparatus of the embodiment of the present invention positions target vehicle by using vehicle locating device, with
Target lane where being determined from the target road section where target vehicle, according to the target road section and target where target vehicle
Lane navigates to target vehicle.Thereby, it is possible to the lanes based on positioning to navigate, and be that user's real-time recommendation is optimal
Vehicle line improves navigation precision, promotes user experience.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, realizes as described in first aspect embodiment when which is executed by processor
Vehicle positioning method.
In order to achieve the above object, sixth aspect present invention embodiment proposes another non-transitory computer-readable storage medium
Matter is stored thereon with computer program, realizes as described in second aspect embodiment when which is executed by processor
Automobile navigation method.
In order to achieve the above object, seventh aspect present invention embodiment proposes a kind of computer program product, when the calculating
When instruction in machine program product is executed by processor, the vehicle positioning method as described in first aspect embodiment is executed.
In order to achieve the above object, eighth aspect present invention embodiment proposes another computer program product, when the meter
When instruction in calculation machine program product is executed by processor, the automobile navigation method as described in second aspect embodiment is executed.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram for the vehicle positioning method that one embodiment of the invention proposes；
Fig. 2 is the flow diagram for the vehicle positioning method that another embodiment of the present invention proposes；
Fig. 3 is the flow diagram for the vehicle positioning method that a further embodiment of the present invention proposes；
Fig. 4 is the flow diagram for the vehicle positioning method that yet another embodiment of the invention proposes；
Fig. 5 is target vehicle driving process schematic diagram；
Fig. 6 is the flow diagram for the vehicle positioning method that further embodiment of this invention proposes；
Fig. 7 is the flow diagram for the automobile navigation method that one embodiment of the invention proposes；
Fig. 8 is the structural schematic diagram for the vehicle locating device that one embodiment of the invention proposes；
Fig. 9 is the structural schematic diagram for the vehicle locating device that another embodiment of the present invention proposes；And
Figure 10 is the structural schematic diagram for the vehicle navigation apparatus that one embodiment of the invention proposes；
Figure 11 is the structural schematic diagram for the vehicle positioning system that one embodiment of the invention proposes；
Figure 12 is the schematic diagram that mobile terminal acquires data.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the vehicle positioning method and device of the embodiment of the present invention are described.
In recent years, with the development of mobile terminal, related roads Study of recognition starts with biography built-in in mobile terminal
Sensor, such as acceleration transducer, direction sensor etc., to obtain the driving status and motion profile in vehicle travel process,
And the movement such as detect the lane change behavior of vehicle, turning, to realize lane identification.
However, the above method needs the original lane information of known vehicle, and require each lane change of correct identification vehicle
Otherwise behavior easily causes cumulative errors.In addition, in the complicated such as frequent lane change environment of running environment, recognition accuracy compared with
It is low.
Therefore, to solve the above-mentioned problems, the embodiment of the present invention proposes a kind of vehicle positioning method, to improve lane knowledge
Other and positioning precision and reliability.
Fig. 1 is the flow diagram for the vehicle positioning method that one embodiment of the invention proposes, this method can be taken by cloud
Business device executes, wherein cloud server has data perception, acquisition and analytic function.
As shown in Figure 1, the vehicle positioning method the following steps are included:
S11 obtains the reference model in each lane.
Wherein, reference model can according to reference vehicle in lane when driving, with reference to vehicle perpendicular to the ground direction hang down
Straight acceleration changes over time generation.
Over time and vehicular traffic increases, and the surface in lane more or less starts to occur big in various degree
Small hollow.Vehicle in the process of moving, due to being influenced by lane hollow, can be such that vehicle generates on direction perpendicular to the ground
The variation of acceleration, and hollow area is bigger, the duration of the normal acceleration generated on direction perpendicular to the ground is longer, hollow
Depth is deeper, and the size of the normal acceleration generated in vertical direction is bigger.To which it is special that this can be based in the present embodiment
Point pre-establishes the reference model in lane.
It, can be in true environment when establishing reference model according to the normal acceleration on direction perpendicular to the ground
Under, it selects different types of vehicle to be used as with reference to vehicle, is perceived using the multiple sensors installed in the mobile terminal on vehicle
With reference to the data information of vehicle in the process of running, and the related application by installing in mobile terminal acquires sensor sense
Cloud server is uploaded to after the data known.In addition, in order to improve the accuracy of established reference model, it can also be in reference vehicle
The traveling that second generation onboard diagnostic system (On-Board Diagnostics II, OBD-II) acquisition refers to vehicle is installed in
Data, including speed, mileage etc., to be calibrated to the data that related application acquires.Wherein, it is installed in mobile terminal
Related application can be communicated by mobile communication technologies such as mobile data network, Wi-Fi with cloud server.
The process of the data perceived in order to facilitate understanding using sensor in related application acquisition mobile terminal, below
The partial objects in conjunction with involved in collection process and function are illustrated.
By taking the mobile terminal in reference vehicle is the smart phone of android system as an example, android system provides biography
Sensor manager SensorManager object, by the getDefaultSensor () letter for executing SensorManager object
Number, it is possible to specify sensor object, such as specified sensor are acceleration transducer or direction sensor etc., wherein
GetDefaultSensor () function is by transmitting special parameter come the type of specified sensor.Specified sensor object it
Afterwards, it can use registerListener () function and monitoring event added to specified sensor, to acquire required number
According to.Finally, specified sensor is obtained by the onSensorChanged () function in SensorEventListener object
The data information perceived.
Related application in mobile terminal collects after sensor perceives data information, can be based on mobile logical
The data information of acquisition is uploaded to cloud server by letter technology, so that cloud server is analyzed and processed data information,
It regard treated data information as training sample, the reference model in training acquisition lane.Due to being easy in vehicle travel process
It is influenced by external environment, thus the data of sensor perception might not be accurate, thus, in order to improve accurate data degree,
In a kind of possible implementation of the embodiment of the present invention, before the data of acquisition are uploaded to cloud server, it can use
Noise cancellation technique, such as low-pass filter carry out denoising to the data of related application acquisition, and then will place
Data after reason are uploaded to cloud server.
Cloud server receive mobile terminal upload data information after, can using the data information received as
Training sample, training obtain the reference model in lane.Optionally, in a kind of possible implementation of the embodiment of the present invention, also
The data information received can be handled by cloud server, such as noise reduction process, to improve the accuracy of data.
After cloud server receives the data information of mobile terminal upload, data information is carried out at analysis first
Reason extracts the normal acceleration in data information, and bent according to the normal acceleration that normal acceleration fits corresponding lane
Line, and then the normal acceleration curve in corresponding lane is inputted as training data, using corresponding lane as output, Ke Yijian
The reference model in vertical lane.
For example, it is assumed that a road includes the lane of left, center, right three, is denoted as l, m and r, cloud server root respectively
According to the data information received, the normal acceleration curve in each lane of acquisition is denoted as S (l), S (m) and S (r) respectively.By S
(l), corresponding left-lane, middle lane and right lane are arrived vehicle as output by S (m) and input of the S (r) as model
The reference model in road.
In the present embodiment, when carrying out lane location to the target vehicle of current driving, each lane can be first obtained
Reference model, the specific mode for obtaining reference model will provide in subsequent content, to avoid repeating, not make herein specifically
It is bright.
S12, when target vehicle when driving, the normal acceleration for measuring target vehicle changes over time process, to be surveyed
Sample sheet.
In the present embodiment, in the process of moving, the mobile terminal in target vehicle can acquire mobile terminal to target vehicle
In built-in sensor perception data information, and the data information of acquisition is uploaded to cloud server.Cloud server connects
It, can be from the normal acceleration extracted in data information in target vehicle driving process after receiving data information.
Optionally, in a kind of possible implementation of the embodiment of the present invention, cloud server is received on mobile terminal
After the data information of biography, it can choose and the data information received is handled, for example denoise, counted later from treated
It is believed that extracting the normal acceleration in target vehicle driving process in breath.
In the alternatively possible implementation of the embodiment of the present invention, cloud server receives the number of mobile terminal upload
It is believed that can not also handle data information after breath, target vehicle row is directly extracted from received data information
Normal acceleration during sailing.
After cloud server extracts the normal acceleration in target vehicle driving process, can further it measure vertical
The process that acceleration changes over time obtains the normal acceleration curve of target vehicle, and as test sample, is denoted as S (t).
S13 determines target carriage according to the similarity degree between test sample and the reference model in each lane from each lane
Target lane where.
In the present embodiment, after the reference model and the corresponding test sample of target vehicle that obtain each lane, cloud clothes
Business device can match test sample with reference model, according to similar between test sample and the reference model in each lane
Degree, the lane where determining target vehicle in each lane.
Specifically, test sample can be separately input into the reference model in each lane, calculates test sample and reference
The similarity degree of model, similarity degree is higher, shows the vehicle where the corresponding lane of the reference model in the lane and target vehicle
Road is more similar, can be using the lane as target lane.
The vehicle positioning method of the present embodiment, by obtaining the reference model in each lane, when target vehicle when driving, measurement
The normal acceleration of target vehicle changes over time process, to obtain test sample, according to the reference of test sample and each lane
Similarity between model, the target lane where determining target vehicle in each lane.Thereby, it is possible to reduce environmental factor pair
The influence of lane identification accuracy improves the precision and reliability of lane identification and positioning.
The computation complexity when similarity degree between test sample and the reference model in each lane is calculated to reduce, and is mentioned
The efficiency of high lane location can also be installed in a kind of possible implementation of the embodiment of the present invention in target vehicle
OBD-II system, to record the running data in target vehicle driving process, and running data can be by installing in mobile terminal
Related application acquisition, and be uploaded to cloud server.Cloud server can be with according to the running data information received
The feature of road where determining target vehicle, and then acquisition is similar with the feature of road where target vehicle from reference model
The reference model in each lane, thus, as shown in Fig. 2, step S11 may include following on the basis of embodiment as shown in Figure 1
Step:
S21, target road section where positioning target vehicle.
In the present embodiment, cloud server can receive the OBD-II for the related application acquisition installed in mobile terminal
The running data recorded in system, and according to the target road section where running data positioning target vehicle.
For example, the deflection direction for the steering wheel that cloud server can record in running data based on the received, determines mesh
Mark the target road section where vehicle.When the deflection direction of steering wheel is to deflect to the left, superficial objects vehicle has occurred left-hand rotation, falls
The movement of head either lane change to the left, it may be determined that the target road section where target vehicle is bend, allows turn-around, either
Variable road segment segment.Further, cloud server can also judge mesh according to the degree that steering wheel in running data deflects to the left
Mark the concrete type in section.When degree of deflection very little, target vehicle may be the movement for having carried out lane change to the left, it may be determined that mesh
Marking section is variable road segment segment；When degree of deflection is larger, target vehicle may have occurred turning, it may be determined that target road section is curved
Road；When degree of deflection is very big, target vehicle, which may have occurred, to be turned around to act, it may be determined that target road section is to allow turn-around.
S22 chooses the reference model in each lane in target road section.
It, can be from reference model after cloud server has determined the target road section where target vehicle in the present embodiment
The reference model in the corresponding each lane in identical with the target road section feature section of middle selection, with for subsequent with test sample progress
Matching.
The vehicle positioning method of the present embodiment is chosen each in target road section by target road section where positioning target vehicle
The reference model in lane, can reduce match complexity, improve the efficiency of lane location.
The possibility implementation of target road section where the embodiment of the present invention proposes two kinds of positioning target vehicles.As wherein
A kind of possible implementation, can be according to the target where the location information positioning target vehicle of mobile terminal in target vehicle
Section, thus, as shown in figure 3, step S21 may comprise steps of on the basis of previous embodiment:
S31, the acquisition for mobile terminal location information bound from target vehicle.
With the development of mobile terminal technology, positioning service almost becomes the standard configuration of existing mobile terminal, therefore, this
It, can be from the acquisition for mobile terminal location information of target vehicle binding in embodiment.
Wherein, location information can by global positioning system (Global Positioning System, GPS) or
Base station location (Location Based Service, LBS) technology obtains.GPS positioning technology is fixed using the GPS in mobile terminal
Position module positions mobile terminal, determines the location information of mobile terminal；LBS location technology is as a kind of location-based
Service technology mainly passes through the radio communication network of the operators such as telecommunications, movement (such as global system for mobile communications
(Global System for Mobile Communications, GSM) network, CDMA (Code Division
Multiple Access, CDMA) network etc.) location information (such as geographical coordinate, geodetic coordinates etc.) of mobile terminal is obtained,
Under the support of GIS-Geographic Information System (Geographic Information System, GIS) platform, mobile terminal is determined
Location information.
Since mobile terminal binding is on target vehicle, thus, the location information of mobile terminal can represent target vehicle
Location information, the acquisition for mobile terminal location information that cloud server is bound from target vehicle, that is, indicate obtain target vehicle
Location information.
S32 determines the target road section where target vehicle according to location information.
It, can be according to the positioning of acquisition after cloud server obtains the location information of target vehicle in the present embodiment
Information determines the target road section where target vehicle, and then from the reference mould for choosing each lane in target road section in reference model
Type.
For example, it is assumed that the location information that cloud server obtains is N39 ° 59 ' of north latitude, E116 ° 23 ' of east longitude, and it is fixed
Displaying target vehicle is close to the National Olympic Sports Centre in the information of position, then cloud server can be true according to location information
Fixed, the target road section where target vehicle is the section on N. 4th Ring Road close to the National Olympic Sports Centre.Due to north four
Loop has 8 lanes, then cloud server is chosen on N. 4th Ring Road from the reference model pre-established close to national Olympic
The reference model in 8 lanes in the section of gram sports center.
The vehicle positioning method of the present embodiment, by the acquisition for mobile terminal location information bound from target vehicle, according to
Location information determines the target road section where target vehicle, the section where target vehicle can be substantially positioned, to reduce vehicle
Road orientation range reduces match complexity.
Due to more limited in such a way that GPS positioning technology or LBS location technology obtain location information, in no base station
The region of covering or the network coverage, or have the network coverage but network signal is blocked weaker region by building etc., it is fixed to obtain
Position information is more difficult.Therefore, in the alternatively possible implementation of the embodiment of the present invention, can pacify according in target vehicle
Target road section where the running data positioning target vehicle that the OBD-II system of dress is recorded, thus, as shown in figure 4, preceding
On the basis of stating embodiment, step S21 be may comprise steps of:
S41, before obtaining the blackout that mobile terminal is issued, the final location information of sending.
Since mobile terminal can be used as a node, real-time tranception data, moreover, mobile terminal can in wireless communications
To obtain location information in real time based on GPS positioning technology or LBS location technology, and it is very weak in no network coverage or network signal
In the case where, mobile terminal can not obtain location information, data can not be also sent, thus, in the present embodiment, cloud server can
Before obtaining the blackout that mobile terminal is issued, the final location information of sending.
S42 calculates operating range according to the running data of target vehicle.
The OBD-II system installed in target vehicle can recorde the running data of target vehicle, including but not limited to travel
Speed and running time.In a kind of possible implementation of the embodiment of the present invention, running data can also include steering wheel
Deflect direction.It, can be further according to the row in running data after cloud server obtains the running data of target vehicle
Speed and running time are sailed, calculates and obtains operating range.
It should be noted that the running time of target vehicle is not limited to be recorded by OBD-II system, it can also be by target
The mobile terminal records of vehicle binding, the invention is not limited in this regard.
S43, according to operating range, and final location information determines the target road section where target vehicle.
In the present embodiment, after cloud server calculates acquisition operating range, according to resulting operating range and it can obtain
The final location information taken determines the target road section where target vehicle.
For example, it is assumed that target vehicle passes through a tunnel in the process of moving, and without network signal in tunnel, mobile whole
End can not obtain position location information.Fig. 5 is target vehicle driving process schematic diagram.As shown in figure 5, including route 1 in road
With 2 two branch roads of route, wherein the tunnel for being 200 meters comprising one section of length in route 1.When target vehicle is travelled to A point, target
Mobile terminal in vehicle carries out last time positioning, enters tunnel later, and mobile terminal can not obtain location information.Target carriage
Running time of the target vehicle for the OBD-II system record installed in tunnel is 10 seconds, travel speed 72km/h,
And the deflection direction of steering wheel is to deflect to the left.When target vehicle is travelled to B point, network signal restores, and cloud server obtains
The running data for taking mobile terminal to record in the location information and OBD-II system of A point.According to the location information of acquisition, cloud
End server knows that target vehicle have passed through the fork in the road in a double branch roads, and the gas station You Ge nearby；According to the traveling of acquisition
Data know that target vehicle has been travelled 10 seconds with 72 kilometers per hour of speed on the branch road on the left side, and calculate and travelled
Distance is 200 meters.It can determine target carriage according to operating range, the deflection direction of steering wheel and location information, cloud server
Target road section where is the section on route 1 except tunnel (i.e. after B point).
The vehicle positioning method of the present embodiment, before obtaining the blackout that is issued of mobile terminal, sending it is final
Location information calculates operating range according to the running data of target vehicle, is determined according to operating range and final location information
Target road section where target vehicle can substantially position the section where target vehicle, to reduce lane location range, drop
Low match complexity.
For the process convenient for the target lane where determining target vehicle in each lane is more clearly understood, the present invention
Embodiment proposes another vehicle positioning method, and Fig. 6 is the process for the vehicle positioning method that further embodiment of this invention proposes
Schematic diagram.As shown in fig. 6, step S13 may comprise steps of on the basis of embodiment as shown in Figure 1:
S51 is calculated the Cumulative Distance between test sample and the reference model in each lane, is obtained using dynamic programming algorithm
Similarity degree between test sample and the reference model in each lane.
Dynamic Programming (Dynamic Programming, DP) algorithm is also known as dynamic time warping (Dynamic Time
Warping, DTW) algorithm, commonly used in solving Optimal solution problem.DTW algorithm, which passes through, calculates knot Time alignment and distance measure
Altogether, the matching of test sample and reference model is carried out, for measuring the similarity degree of two different time serieses of length.
The specific calculating process of DTW algorithm is illustrated below:
Assuming that test sample and reference model are respectively P and Q, their length is respectively m and n, i-th of test sample P
The characteristic value of element is denoted as Pi, the characteristic value of j-th of element of reference model Q is denoted as Qj.It is whether identical for the value of m and n, meter
Calculation process can be divided into two kinds of situations.It is described as follows:
The first situation: m=n.
As m=n, shows that test sample P is identical with the sequence length of reference model Q, can directly calculate correspondence at this time
Euclidean distance between element, shown in calculation formula such as formula (1).It is smaller to calculate resulting Euclidean distance, shows test sample P
Similarity degree between reference model Q is higher.
Second situation: m ≠ n.
As m ≠ n, show that the sequence length of test sample P and reference model Q is not identical, in this case, in calculating
Before, it needs first to carry out sequence alignment to test sample P and reference model Q.
In order to be aligned test sample P and reference model Q, DTW the algorithm construction matrix of one m × n, matrix element (i,
J) characteristic value P is indicatediAnd QjBetween Euclidean distance, shown in calculation formula such as formula (2).
After the Euclidean distance matrix of construction complete sequence, DTW algorithm finds a Cumulative Distance from institute's structural matrix
(being denoted as D) shortest path, referred to as regular path, Cumulative Distance are the similar journey indicated between test sample P and reference model Q
Degree, Cumulative Distance is smaller, indicates that similarity degree is higher.
DTW algorithm needs to meet the constraint of continuity, monotonicity and boundary condition when selecting regular path, therefore, seeks
During looking for regular path, it can only begin look for from the lower left corner of structural matrix, until the upper right corner of matrix terminates, and find
In journey can only with the time it is progressive it is dull carry out, centre cannot across element searching, it is next accordingly, for matrix element (i, j)
It is a it needs to be determined that element can only be one in (i+1, j), (i+1, j+1) and (i, j+1).Therefore, regular path is found
In the process, since the lower left corner of matrix, after calculating every time, select the smallest element of Cumulative Distance D as calculating next time
Starting point, until the upper right corner of matrix, searches out the smallest fullpath of Cumulative Distance D, shown in calculation formula such as formula (3).
D (i+1, j+1)=d (i+1, j+1)+min { D (i, j+1), D (i, j), D (i+1, j) } (3)
In the present embodiment, cloud server obtains the reference model in each lane, and according in target vehicle driving process
Normal acceleration changes over time after process obtains test sample, based on above-mentioned DTW algorithm to test sample and each lane
Reference model is matched, and the accumulation obtained between test sample and the reference model in each lane can be calculated using formula (3)
Distance D, Cumulative Distance D is smaller, shows that the similarity degree of test sample and reference model is higher, and then can be according to Cumulative Distance
D knows the similarity degree between test sample and the reference model in each lane.
Due in practical application, in fact it could happen that reference model is longer and situation that test sample is shorter, this will lead to matching
Accuracy, thus, in a kind of possible implementation of the embodiment of the present invention, cloud server from mobile terminal in addition to obtaining
Outside the data information for taking sensor perception built-in in mobile terminal, it is living based on GPS positioning technology that mobile terminal can also be obtained
The location information that LBS location technology is known, thus, cloud server is carrying out test sample and reference model using DTW algorithm
Before matching, the substantially section of target vehicle current driving can be judged, and according to the location information of acquisition first with appropriate point
The reference model of test sample and each lane is segmented by section distance, and then based on DTW algorithm to the test sample after segmentation
It is matched with reference model, obtains the Cumulative Distance D between test sample and the reference model in each lane, and then know test
The similarity degree of sample and reference model.By the way that between the two tired is calculated after being segmented to test sample and reference model again
Product distance, can be improved matched accuracy.
S52 determines that the highest lane of similarity degree is target lane.
In the present embodiment, the Cumulative Distance D obtained between test sample and each lane reference model is calculated by DTW algorithm
Later, the similarity degree between test sample and each lane reference model can be known according to Cumulative Distance D, and selects and tests
The corresponding lane of the highest reference model of sample similarity degree is as the target lane where target vehicle.
For example, it is assumed that the road of a three lanes, left (l), in (m) and right three lanes (r) it is corresponding with reference to mould
In type, normal acceleration curve is expressed as S (l), S (m) and S (r).Movement of the cloud server to being bound from target vehicle
After the data information obtained in terminal is analyzed and processed, the normal acceleration curve for obtaining target vehicle is expressed as S (t), S
It (t) is test sample.Based on above-mentioned DTW algorithm, cloud server by test sample S (t) respectively with the vehicle of left, center, right three
Normal acceleration curve S (l), S (m), the S (r) in road are matched, and the Cumulative Distance for calculating acquisition is expressed as D (l), D
(m) and D (r).When Cumulative Distance D (l) is minimum in three, show that test sample S (t) and S (l) are most like, i.e. test specimens
Similarity degree highest between this S (t) and the reference model of left-lane, it is possible to determine that left-lane is target lane, i.e. target carriage
The lane of current driving is left-lane.When Cumulative Distance D (m) is minimum, show that test sample S (t) and S (m) are most like,
That is the similarity degree highest between test sample S (t) and the reference model of middle lane, it is possible to determine that middle lane is target carriage
Road, the i.e. lane of target vehicle current driving are middle lane.When Cumulative Distance D (r) is minimum in three, show test specimens
This S (t) and S (r) are most like, i.e. similarity degree highest between test sample S (t) and the reference model of right lane can be sentenced
Determining right lane is target lane, i.e., the lane of target vehicle current driving is right lane.
The vehicle positioning method of the present embodiment calculates the reference of test sample and each lane by using dynamic programming algorithm
Cumulative Distance between model obtains the similarity degree between test sample and the reference model in each lane, determines similarity degree
Highest lane is target lane, can reduce calculation amount, improve matched accuracy.
The purpose of vehicle location is to provide technical foundation for automobile navigation, so that automobile navigation software can be according to traffic
Situation and planning route realize that optimal vehicle line based on lane is recommended and/or prompt service (such as lane change in advance, quickly
Travel road prompt etc.), thus, the embodiment of the present invention proposes a kind of automobile navigation method, and Fig. 7 is one embodiment of the invention proposition
Automobile navigation method flow diagram, this method can execute by the navigation software installed in mobile terminal, wherein mobile
Terminal may include the smart machines such as smart phone, tablet computer.
As shown in fig. 7, the automobile navigation method may comprise steps of:
S61 positions target vehicle using vehicle positioning method, with from the target road section where target vehicle,
Target lane where determining.
Wherein, Fig. 1 to Fig. 6 may refer in above-described embodiment about vehicle to the description of used vehicle positioning method
The description of localization method embodiment is no longer described in detail herein to avoid repeating.
In the present embodiment, the vehicle positioning method proposed using present invention be can be realized to target vehicle
It is positioned, and then the target lane where determining target vehicle in the target road section where target vehicle.
S62, according to where target vehicle target road section and target lane, navigate to target vehicle.
In the present embodiment, target carriage is determined from the target road section where target vehicle using above-mentioned vehicle positioning method
After target lane where, the navigation software installed in mobile terminal can according to where target vehicle target road section and
Target lane, navigates to target vehicle.
The automobile navigation method of the present embodiment positions target vehicle by using vehicle positioning method, with from mesh
Target lane where being determined in target road section where mark vehicle, according to the target road section and target carriage where target vehicle
Road navigates to target vehicle.Thereby, it is possible to the lanes based on positioning to navigate, and be the optimal row of user's real-time recommendation
Route is sailed, navigation precision is improved, promotes user experience.
In order to realize above-described embodiment, the present invention also proposes a kind of vehicle locating device.
Fig. 8 is the structural schematic diagram for the vehicle locating device that one embodiment of the invention proposes.
As shown in figure 8, the vehicle locating device 80 includes: to obtain module 810, measurement module 820 and determining module
830.Wherein,
Module 810 is obtained, for obtaining the reference model in each lane.
Wherein, reference model can according to reference vehicle in lane when driving, with reference to vehicle perpendicular to the ground direction hang down
Straight acceleration changes over time generation.
Measurement module 820, for working as target vehicle when driving, the normal acceleration for measuring target vehicle was changed over time
Journey, to obtain test sample.
Determining module 830, for according to the similarity degree between test sample and the reference model in each lane, from each lane
Target lane where middle determining target vehicle.
Further, in a kind of possible implementation of the embodiment of the present invention, as shown in figure 9, implementing as shown in Figure 8
On the basis of example, obtaining module 810 can also include:
Positioning unit 811, for target road section where positioning target vehicle.
Optionally, in a kind of possible implementation of the embodiment of the present invention, positioning unit 811 is specifically used for from target carriage
Binding acquisition for mobile terminal location information；The target road section where target vehicle is determined according to location information.
Optionally, in the alternatively possible implementation of the embodiment of the present invention, positioning unit 811, which is specifically used for obtaining, to be moved
Before the blackout that dynamic terminal is issued, the final location information of sending；According to the running data of target vehicle calculate traveling away from
From；According to operating range, and final location information determines the target road section where target vehicle.
Selection unit 812, for choosing the reference model in each lane in target road section.
Further, in a kind of possible implementation of the embodiment of the present invention, as shown in figure 9, implementing as shown in Figure 8
On the basis of example, determining module 830 may include:
Computing unit 831 calculates between test sample and the reference model in each lane for using dynamic programming algorithm
Cumulative Distance obtains the similarity degree between test sample and the reference model in each lane.
Determination unit 832, for determining that the highest lane of similarity degree is target lane.
It should be noted that the aforementioned vehicle for being also applied for the present embodiment to the explanation of vehicle positioning method embodiment
Positioning device, realization principle is similar, and details are not described herein again.
The vehicle locating device of the present embodiment, by obtaining the reference model in each lane, when target vehicle when driving, measurement
The normal acceleration of target vehicle changes over time process, to obtain test sample, according to the reference of test sample and each lane
Similarity between model, the target lane where determining target vehicle in each lane.Thereby, it is possible to reduce environmental factor pair
The influence of lane identification accuracy improves the precision and reliability of lane identification and positioning.
In order to realize above-described embodiment, the present invention also proposes a kind of vehicle navigation apparatus.
Figure 10 is the structural schematic diagram for the vehicle navigation apparatus that one embodiment of the invention proposes.
As shown in Figure 10, which includes: locating module 1010 and navigation module 1020.Wherein,
Locating module 1010, for determining target vehicle using vehicle locating device 80 described in previous embodiment
Position, with the target lane from the target road section where target vehicle, where determining.
Navigation module 1020, for according to where target vehicle target road section and target lane, to target vehicle carry out
Navigation.
It should be noted that the aforementioned vehicle for being also applied for the present embodiment to the explanation of automobile navigation method embodiment
Navigation device, realization principle is similar, and details are not described herein again.
The vehicle navigation apparatus of the present embodiment positions target vehicle by using vehicle locating device, with from mesh
Target lane where being determined in target road section where mark vehicle, according to the target road section and target carriage where target vehicle
Road navigates to target vehicle.Thereby, it is possible to the lanes based on positioning to navigate, and be the optimal row of user's real-time recommendation
Route is sailed, navigation precision is improved, promotes user experience.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Computer program is contained, vehicle positioning method described in previous embodiment is realized when which is executed by processor.
In order to realize above-described embodiment, the present invention also proposes another non-transitorycomputer readable storage medium, thereon
It is stored with computer program, automobile navigation method described in previous embodiment is realized when which is executed by processor.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when the computer program product
In instruction when being executed by processor, execute vehicle positioning method described in previous embodiment.
In order to realize above-described embodiment, the present invention also proposes another computer program product, when the computer program produces
When instruction in product is executed by processor, automobile navigation method described in previous embodiment is executed.
In order to clearly illustrate vehicle locating device provided by previous embodiment, the embodiment of the invention also provides a kind of vehicles
Positioning system, Figure 11 are the structural schematic diagram for the vehicle positioning system that one embodiment of the invention proposes, as shown in figure 11, as
A kind of possible implementation, the vehicle positioning system include: mobile terminal and cloud server.Wherein,
Mobile terminal, for acquiring perception data, location information and running data, and according to collected perception data and
Running data generates the relevant information of vehicle, and the relevant information of vehicle is supplied to cloud server.Specifically, Figure 12 is to move
The schematic diagram of dynamic data acquisition of terminal, as shown in figure 12, perception data are that mobile terminal works as target vehicle when driving, utilize movement
The data that the sensor of terminal built-in perceives, so that cloud server can measure hanging down for target vehicle according to perception data
Straight acceleration changes over time process to generate test sample.The source of running data is the OBD-II system of vehicle, positioning letter
Breath is obtained by GPS.
Cloud server can be interacted with mobile terminal, thus pass through the relevant information of acquisition for mobile terminal vehicle,
And the target lane of positioning is fed back into mobile terminal.Reference model is stored on server beyond the clouds.Wherein, reference model,
Be according to reference vehicle in lane when driving, change over time generation with reference to the normal acceleration in vehicle direction perpendicular to the ground
's.
Specifically, after mobile terminal acquires perception data, location information and running data, it is supplied to cloud service
Device.And then cloud server generates test sample according to perception data, test sample indicates target vehicle when driving, target vehicle
Normal acceleration change over time process.Then, cloud server estimates target vehicle according to location information and running data
Place section obtains the reference model in each lane in corresponding road section, and according between test sample and the reference model in each lane
Similarity degree, from each lane determine target vehicle where target lane.
By the system, influence of the environmental factor to lane identification accuracy can reduce, improve lane identification and positioning
Precision and reliability, solve the problems, such as interference of the recognition accuracy vulnerable to environmental change in the prior art.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (12)
1. a kind of vehicle positioning method, which comprises the following steps:
Obtain the reference model in each lane, wherein the reference model, be according to reference vehicle in lane when driving, it is described
Generation is changed over time with reference to the normal acceleration in vehicle direction perpendicular to the ground；
When target vehicle when driving, the normal acceleration for measuring the target vehicle changes over time process, to obtain test specimens
This；
According to the similarity degree between the test sample and the reference model in each lane, the target carriage is determined from each lane
Target lane where.
2. vehicle positioning method according to claim 1, which is characterized in that the reference model packet for obtaining each lane
It includes:
Target road section where positioning the target vehicle；
Choose the reference model in each lane in the target road section.
3. vehicle positioning method according to claim 2, which is characterized in that target where the positioning target vehicle
Section, comprising:
The acquisition for mobile terminal location information bound from the target vehicle；
According to the location information, the target road section where the target vehicle is determined.
4. vehicle positioning method according to claim 2, which is characterized in that target where the positioning target vehicle
Section, comprising:
Before obtaining the blackout that mobile terminal is issued, the final location information of sending；
According to the running data of the target vehicle, operating range is calculated；
The target road section where the target vehicle is determined according to the operating range and the final location information.
5. vehicle positioning method according to claim 1-4, which is characterized in that described according to the test sample
Similarity degree between the reference model in each lane, the target lane where determining the target vehicle in each lane, packet
It includes:
Using dynamic programming algorithm, the Cumulative Distance between the test sample and the reference model in each lane is calculated, obtains institute
State the similarity degree between test sample and the reference model in each lane；
Determine that the highest lane of similarity degree is the target lane.
6. a kind of automobile navigation method, which comprises the following steps:
Using vehicle positioning method as described in any one in claim 1-5, target vehicle is positioned, with from the target
Target lane in target road section where vehicle, where determining；
Target road section and the target lane where the target vehicle, navigate to the target vehicle.
7. a kind of vehicle locating device characterized by comprising
Module is obtained, for obtaining the reference model in each lane, wherein the reference model is according to reference vehicle in lane
Inside when driving, the normal acceleration with reference to vehicle direction perpendicular to the ground changes over time generation；
Measurement module, for working as target vehicle when driving, the normal acceleration for measuring the target vehicle changes over time process,
To obtain test sample；
Determining module, for according to the similarity degree between the test sample and the reference model in each lane, from each lane
Determine the target lane where the target vehicle.
8. vehicle locating device according to claim 7, which is characterized in that the acquisition module includes:
Positioning unit, for target road section where positioning the target vehicle；
Selection unit, for choosing the reference model in each lane in the target road section.
9. vehicle locating device according to claim 8, which is characterized in that the positioning unit is specifically used for:
The acquisition for mobile terminal location information bound from the target vehicle；
According to the location information, the target road section where the target vehicle is determined.
10. vehicle locating device according to claim 8, which is characterized in that the positioning unit is specifically used for:
Before obtaining the blackout that mobile terminal is issued, the final location information of sending；
According to the running data of the target vehicle, operating range is calculated；
The target road section where the target vehicle is determined according to the operating range and the final location information.
11. according to the described in any item vehicle locating devices of claim 7-10, which is characterized in that the determining module, comprising:
Computing unit calculates tired between the test sample and the reference model in each lane for using dynamic programming algorithm
Product distance, obtains the similarity degree between the test sample and the reference model in each lane；
Determination unit, for determining that the highest lane of similarity degree is the target lane.
12. a kind of vehicle navigation apparatus characterized by comprising
Locating module, for determining target vehicle using such as described in any item vehicle locating devices of claim 7-11
Position, with the target lane from the target road section where the target vehicle, where determining；
Navigation module, for according to where the target vehicle target road section and the target lane, to the target vehicle
It navigates.
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