CN109255005B

CN109255005B - Vehicle repositioning method and device, vehicle-mounted equipment, server and storage medium

Info

Publication number: CN109255005B
Application number: CN201811109273.4A
Authority: CN
Inventors: 刘晓彤; 林伟; 冯威; 周鑫
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2018-09-21
Filing date: 2018-09-21
Publication date: 2021-04-16
Anticipated expiration: 2038-09-21
Also published as: CN109255005A

Abstract

The embodiment of the invention relates to a vehicle repositioning method, a vehicle repositioning device, vehicle-mounted equipment, a server and a storage medium, wherein the method comprises the following steps: after the vehicle positioning signal is lost, sending a positioning request message to a server; after receiving a positioning response message fed back by the server, sending vehicle environment information to the server; receiving vehicle positioning information sent by a server, wherein the vehicle positioning information is information generated by the server based on vehicle environment information; the repositioning is based on the vehicle location information. According to the embodiment of the invention, after the vehicle positioning signal is lost, the server is informed to assist vehicle relocation by sending the positioning request message to the server, and the vehicle environment information is sent to the server, so that the server generates the vehicle positioning information based on the vehicle environment information. Under the assistance of the server, the vehicle repositioning is realized based on the vehicle positioning information, the vehicle position and the posture do not need to be adjusted, the passenger experience is not influenced, the positioning program does not need to be started for many times, and the vehicle running safety is not influenced.

Description

Vehicle repositioning method and device, vehicle-mounted equipment, server and storage medium

Technical Field

The embodiment of the invention relates to the technical field of automatic driving of vehicles, in particular to a vehicle repositioning method and device, vehicle-mounted equipment, a server and a storage medium.

Background

With the rapid development of vehicle automatic driving technology, the perception requirement on vehicle positioning is higher and higher. The positioning result directly influences the driving safety of the vehicle and the accuracy of path planning. For example, if the positioning result is wrong, the vehicle may change lanes by mistake, resulting in a car accident. For another example, if the positioning result is wrong, the vehicle may enter the wrong road, so that the subsequent path planning is wrong, and the vehicle cannot reach the destination.

At present, the performance of vehicle-mounted positioning equipment meeting the requirements of vehicle specifications is limited. Some positioning algorithms with accurate positioning results cannot be completely applied to vehicle-mounted positioning equipment. For example, a vehicle-mounted positioning device that is positioned by using a visual SLAM (immediate positioning And Mapping) cannot be repositioned for a long time after a vehicle is cold started or loses positioning for a long time during the driving of the vehicle.

Therefore, the vehicle pose of the conventional vehicle-mounted positioning equipment needs to be adjusted for repositioning, and passenger experience is influenced. Even the positioning program needs to be started for many times, which affects the driving safety of the vehicle.

Disclosure of Invention

To solve or at least partially solve the problems in the prior art, at least one embodiment of the invention provides a vehicle repositioning method, a vehicle repositioning device, an on-board device, a server and a storage medium.

In a first aspect, an embodiment of the present invention provides a vehicle relocation method, which is applied to a vehicle-mounted device, and the method includes:

after the vehicle positioning signal is lost, sending a positioning request message to a server;

after receiving the positioning response message fed back by the server, sending vehicle environment information to the server;

receiving vehicle positioning information sent by the server, wherein the vehicle positioning information is information generated by the server based on the vehicle environment information;

repositioning based on the vehicle location information.

In some embodiments, the vehicle environment information includes: image information and/or video information collected by an image sensor mounted on a vehicle;

the method further comprises the following steps:

after a vehicle positioning signal is lost or a positioning response message fed back by the server is received, acquiring image information and/or video information acquired by the image sensor;

accordingly, transmitting vehicle environment information to the server includes:

and sending the acquired image information and/or video information to the server.

In some embodiments, the vehicle location information is latitude and longitude coordinates;

the server generates vehicle positioning information based on the vehicle environment information, including: the server carries out global search matching on the vehicle environment information and a plurality of pre-stored map copies to obtain the longitude and latitude coordinates;

accordingly, repositioning based on the vehicle location information includes: and determining the longitude and latitude coordinates as the repositioning position of the vehicle.

In some embodiments, the vehicle positioning information is a local map;

the server generates vehicle positioning information based on the vehicle environment information, including:

the server determines a map local search area based on the vehicle environment information;

the server carries out local search matching on a preset map based on the local map search area and the local search radius to obtain the local map;

wherein the local search radius is determined by the server based on a local search threshold for the vehicle.

In some embodiments, the location request message carries a local search threshold for a vehicle;

or the like, or, alternatively,

the method further comprises the following steps: after receiving the positioning response message fed back by the server, sending a local search threshold value of the vehicle;

or the like, or, alternatively,

the positioning response message carries local search threshold request information; accordingly, the method further comprises: and after receiving the positioning response message fed back by the server, sending a local search threshold value of the vehicle.

In some embodiments, the method further comprises:

and updating the instant positioning and map building SLAM map library after repositioning based on the vehicle positioning information.

In a second aspect, an embodiment of the present invention further provides a vehicle repositioning method, which is applied to a server, and the method includes:

receiving a positioning request message sent by vehicle-mounted equipment;

after a positioning response message is fed back to the vehicle-mounted equipment, vehicle environment information sent by the vehicle-mounted equipment is received;

generating vehicle positioning information based on the vehicle environment information;

and sending the vehicle positioning information to the vehicle-mounted equipment so as to enable the vehicle-mounted equipment to perform relocation based on the vehicle positioning information.

In some embodiments, the vehicle environment information includes: image information and/or video information captured by an image sensor mounted on the vehicle.

the generating vehicle positioning information based on the vehicle environment information comprises: and carrying out global search matching on the vehicle environment information and a plurality of pre-stored map copies to obtain the longitude and latitude coordinates.

In some embodiments, the vehicle positioning information is a local map;

the generating vehicle positioning information based on the vehicle environment information comprises:

determining a map local search area based on the vehicle environment information;

based on the local map search area and the local search radius, performing local search matching on a preset map to obtain the local map;

wherein the local search radius is determined based on a local search threshold for the vehicle.

or the like, or, alternatively,

the method further comprises the following steps: after a positioning response message is fed back to the vehicle-mounted equipment, receiving a local search threshold value of the vehicle sent by the vehicle-mounted equipment;

or the like, or, alternatively,

the positioning response message carries local search threshold request information; accordingly, the method further comprises: and after the positioning response message is fed back to the vehicle-mounted equipment, receiving a local search threshold value of the vehicle sent by the vehicle-mounted equipment.

In some embodiments, the method further comprises:

establishing a corresponding relation between the vehicle environment information and the vehicle positioning information;

and storing the corresponding relation.

In a third aspect, an embodiment of the present invention further provides a vehicle repositioning device applied to a vehicle-mounted device, where the device includes:

the first sending unit is used for sending a positioning request message to the server after the vehicle positioning signal is lost;

the second sending unit is used for sending the vehicle environment information to the server after receiving the positioning response message fed back by the server;

the receiving unit is used for receiving vehicle positioning information sent by the server, and the vehicle positioning information is information generated by the server based on the vehicle environment information;

a repositioning unit for repositioning based on the vehicle positioning information.

the device further comprises:

the acquisition unit is used for acquiring the image information and/or the video information acquired by the image sensor after the vehicle positioning signal is lost or the positioning response message fed back by the server is received;

correspondingly, the second sending unit is configured to send the image information and/or the video information acquired by the acquiring unit to the server after receiving the positioning response message fed back by the server.

correspondingly, the repositioning unit is used for determining the longitude and latitude coordinates as the repositioning position of the vehicle.

In some embodiments, the vehicle positioning information is a local map;

or the like, or, alternatively,

the device further comprises: the third sending unit is used for sending the local search threshold value of the vehicle after receiving the positioning response message fed back by the server;

or the like, or, alternatively,

the positioning response message carries local search threshold request information; correspondingly, the device further comprises: and the fourth sending unit is used for sending the local search threshold of the vehicle after receiving the positioning response message fed back by the server.

In some embodiments, the apparatus further comprises:

and the updating unit is used for updating the instant positioning and map building SLAM map library after the repositioning unit repositions based on the vehicle positioning information.

In a fourth aspect, an embodiment of the present invention further provides a vehicle repositioning device applied to a server, where the device includes:

the first receiving unit is used for receiving a positioning request message sent by the vehicle-mounted equipment;

the second receiving unit is used for receiving the vehicle environment information sent by the vehicle-mounted equipment after the positioning response message is fed back to the vehicle-mounted equipment;

a generation unit configured to generate vehicle positioning information based on the vehicle environment information;

a sending unit, configured to send the vehicle positioning information to the vehicle-mounted device, so that the vehicle-mounted device performs relocation based on the vehicle positioning information.

and the generating unit is used for carrying out global search matching on the vehicle environment information and a plurality of pre-stored map copies to obtain the longitude and latitude coordinates.

In some embodiments, the vehicle positioning information is a local map;

the generating unit is configured to:

or the like, or, alternatively,

the device further comprises: the third receiving unit is used for receiving a local search threshold value of the vehicle sent by the vehicle-mounted equipment after the positioning response message is fed back to the vehicle-mounted equipment;

or the like, or, alternatively,

the positioning response message carries local search threshold request information; correspondingly, the device further comprises: and the fourth receiving unit is used for receiving the local search threshold value of the vehicle sent by the vehicle-mounted equipment after the positioning response message is fed back to the vehicle-mounted equipment.

In some embodiments, the apparatus further comprises:

the establishing unit is used for establishing a corresponding relation between the vehicle environment information and the vehicle positioning information;

and the storage unit is used for storing the corresponding relation.

In a fifth aspect, an embodiment of the present invention further provides an on-board device, including:

a processor, memory, a network interface, and a user interface;

the processor, memory, network interface and user interface are coupled together by a bus system;

the processor is adapted to perform the steps of the method according to the first aspect by calling a program or instructions stored by the memory.

In a sixth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the steps of the method according to the first aspect.

In a seventh aspect, an embodiment of the present invention further provides a server, including:

a processor, memory, a network interface, and a user interface;

the processor is adapted to perform the steps of the method according to the second aspect by calling a program or instructions stored in the memory.

In an eighth aspect, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the steps of the method according to the second aspect.

It can be seen that in at least one embodiment of the embodiments of the present invention, after the vehicle positioning signal is lost, the server is notified to assist the vehicle relocation by sending the positioning request message to the server, and after the server feeds back the positioning response message, the server sends the vehicle environment information to the server, so that the server generates the vehicle positioning information based on the vehicle environment information. Therefore, under the assistance of the server, the vehicle repositioning is realized based on the vehicle positioning information, the vehicle position and the posture do not need to be adjusted, the passenger experience is not influenced, the positioning program does not need to be started for many times, and the vehicle running safety is not influenced

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of an on-board device according to an embodiment of the present invention;

FIG. 2 is a flow chart of a vehicle repositioning method according to an embodiment of the present invention;

FIG. 3 is a block diagram of a vehicle repositioning device according to an embodiment of the invention;

fig. 4 is a schematic structural diagram of a server according to an embodiment of the present invention;

FIG. 5 is a flow chart of another vehicle repositioning method provided by an embodiment of the present invention;

fig. 6 is a block diagram of another vehicle repositioning device according to an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Fig. 1 is a schematic structural diagram of an in-vehicle device provided in an embodiment of the present invention.

The in-vehicle apparatus shown in fig. 1 includes: at least one processor 101, at least one memory 102, at least one network interface 104, and other user interfaces 103. The various components in the in-vehicle device are coupled together by a bus system 105. It is understood that the bus system 105 is used to enable communications among the components. The bus system 105 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 105 in FIG. 1.

The user interface 103 may include, among other things, a display, a keyboard, or a pointing device (e.g., a mouse, trackball, or touch pad, among others.

It will be appreciated that the memory 102 in this embodiment may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a Read-only memory (ROM), a programmable Read-only memory (PROM), an erasable programmable Read-only memory (erasabprom, EPROM), an electrically erasable programmable Read-only memory (EEPROM), or a flash memory. The volatile memory may be a Random Access Memory (RAM) which functions as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (staticiram, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (syncronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM ), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and direct memory bus RAM (DRRAM). The memory 102 described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

In some embodiments, memory 102 stores elements, executable units or data structures, or a subset thereof, or an expanded set thereof as follows: an operating system 1021 and application programs 1022.

The operating system 1021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application 1022 includes various applications, such as a media player (MediaPlayer), a Browser (Browser), and the like, for implementing various application services. Programs that implement methods in accordance with embodiments of the invention can be included in application 1022.

In the embodiment of the present invention, the processor 101 is configured to execute the steps of the vehicle positioning method executed by the vehicle-mounted device by calling a program or an instruction stored in the memory 102, specifically, a program or an instruction stored in the application 1022, and for example, the steps include:

after the vehicle positioning signal is lost, sending a positioning request message to a server; after receiving a positioning response message fed back by the server, sending vehicle environment information to the server; receiving vehicle positioning information sent by a server, wherein the vehicle positioning information is information generated by the server based on vehicle environment information; the repositioning is based on the vehicle location information.

The method disclosed by the above embodiment of the present invention can be applied to the processor 101, or implemented by the processor 101. The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The processor 101 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software elements in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method in combination with the hardware thereof.

It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments provided in the present application, it should be understood that the execution sequence of the steps of the method embodiments can be arbitrarily adjusted unless there is an explicit precedence sequence. The disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

Fig. 2 is a flowchart of a vehicle repositioning method according to an embodiment of the present invention. The execution subject of the method is the vehicle-mounted equipment.

As shown in fig. 2, the vehicle repositioning method disclosed in the present embodiment may include the following steps 201 to 204:

201. and after the vehicle positioning signal is lost, sending a positioning request message to the server.

202. And after receiving the positioning response message fed back by the server, sending the vehicle environment information to the server.

203. And receiving vehicle positioning information sent by the server, wherein the vehicle positioning information is information generated by the server based on the vehicle environment information.

204. The repositioning is based on the vehicle location information.

In this embodiment, the method for determining the missing vehicle positioning signal by the vehicle-mounted device may continue to use the prior art, and this embodiment is not described again.

In this embodiment, the vehicle-mounted device is in communication connection with the server, and the vehicle-mounted device can send a positioning request message to the server after losing the vehicle positioning signal. After the server receives the location request message, it can determine that the vehicle needs to be relocated. Therefore, the server can feed back a positioning response message to the vehicle-mounted device, and the server can assist the vehicle-mounted device in vehicle relocation.

In this embodiment, after receiving the positioning response message fed back by the server, the vehicle-mounted device may send vehicle environment information to the server. The vehicle environment information is information collected by an environment sensing device installed on the vehicle.

In this embodiment, the environment sensing device is, for example, one or more of sensing sensors such as a laser radar, a camera, and an ultrasonic sensor. The installation locations of the environment sensing devices include, but are not limited to: vehicle top, on the vehicle lateral surface, on the vehicle front facade, vehicle front chassis edge.

In this embodiment, the server may generate vehicle positioning information based on the vehicle environment information sent by the vehicle-mounted device, and send the vehicle positioning information to the vehicle-mounted device to assist the vehicle-mounted device in vehicle relocation.

In this embodiment, since the performance of the server is better than that of the vehicle-mounted device, some positioning methods with accurate positioning results may be completely applied to the server, for example, a visual SLAM (Simultaneous Localization And Mapping) positioning method is used.

In this embodiment, because the performance of the server is better than that of the vehicle-mounted device, the server can determine the vehicle positioning information more quickly and accurately than the vehicle-mounted device, and the vehicle-mounted device performs relocation based on the vehicle positioning information.

In this embodiment, a low-latency network technology such as 5G may be adopted to implement information exchange between the vehicle-mounted device and the server.

Therefore, according to the vehicle relocation method disclosed by the embodiment, after the vehicle positioning signal is lost, the server is informed to assist vehicle relocation by sending the positioning request message to the server, and after the server feeds back the positioning response message, the server is made to send the vehicle environment information to the server, so that the server generates the vehicle positioning information based on the vehicle environment information, and the vehicle relocation is realized based on the vehicle positioning information. Therefore, under the assistance of the server, the vehicle pose does not need to be adjusted, and the passenger experience is not influenced. And the positioning program does not need to be started for many times, and the running safety of the vehicle is not influenced.

In some embodiments, the vehicle environment information includes: one or more of image information and video information collected by an image sensor mounted on the vehicle, and the like. The image sensor is, for example, a camera. The image sensor can collect information in real time.

In this embodiment, the vehicle repositioning method may further include the steps of: after the vehicle positioning signal is lost or the positioning response message fed back by the server is received, one or more of image information, video information and the like collected by the image sensor are obtained.

In this embodiment, after the vehicle positioning signal is lost, the vehicle-mounted device can acquire information acquired by the image sensor. After the vehicle-mounted equipment sends the positioning request message to the server, if the positioning response message fed back by the server is received, the server is determined to assist the vehicle in repositioning, and therefore the acquired information is sent to the server.

In this embodiment, after the vehicle positioning signal is lost, the vehicle-mounted device can acquire information acquired by the image sensor. After the vehicle-mounted equipment sends the positioning request message to the server, if the positioning response message fed back by the server is not received or the positioning response message is not received successfully, the server is determined to be incapable of assisting vehicle relocation, and the vehicle-mounted equipment can adopt the prior art to carry out vehicle relocation based on the acquired information.

In this embodiment, the vehicle-mounted device may determine that the server may assist the repositioning of the vehicle after receiving the positioning response message fed back by the server, so as to acquire the information acquired by the image sensor and send the acquired information to the server.

In some embodiments, the vehicle location information is latitude and longitude coordinates. The server can generate longitude and latitude coordinates corresponding to the vehicle based on the vehicle environment information.

In this embodiment, the server generates the vehicle positioning information based on the vehicle environment information, and specifically includes: and the server performs global search matching on the vehicle environment information and a plurality of pre-stored map copies to obtain longitude and latitude coordinates.

In this embodiment, the multiple map copies stored in advance by the server are, for example, versions of the same map in different seasons and different lighting conditions.

In this embodiment, the server may perform global search matching on the vehicle environment information and the plurality of pre-stored map copies based on a preset maximum global search parameter. The server globally searches a plurality of map copies in parallel.

In this embodiment, the matching algorithm may follow the existing algorithm, and details are not described in this embodiment.

In this embodiment, after receiving the longitude and latitude coordinates sent by the server, the vehicle-mounted device directly adopts the longitude and latitude coordinates as the repositioning position of the vehicle.

In some embodiments, the vehicle positioning information is a local map. The server generates vehicle positioning information based on the vehicle environment information, and specifically comprises the following steps of:

step one, a server determines a local map search area based on vehicle environment information.

And secondly, the server carries out local search matching on a preset map based on the local map search area and the local search radius to obtain a local map.

In this embodiment, the local search radius is determined by the server based on the local search threshold for the vehicle. The local search radius is less than a local search threshold for the vehicle.

In this embodiment, after receiving the vehicle environment information, the server may display the vehicle environment information or display the vehicle environment information through the display. The professional can visually see the vehicle environment information. And then the professional can judge the area of the vehicle environment information in the map manually. The practitioner can input the area to the server. The server determines the area as a map local search area.

In this embodiment, the neural network may be trained in advance, and the input of the neural network is vehicle environment information, and the output is an area of the vehicle environment information in a map, so as to replace the work of manual judgment.

In this embodiment, after receiving the local map sent by the server, the vehicle-mounted device may match the vehicle environment information with the local map to obtain the longitude and latitude coordinates, thereby implementing relocation. The matching algorithm can follow the existing algorithm, and the details are not repeated in this embodiment.

In some embodiments, the local search threshold for the vehicle may be sent to the server in any of three ways.

The first method is as follows: the location request message carries a local search threshold for the vehicle.

The second method comprises the following steps: and after receiving the positioning response message fed back by the server, the vehicle-mounted equipment sends the local search threshold of the vehicle.

The third method comprises the following steps: the positioning response message fed back by the server carries local search threshold request information; correspondingly, after receiving the positioning response message fed back by the server, the vehicle-mounted equipment sends the local search threshold of the vehicle.

In some embodiments, the vehicle repositioning method may further comprise the steps of: after the vehicle positioning information is relocated, a map library (SLAM) is updated.

In this embodiment, the SLAM map library may be updated based on the vehicle environment information after the vehicle positioning signal is lost and the location information of the vehicle relocation. For example, after the vehicle positioning signal is lost, the SLAM map library may be updated by using the vehicle environment picture corresponding to the vehicle positioning failure, and specifically, the vehicle environment picture corresponding to the vehicle positioning failure may be analyzed, and the map points obtained by the analysis may be stored in the SLAM map library, so as to reduce the possibility of the next positioning failure.

In some embodiments, the vehicle environment picture corresponding to the vehicle positioning failure can be subjected to neural network training in combination with the vehicle positioning information, so that the vehicle can be quickly and effectively positioned when driving to a corresponding position again.

It should be noted that, the vehicle repositioning method disclosed in the above embodiments may be combined into a new embodiment unless the combination is specifically described, and the execution sequence of the steps in each embodiment may be adjustable unless the logic is contradictory.

As shown in fig. 3, the embodiment of the invention discloses a vehicle repositioning device, which is applied to vehicle-mounted equipment and can comprise the following units: a first sending unit 31, a second sending unit 32, a receiving unit 33 and a relocation unit 34. The units are specifically described as follows:

a first sending unit 31, configured to send a positioning request message to the server after the vehicle positioning signal is lost;

a second sending unit 32, configured to send vehicle environment information to the server after receiving the positioning response message fed back by the server;

a receiving unit 33, configured to receive vehicle positioning information sent by the server, where the vehicle positioning information is information generated by the server based on the vehicle environment information;

a repositioning unit 34 for performing repositioning based on the vehicle location information.

the apparatus may further comprise: the acquisition unit is used for acquiring the image information and/or the video information acquired by the image sensor after the vehicle positioning signal is lost or the positioning response message fed back by the server is received;

correspondingly, the second sending unit 32 is configured to send the image information and/or the video information acquired by the acquiring unit to the server after receiving the positioning response message fed back by the server.

accordingly, the repositioning unit 34 is configured to determine the longitude and latitude coordinates as a repositioning position of the vehicle.

In some embodiments, the vehicle positioning information is a local map;

or the like, or, alternatively,

In some embodiments, the apparatus further comprises:

and the updating unit is used for updating the instant positioning and map building SLAM map library after the repositioning unit 34 repositions based on the vehicle positioning information.

The vehicle repositioning device disclosed in the above embodiments can implement the processes of the vehicle repositioning methods disclosed in the above method embodiments, and in order to avoid repetition, details are not described here again.

Embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform steps of a vehicle positioning method performed by an in-vehicle device, for example, including:

repositioning based on the vehicle location information.

Fig. 4 is a schematic structural diagram of a server according to an embodiment of the present invention.

The server shown in fig. 4 includes: at least one processor 401, at least one memory 402, at least one network interface 404 and other user interfaces 403. The various components in the server are coupled together by a bus system 405. It is understood that the bus system 405 is used to enable connection communication between these components. The bus system 405 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 405 in fig. 4.

The user interface 403 may include, among other things, a display, a keyboard, or a pointing device (e.g., a mouse, trackball, or touch pad, among others.

In some embodiments, memory 402 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system 4021 and application programs 4022.

The operating system 4021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is configured to implement various basic services and process hardware-based tasks. The application 4022 includes various applications, such as a media player (MediaPlayer), a Browser (Browser), and the like, for implementing various application services. A program for implementing the method according to the embodiment of the present invention may be included in the application 4022.

In the embodiment of the present invention, the processor 401 calls a program or an instruction stored in the memory 402, specifically, may be a program or an instruction stored in the application 4022, and the processor 401 is configured to execute the steps of the vehicle positioning method executed by the server, including:

receiving a positioning request message sent by vehicle-mounted equipment;

after a positioning response message is fed back to the vehicle-mounted equipment, vehicle environment information sent by the vehicle-mounted equipment is received; generating vehicle positioning information based on the vehicle environment information; and sending the vehicle positioning information to the vehicle-mounted equipment so as to enable the vehicle-mounted equipment to perform relocation based on the vehicle positioning information.

For a detailed description of each component of the server disclosed in this embodiment, reference may be made to the vehicle-mounted device shown in fig. 1, and details are not described here.

As shown in fig. 5, the embodiment of the present invention discloses a vehicle repositioning method, applied to a server, the method including the following steps 501 to 504:

501. receiving a positioning request message sent by vehicle-mounted equipment;

502. after a positioning response message is fed back to the vehicle-mounted equipment, vehicle environment information sent by the vehicle-mounted equipment is received;

503. generating vehicle positioning information based on the vehicle environment information;

504. and sending the vehicle positioning information to the vehicle-mounted equipment so as to enable the vehicle-mounted equipment to perform relocation based on the vehicle positioning information.

In some embodiments, the vehicle positioning information is a local map;

or the like, or, alternatively,

In some embodiments, the method further comprises the following steps one and two:

step one, establishing a corresponding relation between the vehicle environment information and the vehicle positioning information;

and step two, storing the corresponding relation.

The execution subject of the vehicle relocation method disclosed in the above embodiments is a server, and corresponds to the vehicle positioning method executed by the vehicle-mounted device, and the detailed description of each step may refer to the vehicle positioning method embodiment executed by the vehicle-mounted device, and is not repeated here to avoid repetition.

As shown in fig. 6, an embodiment of the present invention discloses a vehicle repositioning device applied to a server, and the device may include: a first receiving unit 61, a second receiving unit 62, a generating unit 63 and a transmitting unit 64. The units are specifically described as follows:

a first receiving unit 61, configured to receive a positioning request message sent by an in-vehicle device;

a second receiving unit 62, configured to receive vehicle environment information sent by the vehicle-mounted device after feeding back a positioning response message to the vehicle-mounted device;

a generating unit 63 for generating vehicle positioning information based on the vehicle environment information;

a sending unit 64, configured to send the vehicle positioning information to the vehicle-mounted device, so that the vehicle-mounted device performs relocation based on the vehicle positioning information.

the generating unit 63 is configured to perform global search and matching on the vehicle environment information and a plurality of pre-stored map copies to obtain the longitude and latitude coordinates.

In some embodiments, the vehicle positioning information is a local map;

the generating unit 63 is configured to:

or the like, or, alternatively,

In some embodiments, the apparatus further comprises:

and the storage unit is used for storing the corresponding relation.

The vehicle repositioning device disclosed in the above embodiment can implement the corresponding process of the vehicle positioning method executed by the above server, and is not described herein again to avoid repetition.

Embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform steps of a vehicle positioning method performed by a server, for example, including:

receiving a positioning request message sent by vehicle-mounted equipment;

The embodiment of the invention also provides:

a1, a vehicle repositioning method, applied to vehicle-mounted equipment, the method comprising:

repositioning based on the vehicle location information.

A2, the method of A1, the vehicle environment information comprising: image information and/or video information collected by an image sensor mounted on a vehicle;

the method further comprises the following steps:

A3, according to the method of A1 or A2, the vehicle positioning information is latitude and longitude coordinates;

A4, the method of A1 or A2, the vehicle positioning information being a local map;

A5, according to the method of A4,

the positioning request message carries a local search threshold value of the vehicle;

or the like, or, alternatively,

A6, the method of A1, the method further comprising:

A7, a vehicle repositioning method, applied to a server, the method comprising:

receiving a positioning request message sent by vehicle-mounted equipment;

A8, the method of A7, the vehicle environment information comprising: image information and/or video information captured by an image sensor mounted on the vehicle.

A9, according to the method of A7 or A8, the vehicle positioning information is latitude and longitude coordinates;

A10, the method of A7 or A8, the vehicle positioning information being a local map;

A11, according to the method of A10,

or the like, or, alternatively,

A12, the method of A7, the method further comprising:

and storing the corresponding relation.

A13, a vehicle repositioning device, applied to vehicle-mounted equipment, the device comprising:

A14, the apparatus of A13, the vehicle environment information comprising: image information and/or video information collected by an image sensor mounted on a vehicle;

the device further comprises:

A15, the device according to A13 or A14, wherein the vehicle positioning information is longitude and latitude coordinates;

A16, the device of A13 or A14, the vehicle positioning information being a local map;

A17, device according to A16,

or the like, or, alternatively,

A18, the apparatus of A13, further comprising:

A19, a vehicle repositioning device applied to a server, the device comprising:

A20, the apparatus of A19, the vehicle environment information comprising: image information and/or video information captured by an image sensor mounted on the vehicle.

A21, the device according to A19 or A20, wherein the vehicle positioning information is longitude and latitude coordinates;

A22, the device of A19 or A20, the vehicle positioning information being a local map;

the generating unit is configured to:

A23, device according to A22,

or the like, or, alternatively,

A24, the apparatus of A19, further comprising:

and the storage unit is used for storing the corresponding relation.

A25, an in-vehicle apparatus, comprising:

a processor, memory, a network interface, and a user interface;

the processor is operable to perform the steps of the method of any one of A1 to A6 by calling a program or instructions stored in the memory.

A26, a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the steps of the method of any one of a1 to a 6.

A27, a server, comprising:

a processor, memory, a network interface, and a user interface;

the processor is operable to perform the steps of the method of any one of A7 to A12 by calling a program or instructions stored in the memory.

A28, a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the steps of the method of any one of a7 to a 12.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A vehicle repositioning method is applied to vehicle-mounted equipment and is characterized by being applied to automatic driving, and the method comprises the following steps:

after losing a vehicle positioning signal due to the fact that the vehicle-mounted equipment cannot perform SLAM positioning, sending a positioning request message to a server, wherein the positioning request message is used for informing the server to assist vehicle relocation;

after receiving a positioning response message fed back by the server, sending vehicle environment information to the server, wherein the vehicle environment information is information collected by environment sensing equipment installed on a vehicle under the condition of not adjusting the position and posture of the vehicle;

repositioning based on the vehicle location information.

2. The method of claim 1, wherein the vehicle environment information comprises: image information and/or video information collected by an image sensor mounted on a vehicle;

the method further comprises the following steps:

3. The method according to claim 1 or 2, wherein the vehicle positioning information is latitude and longitude coordinates;

4. The method according to claim 1 or 2, characterized in that the vehicle localization information is a local map;

5. The method of claim 4,

or the like, or, alternatively,

6. The method of claim 1, further comprising:

7. A vehicle repositioning method applied to a server and characterized by being applied to automatic driving, and comprising the following steps:

receiving a positioning request message sent by vehicle-mounted equipment, wherein the positioning request message is used for informing the server of assisting vehicle relocation; the vehicle-mounted equipment cannot perform SLAM positioning, so that vehicle positioning signals are lost;

generating vehicle positioning information based on the vehicle environment information, wherein the vehicle environment information is information acquired by environment sensing equipment installed on a vehicle under the condition of not adjusting the position and the posture of the vehicle;

8. The method of claim 7, wherein the vehicle environment information comprises: image information and/or video information captured by an image sensor mounted on the vehicle.

9. The method according to claim 7 or 8, wherein the vehicle positioning information is latitude and longitude coordinates;

10. The method according to claim 7 or 8, characterized in that the vehicle localization information is a local map;

11. The method of claim 10,

or the like, or, alternatively,

12. The method of claim 7, further comprising:

and storing the corresponding relation.

13. A vehicle repositioning device applied to vehicle-mounted equipment and characterized by being applied to automatic driving, comprising:

the system comprises a first sending unit, a second sending unit and a control unit, wherein the first sending unit is used for sending a positioning request message to a server after the vehicle-mounted equipment cannot perform SLAM positioning and loses a vehicle positioning signal, and the positioning request message is used for informing the server of assisting vehicle relocation;

the second sending unit is used for sending vehicle environment information to the server after receiving the positioning response message fed back by the server, wherein the vehicle environment information is information collected by environment sensing equipment installed on a vehicle under the condition of not adjusting the position and posture of the vehicle;

14. The apparatus of claim 13, wherein the vehicle environment information comprises: image information and/or video information collected by an image sensor mounted on a vehicle;

the device further comprises:

15. The apparatus according to claim 13 or 14, wherein the vehicle positioning information is latitude and longitude coordinates;

16. The apparatus of claim 13 or 14, wherein the vehicle positioning information is a local map;

17. The apparatus of claim 16,

or the like, or, alternatively,

18. The apparatus of claim 13, further comprising:

19. A vehicle repositioning device applied to a server and applied to automatic driving, the device comprising:

the first receiving unit is used for receiving a positioning request message sent by vehicle-mounted equipment, wherein the positioning request message is used for informing the server of assisting vehicle relocation; the vehicle-mounted equipment cannot perform SLAM positioning, so that vehicle positioning signals are lost;

the second receiving unit is used for receiving the vehicle environment information sent by the vehicle-mounted equipment after feeding back the positioning response message to the vehicle-mounted equipment, wherein the vehicle environment information is information collected by environment sensing equipment installed on a vehicle under the condition of not adjusting the position and posture of the vehicle;

20. The apparatus of claim 19, wherein the vehicle environment information comprises: image information and/or video information captured by an image sensor mounted on the vehicle.

21. The apparatus according to claim 19 or 20, wherein the vehicle positioning information is latitude and longitude coordinates;

22. The apparatus of claim 19 or 20, wherein the vehicle positioning information is a local map;

the generating unit is configured to:

23. The apparatus of claim 22,

or the like, or, alternatively,

24. The apparatus of claim 19, further comprising:

and the storage unit is used for storing the corresponding relation.

25. An in-vehicle apparatus, characterized by comprising:

a processor, memory, a network interface, and a user interface;

the processor is adapted to perform the steps of the method of any one of claims 1 to 6 by calling a program or instructions stored in the memory.

26. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the steps of the method according to any one of claims 1 to 6.

27. A server, comprising:

a processor, memory, a network interface, and a user interface;

the processor is adapted to perform the steps of the method of any one of claims 7 to 12 by calling a program or instructions stored in the memory.

28. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the steps of the method of any one of claims 7 to 12.