CN109328292B - Vehicle positioning method, device and storage medium - Google Patents
Vehicle positioning method, device and storage medium Download PDFInfo
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- CN109328292B CN109328292B CN201780035387.6A CN201780035387A CN109328292B CN 109328292 B CN109328292 B CN 109328292B CN 201780035387 A CN201780035387 A CN 201780035387A CN 109328292 B CN109328292 B CN 109328292B
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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
Abstract
The invention discloses a vehicle positioning method, a vehicle positioning device and a storage medium. The vehicle positioning method comprises the steps of detecting the pressure change condition between wheels of a vehicle and a road surface when the vehicle runs on the road surface; searching preset pressure change information matched with the pressure change condition; the preset pressure change information represents the pressure change condition between the wheels and the road surface when the vehicle runs on the road surface with the set concave-convex pattern; and when the matched preset pressure change information is found, acquiring the prestored position information of the road surface represented by the matched preset pressure change information to serve as the current position information of the vehicle. The method can accurately position the current position of the vehicle in the driving process of the vehicle.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a vehicle positioning method and apparatus, and a storage medium.
Background
The positioning of the vehicle in the driving process of the vehicle is the basis of the driving application, and navigation, a map, an intelligent traffic system and the like need to position the vehicle.
In the prior art, positioning modes such as GPS positioning, satellite positioning, base station positioning and the like are generally adopted, however, a certain positioning error generally exists in a conventional positioning method, and the positioning requirement cannot be met when more accurate positioning is required under the conditions of intelligent driving and the like.
Disclosure of Invention
The invention aims to provide a vehicle positioning method, a vehicle positioning device and a storage medium, which can improve the positioning accuracy of vehicle positioning.
To achieve the above object, the present invention provides a vehicle positioning method, including:
detecting the pressure change condition between the wheels of the vehicle and the road surface when the vehicle runs on the road surface;
searching preset pressure change information matched with the pressure change condition; the preset pressure change information represents the pressure change condition between the wheels and the road surface when the vehicle runs on the road surface with the set concave-convex pattern;
and when the matched preset pressure change information is found, obtaining the pre-stored position information of the road surface represented by the matched preset pressure change information to be used as the current position information of the vehicle.
In another aspect, the present invention provides a vehicle positioning apparatus, comprising: a pressure sensor, a memory, and a processor coupled to each other by a bus;
the pressure sensor is used for detecting pressure data between a wheel of the vehicle and the road surface when the vehicle runs on the road surface;
the memory is used for storing the operation instruction executed by the processor and various data collected in the vehicle positioning process;
the processor is used for executing the vehicle positioning method according to the operation instruction.
In another aspect, the present invention proposes a storage medium storing program data executable to implement the above-described vehicle positioning method.
Has the beneficial effects that: different from the prior art, the method and the device have the advantages that the pressure change condition between the wheels and the set concave-convex patterns on the road surface when the vehicle runs through the road surface is detected, the corresponding preset pressure change information is matched according to the detected pressure change condition, the pre-stored position information of the road surface represented by the preset pressure change information is obtained through the preset pressure change information, and the pre-stored position information of the road surface is used as the current position information of the vehicle. The vehicle is positioned by utilizing the pressure change condition, so that the positioning precision of the vehicle is improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a first embodiment of a vehicle localization method of the present invention;
FIG. 2 is a schematic flow chart of step S11 in FIG. 1;
3a-3c are schematic diagrams of a first embodiment of the vehicle localization method shown in FIG. 1;
FIG. 4 is a schematic flow chart diagram illustrating an embodiment of step S111 in FIG. 2;
FIG. 5 is a schematic flow chart diagram illustrating another embodiment of step S111 in FIG. 2;
FIG. 6 is a schematic flow chart diagram of a second embodiment of the vehicle location method of the present invention;
FIG. 7 is a schematic flow chart diagram of a third embodiment of a vehicle localization method of the present invention;
FIG. 8 is a schematic flow chart diagram of a fourth embodiment of a vehicle localization method of the present invention;
FIG. 9 is a schematic view of an embodiment of a vehicle positioning device according to the present invention;
FIG. 10 is a schematic structural view of another embodiment of a vehicle positioning device of the present invention;
FIG. 11 is a schematic structural diagram of an embodiment of a storage medium according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely some embodiments of the invention, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle positioning method according to a first embodiment of the invention. As shown in fig. 1, the vehicle positioning method of the present embodiment may include the steps of:
in step S11, a pressure change between a wheel and a road surface of the vehicle while the vehicle is running on the road surface is detected.
When the vehicle runs on the road surface, the pressure between the wheels and the road surface changes according to the condition of the road surface, and different road surfaces have unique geographic positions.
In the present embodiment, the pressure sensor provided on the wheel is used to detect the pressure change between the wheel and the road surface when the vehicle is running on the road surface.
In step S12, preset pressure variation information matching the pressure variation condition is searched.
The pressure change between the vehicle and the road surface caused by the specific road surface condition is used as the preset pressure change information, namely the preset pressure change information can represent the pressure change condition when the vehicle runs on the road surface with the specific road surface condition.
In this embodiment, the set concave-convex patterns are provided on the road surface at different geographical positions, so that when the vehicle travels over the set concave-convex patterns, the pressure change is caused by the set concave-convex patterns, and the pressure change corresponding to the different set concave-convex patterns is the preset pressure change information. And matching in the database by using the pressure change condition obtained in the step S101 to find corresponding preset pressure change information, that is, to find a corresponding set concave-convex pattern.
In this embodiment, the set concave-convex pattern is a plurality of convex strips or concave strips arranged at intervals along the length direction of the road surface, the widths of the convex strips or concave strips in the set concave-convex pattern at different positions may not be completely the same, and the intervals between the convex strips or concave strips are not completely the same, so that different predetermined concave-convex patterns can be formed by using the convex strips or concave strips. It is understood that there is a height difference between the raised or recessed strips in the set concave-convex pattern and the flat road surface, and therefore, when the vehicle enters or leaves the raised or recessed strips in the set concave-convex pattern, the pressure data detected by the pressure sensor on the wheel may suddenly change, that is, the pressure between the wheel and the road surface suddenly changes.
In addition, in order to distinguish the protrusions or depressions of the road surface from the protrusions or depressions in the set concave-convex pattern, the protrusions or depressions in the set concave-convex pattern may be provided as protrusions or depressions having a specific specification, for example, the deceleration strips having a specific width, inclination angle, and height may be used as the protrusions of the set concave-convex pattern, and the deceleration strip composed of a plurality of deceleration strips may be used as the set concave-convex pattern. The width of each of the convex or concave stripes is set to an integral multiple of the preset unit width, for example, the preset width is 13cm, the width of each of the convex or concave stripes may be set to 13cm, 26cm, 39cm, etc., and the interval between each of the convex or concave stripes may also be set to an integral multiple of the preset unit width.
Further, pressure sensors on the wheels of the vehicle are disposed along the outer surface thereof so that the vehicle continuously detects pressure changes between the wheels and the road surface during travel. The set concave-convex pattern is a deceleration pattern, and the plurality of convex strips or concave strips are deceleration strips.
In step S13, when the matched preset pressure variation information is found, the pre-stored position information of the road surface indicated by the matched preset pressure variation information is obtained as the current position information of the vehicle.
The matched preset pressure change information is found in step S12, which is equivalent to the set concave-convex pattern that the vehicle has traveled through at this time. Since the set concave-convex pattern corresponds to the position information, in other words, the preset pressure change information also corresponds to the position information, and the position information is the position information of the set concave-convex pattern, and the position information is the pre-stored position information.
Therefore, the corresponding pre-stored location information can be found through the preset pressure variation information acquired in step S12, and the matched pre-stored location information is used as the current location information of the vehicle.
According to the invention, when the vehicle runs through the road surface, the pressure change condition between the wheels and the set concave-convex pattern on the road surface is detected, the corresponding preset pressure change information is matched according to the detected pressure change condition, the pre-stored position information of the road surface represented by the preset pressure change information is obtained through the preset pressure change information, and the pre-stored position information of the road surface is taken as the current position information of the vehicle. The vehicle is positioned by utilizing the pressure change condition, so that the positioning precision of the vehicle is improved.
Further, referring to fig. 2, step S11 in fig. 1 may include the following steps:
in step S111, pressure data between the wheel and the road surface of the vehicle during travel on the road surface is detected by the pressure sensor of the wheel, and a pressure change curve is formed from the detected pressure data.
Pressure data between the wheels and the road surface when the vehicle runs on the road surface is obtained by utilizing the pressure sensors arranged on the wheels, the pressure data is used as a vertical coordinate, time is used as a horizontal coordinate, and a corresponding pressure change curve can be obtained.
It is understood that the pressure data acquired in the present embodiment is pressure data between the wheel and the road surface when the vehicle is running on the road surface having the set concave-convex pattern.
In step S112, the pressure variation curve is encoded, and a detection code sequence including the first code value and the second code value is obtained.
In this embodiment, the pressure variation curve is further encoded, and the pressure variation curve is encoded to obtain a detection code sequence composed of the first code value and the second code value. The first code value and the second code value are two natural numbers that are not equal in value to each other, for example, the first code value may be set to 1, and the second code value may be set to 0, 2, or 3.
In this embodiment, the preset pressure change information is set as a preset code sequence composed of a first code value and a second code value, and correspondingly, the detected pressure change between the wheel and the road surface is also a detected code sequence composed of the first code value and the second code value obtained by encoding according to the detected pressure change curve; correspondingly, the preset pressure variation information searched for in step S13 is the preset code sequence searched for and matched with the detection code sequence.
As an example of the vehicle positioning method of the present embodiment, as shown in fig. 3a, a set concave-convex pattern is disposed on a road surface, the set concave-convex pattern includes two convex strips, wherein a width of a first convex strip is twice a preset unit width, and a distance between two convex strips is a preset unit width, correspondingly, when a vehicle runs into the first convex strip, pressure data may change, so that a code when the vehicle runs on the convex strip is 1, and a code when the vehicle runs on the road surface between two convex strips is 0, according to the widths and the distances of the two convex strips, a preset code sequence of preset pressure change information corresponding to the set concave-convex pattern may be coded as 1101, and a position information S of the set concave-convex pattern is a pre-stored position information. When a vehicle enters or leaves the raised strips in the process of driving the vehicle through the set concave-convex pattern, sudden pressure changes occur, so that in the process from the time when the vehicle enters the first raised strip to the time when the vehicle leaves the second raised strip, a pressure change curve as shown in fig. 3b is formed by using detected pressure data, the pressure change curve is further encoded, a partial pressure curve of the vehicle driving on the raised strips is encoded into 1, a partial pressure curve of the road surface at the interval part of the two raised strips is encoded into 0, and a detection code sequence as shown in fig. 3c can be obtained.
Further, referring to fig. 4, step S111 may include the following steps:
in step S1111, a first change in pressure data between the wheel and the road surface of the vehicle when the vehicle is traveling on the road surface is detected by the pressure sensor of the wheel, and the time at which the first change in pressure data occurs is recorded.
Because the concave-convex pattern is set to be a plurality of convex strips or concave strips which are arranged at intervals along the length direction of the road surface, when a vehicle enters or leaves the convex strips or the concave strips in the concave-convex pattern, pressure data detected by a pressure sensor on a wheel can generate sudden change, namely, the pressure between the wheel and the road surface generates sudden change. It should be understood that the first pressure abrupt change in this embodiment refers to that the pressure data is kept stable for a long time, and when a change in the pressure data is suddenly detected, the pressure data change that is suddenly detected at this time is regarded as the first pressure abrupt change, and the time of the first pressure abrupt change is recorded.
For example, when a vehicle runs on a long flat road and suddenly enters a deceleration strip, the pressure sensor detects pressure data change when the vehicle enters the deceleration strip, the detected pressure data change is made to be a first sudden pressure change, and the time of the first sudden pressure change is recorded.
In step S1112, the pressure data between the wheel and the road surface is continuously detected, and it is determined whether the product of the time interval between the time at which the second pressure sudden change occurs and the time at which the first pressure sudden change occurs and the vehicle speed is equal to an integral multiple of the width of the projecting strip or the recessed strip.
It can be understood that, since the pressure data changes when the vehicle enters and leaves the raised strips or the recessed strips in the set concave-convex pattern, it is necessary to detect the second pressure sudden change after the first pressure sudden change is detected in step S1111, and determine whether the detected pressure data changes to the set concave-convex pattern or not through the two pressure sudden changes.
Since the width of each of the bump bars or the groove bars in the set concavo-convex pattern is set to be an integral multiple of the preset unit width, if it is the set concavo-convex pattern that causes the pressure abrupt change, the product of the time interval between the detected first pressure abrupt change and the second pressure abrupt change and the vehicle speed should be an integral multiple of the width of the bump bars or the groove bars. Therefore, in the present embodiment, the product of the time interval between the first pressure sudden change and the second pressure sudden change and the vehicle speed is matched with the integral multiple of the width of the convex bar or the concave bar, it is determined whether the product of the time interval between the first pressure sudden change and the second pressure sudden change and the vehicle speed is equal to the integral multiple of the width of the convex bar or the concave bar, and the subsequent steps are selectively performed according to the determination structure.
In step S1113, the time of the first pressure jump is used as the starting point of the pressure variation curve.
If the product of the time interval between the first pressure sudden change and the second pressure sudden change and the vehicle speed is equal to the integral multiple of the width of the convex strip or the concave strip, the first pressure sudden change and the second pressure sudden change are caused by the fact that the vehicle enters and leaves the first convex strip or the concave strip in the set concave-convex pattern respectively, therefore, the time of the first pressure sudden change is taken as the starting point of the pressure change curve, and the pressure data between the wheel and the road surface are continuously detected to form a complete pressure change curve.
In step S1114, the time of the first pressure sudden change is discarded, and when the occurrence of the pressure sudden change between the wheel and the road surface is detected again, the above steps are repeated.
If the product of the time interval between the first pressure sudden change and the second pressure sudden change and the vehicle speed is not equal to the integral multiple of the width of the convex strip or the concave strip, the first pressure sudden change and the second pressure sudden change are not caused by the set concave-convex pattern, therefore, the time of the first pressure sudden change is discarded, the next pressure sudden change is continuously recorded, the step S1111 is repeated until the product of the time interval between the two adjacent pressure sudden changes and the vehicle speed is detected to be equal to the integral multiple of the width of the convex strip or the concave strip, the previous pressure sudden change in the two pressure sudden changes is changed into the first pressure sudden change, and the time of the previous pressure sudden change in the two pressure sudden changes is taken as the starting point of the pressure change curve.
Further, as shown in fig. 5, after step S1113, the method further includes the following steps:
in step S1115, the pressure data between the wheels and the road surface thereof continues to be detected, and it is determined whether the pressure data satisfies the end detection condition after the second pressure abrupt change.
It will be appreciated that the second pressure discontinuity is the change in pressure data caused when the wheel leaves the first raised or depressed bead in the set relief pattern. Thereafter, the pressure data continues to be sensed to determine when to end the pressure profile.
In step S1116, the time at which the pressure abrupt change is detected when the end detection condition is satisfied is taken as the end point of the pressure change curve.
If the pressure data detected in step S1115 satisfies the end detection condition, the time at which the corresponding pressure abruptly changes is set as the end point of the pressure change curve.
In this embodiment, the ending detection condition may be that, after the second time pressure sudden change, the next time pressure sudden change is not detected within the preset time threshold, that is, the vehicle does not drive into the next raised bar or recessed bar any more, and it may be considered that only one raised bar or one recessed bar is included in the set concave-convex pattern, that is, the vehicle leaves the raised bar or the recessed bar, that is, the vehicle leaves the set concave-convex pattern, and the time of the second time pressure sudden change is an ending point, so the second time pressure sudden change is taken as the corresponding pressure sudden change when the ending detection condition is met, and the time of the second time pressure sudden change is taken as the ending point of the pressure change condition.
The preset time threshold may be set according to a distance between two adjacent raised strips or recessed strips in a generally set raised and recessed pattern, for example, if the distance between two adjacent raised strips or recessed strips is at most 3 preset unit widths among a plurality of set raised and recessed patterns provided on a road surface, the preset time threshold may be set to a time value of 3 preset unit widths divided by an average vehicle speed.
In addition, the end detection condition may be such that, after the second pressure sudden change, the product of the time interval between two adjacent detected pressure sudden changes and the vehicle speed is not equal to an integral multiple of the width of the convex or concave bar. It is understood that, the width of the convex bars or the concave bars in the concave-convex pattern and the distance between the convex bars or the concave bars are set as integral multiple of the preset unit width, correspondingly, the product of the time interval of the two adjacent pressure abrupt changes and the vehicle speed should be equal to the integral multiple of the preset unit width, if the product of the time interval of the two adjacent pressure abrupt changes and the vehicle speed is not equal to the integral multiple of the width of the convex bars or the concave bars, it indicates that the latter pressure abrupt change in the two adjacent pressure abrupt changes is not caused by the set concave-convex pattern, and indicates that the vehicle has left the set concave-convex pattern at the former pressure abrupt change in the two adjacent pressure abrupt changes, therefore, the former pressure abrupt change in the two adjacent pressure abrupt changes is taken as the corresponding pressure abrupt change when the end detection condition is met, and the time of the former pressure abrupt change in the two adjacent pressure abrupt changes is taken as the end point of the pressure change curve.
In step S1117, the pressure data continues to be detected until the pressure data satisfies the end detection condition.
If the pressure data detected in step S1115 does not satisfy the end detection condition, the detection of the pressure data between the wheel and the road surface is continued until the detected pressure data satisfies the end detection condition.
Thus, a starting point and an end point of the pressure profile are determined and a corresponding pressure profile is formed from the pressure data detected between the starting point and the end point.
In the embodiment, the starting point and the ending point of the pressure change curve are determined according to the time relation of sudden change of the detected pressure each time, so that the detected pressure change curve is definite, and the prediction code sequence obtained by subsequently coding the pressure change curve is more accurate.
Further, referring to fig. 6, fig. 6 is a schematic flow chart of a vehicle positioning method according to a second embodiment of the present invention. The present embodiment is improved on the basis of the embodiments shown in fig. 1 to 5, and as shown in fig. 6, the vehicle positioning method of the present embodiment further includes the following steps after step S111:
in step S113, it is determined whether the pattern of the pressure variation curve matches a preset pressure curve pattern.
Since the raised strips or the recessed strips in the concave-convex pattern are set to have a specific specification, for example, a specific angle, a specific width or a specific height with respect to the road surface, when the vehicle passes through the concave-convex pattern, the pressure change of the vehicle will have a curve pattern corresponding to the concave-convex pattern, and the pressure change between the wheel and the road surface caused by the unevenness of the road surface itself will not have such a curve pattern.
If the curve pattern of the pressure change curve is matched with the preset pressure curve pattern, it indicates that the detected pressure change is caused by the set concave-convex pattern, the step S112 is continuously executed, the pressure change curve is encoded, and a detection code sequence composed of a first code value and a second code value is obtained; otherwise, the pressure variation curve is not coded, the step S111 is returned, and the pressure data between the wheels and the road surface of the vehicle during the running process of the road surface is continuously detected.
It is understood that the specific implementation of step S111 in this embodiment can still be implemented by using the implementations shown in fig. 4 and fig. 5.
In the embodiment, the curve mode of the pressure change curve is determined, so that the interference of pressure change caused by unevenness of the road surface to vehicle positioning is eliminated, and the accuracy of vehicle positioning is further improved.
Further, referring to fig. 7, fig. 7 is a schematic flow chart of a vehicle positioning method according to a third embodiment of the present invention. As shown in fig. 7, the vehicle positioning method of the present embodiment may include the steps of:
in step S201, a pressure change between a wheel and a road surface of a vehicle when the vehicle is running on the road surface is detected.
In step S202, preset pressure variation information matching the pressure variation condition is searched.
In this embodiment, step S201 and step S202 are the same as step S101 and step S102 in the first embodiment and the second embodiment of the vehicle positioning method shown in fig. 1 to 6, and are not described again here.
In step S203, the matched preset pressure variation information is found, the pre-stored position information indicated by the preset pressure variation information is obtained, and whether the obtained pre-stored position information is unique is determined.
Through the preset pressure variation information found in step S202, the prestored position information represented by the preset pressure variation information is obtained by using the found preset pressure variation information. It can be understood that the preset pressure change information corresponds to the set concave-convex pattern, the set concave-convex patterns can be different from each other, the set concave-convex pattern corresponding to the searched preset pressure change information is unique, and the corresponding pre-stored position information is also unique. However, for a large geographic range, it is complicated and difficult to set the set concave-convex patterns on each road surface to be different set concave-convex patterns, so that when the set concave-convex patterns are set, the set concave-convex patterns can be set by regions, for example, a plurality of set concave-convex patterns set in a region a with different geographic regions can be the same as a plurality of set concave-convex patterns set in a region B, and the pre-stored position information indicated by the found preset pressure change information corresponds to the pre-stored position information of a certain set concave-convex pattern in the region a and the pre-stored position information of the same set concave-convex pattern in the region B at the same time, in other words, the found pre-stored position information is not unique at this time.
Therefore, when the pre-stored position information represented by the preset pressure variation information is acquired, the embodiment determines whether the pre-stored position information is unique, and selects the subsequent execution step according to the determination result.
In step S204, the pre-stored position information is taken as the current position information of the vehicle.
If the pre-stored location information obtained in step S203 is unique, it indicates that the obtained pre-stored location information uniquely corresponds to the set concave-convex pattern that the vehicle has traveled, and the pre-stored location information corresponds to the set concave-convex pattern that the vehicle has traveled, that is, the pre-stored location information can be used as the current location information of the vehicle.
In step S205, a current positioning coordinate of the vehicle is obtained by acquiring GPS positioning, satellite positioning, or base station positioning; and determining a geographical area where the vehicle is currently located according to the current positioning coordinates, and taking prestored position information belonging to the geographical area in a plurality of pieces of prestored position information represented by the preset pressure change information as the current position information of the vehicle.
If the pre-stored location information obtained in step S203 is not unique, that is, the set concave-convex pattern that the vehicle has traveled through at this time is used in at least two geographic areas, at this time, it is necessary to determine in which area the vehicle is located, and other pre-stored location information may be excluded. In this embodiment, the current positioning coordinates of the vehicle can be obtained through GPS positioning, satellite positioning, or base station positioning, and the current area in which the vehicle is located can be known, and the pre-stored location information that belongs to the geographic area among the plurality of pre-stored location information indicated by the preset pressure change information is used as the current location information of the vehicle.
It can be understood that, in other embodiments, the current positioning coordinates of the vehicle may be obtained by first obtaining GPS positioning, satellite positioning, or base station positioning, the geographic area where the vehicle is currently located is first determined, and when the matched preset pressure change information is found and the pre-stored location information indicated by the preset pressure change information is obtained, the pre-stored location information in the geographic area is only searched. For example, the current positioning coordinates of the vehicle are obtained by first obtaining GPS positioning, satellite positioning or base station positioning, and it is first determined that the vehicle is currently located in the geographic area a, and when the pre-stored location information indicated by the preset pressure change information is obtained, the pre-stored location information corresponding to the obtained preset pressure change information is only searched for in the preset location information in the area a.
In addition, if the obtained pre-stored position information is not unique, in other embodiments, the previous pre-stored position information represented by the preset pressure change information obtained by the last matching may also be obtained; and pre-stored position information which meets a preset spatial relationship with the last pre-stored position information in the plurality of pieces of pre-stored position information represented by the preset pressure change information is used as the current position information of the vehicle. It will be appreciated that there should be a spatial relationship between the previously pre-stored location information and the pre-stored location information obtained at this time. The spatial relationship may be a distance relationship, the set concave-convex patterns passing through the vehicle twice before and after must have a certain distance relationship, and the set concave-convex patterns passing through the vehicle twice before and after cannot be too far apart.
Further, please refer to fig. 8, wherein fig. 8 is a schematic flowchart illustrating a vehicle positioning method according to a fourth embodiment of the present invention. As shown in fig. 8, the vehicle positioning method of the present embodiment may include the steps of:
in step S301, a pressure change between a wheel and a road surface of a vehicle while the vehicle is running on the road surface is detected.
In step S302, preset pressure variation information matching the pressure variation condition is searched.
In step S303, the matched preset pressure variation information is found, and the pre-stored position information indicated by the preset pressure variation information is obtained.
In this embodiment, steps S301 to S303 are the same as steps S101 to S103 in the embodiment shown in fig. 1 to 6, and are not repeated here.
In step S304, GPS positioning, satellite positioning, or base station positioning is acquired to obtain the current positioning coordinates of the vehicle.
In this embodiment, the current positioning coordinates of the vehicle are further obtained by GPS positioning, satellite positioning, base station positioning, or the like.
In step S305, it is determined whether an error value between the pre-stored position information and the current positioning coordinates is less than or equal to a preset error threshold.
Further, it is determined whether the error value between the current positioning coordinates obtained in step S305 and the pre-stored position information is less than or equal to a preset error threshold. It is understood that if the pressure variation between the wheel and the road surface is caused by the set concave-convex pattern, the error value between the current location coordinate and the pre-stored position information should be small, and if the pressure variation between the wheel and the road surface is not caused by the set concave-convex pattern, but is caused by other factors, such as unevenness of the road surface itself, a large error value may exist between the current location coordinate and the pre-stored position information.
Therefore, in the embodiment, the subsequent execution step is selected according to the determination result by determining whether the error value between the pre-stored position information and the current positioning coordinate is less than or equal to the preset error threshold.
In step S306, the pre-stored location information is taken as the current location information of the vehicle.
If the error value between the pre-stored position information and the current positioning coordinate is smaller than or equal to the preset error threshold value, the pressure change condition between the wheel and the road surface is caused by the set concave-convex pattern, and therefore the pre-stored position information can be used as the current position information of the vehicle.
In step S307, the current positioning coordinates are taken as the current position information of the vehicle.
If the error value between the pre-stored position information and the current positioning coordinate is larger than the preset error threshold value, the pressure change situation between the wheel and the road surface is not caused by the set concave-convex pattern, but is caused by other factors, such as unevenness of the road surface. Therefore, GPS positioning, satellite positioning, base station positioning, or the like is used to acquire the current positioning coordinates of the vehicle as the current position information of the vehicle.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a vehicle positioning device according to an embodiment of the invention. As shown in fig. 9, the vehicle positioning apparatus of the present embodiment includes a pressure sensor, a memory, and a processor coupled by a bus.
The pressure sensor is used for detecting pressure data between a wheel and a road surface when a vehicle runs on the road surface. The memory is used for storing operation instructions executed by the processor and various data collected in the vehicle positioning process. The processor is configured to execute corresponding operations according to the operation instructions stored in the memory, so as to implement any one of the first to third embodiments of the vehicle positioning method shown in fig. 1 to 8, for a specific description, please refer to the specific description of the first to third embodiments of the vehicle positioning method shown in fig. 1 to 8, which is not repeated herein.
Further, as shown in fig. 10, the vehicle positioning device of this embodiment may further include a data transceiver, where the data transceiver is configured to upload the obtained current position information of the vehicle to a server. Therefore, a single vehicle can share data through the server, and the method can be further applied to intelligent transportation.
Further, referring to fig. 11, fig. 11 is a schematic structural diagram of a storage medium according to an embodiment of the invention. As shown in fig. 11, the storage medium in this embodiment stores program data that can be executed to implement any one of the first to third embodiments of the vehicle positioning method shown in fig. 1 to 8, for a detailed description, please refer to the detailed description of the first to third embodiments of the vehicle positioning method shown in fig. 1 to 8, which is not repeated herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (14)
1. A vehicle positioning method, comprising:
detecting the pressure change condition between the wheels of the vehicle and the road surface when the vehicle runs on the road surface;
searching preset pressure change information matched with the pressure change condition; the preset pressure change information represents the pressure change condition between the wheels and the road surface when the vehicle runs on the road surface with a set concave-convex pattern, and the set concave-convex pattern is composed of a plurality of convex strips or concave strips which are arranged at intervals along the length direction of the road surface;
and when the matched preset pressure change information is found, obtaining the pre-stored position information of the road surface represented by the matched preset pressure change information to be used as the current position information of the vehicle.
2. The vehicle positioning method according to claim 1,
the preset pressure change information is a preset code sequence consisting of a first code value and a second code value;
the method for detecting the pressure change between the wheels of the vehicle and the road surface when the vehicle runs on the road surface comprises the following steps:
detecting pressure data between wheels of a vehicle and a road surface during the running of the vehicle on the road surface by using pressure sensors of the wheels, and forming a pressure change curve by using the detected pressure data;
coding the pressure change curve to obtain a detection code sequence consisting of a first code value and a second code value;
the searching for the preset pressure change information matched with the pressure change condition comprises the following steps:
and searching a preset code sequence which is the same as the detection code sequence.
3. The vehicle positioning method according to claim 2,
the method for detecting the pressure data between the wheels and the road surface of the vehicle in the road surface driving process by using the pressure sensors of the wheels further comprises the following steps after a pressure change curve is formed by the detected pressure data:
judging whether the curve mode of the pressure change curve is matched with a preset pressure curve mode or not;
if so, encoding the pressure change curve to obtain a detection code sequence consisting of a first code value and a second code value;
otherwise, the pressure curve is not encoded.
4. The vehicle positioning method according to claim 2, wherein the pitch and/or width between the raised strips or the depressed strips of the road surface at different positions are not completely the same to constitute different set concavo-convex patterns;
when a wheel enters or leaves the convex strip or the concave strip, sudden pressure change occurs between the wheel and the road surface.
5. The vehicle positioning method according to claim 4,
the method for detecting pressure data between a wheel and a road surface of a vehicle during running on the road surface by using a pressure sensor of the wheel, and forming a pressure change curve by using the detected pressure data comprises the following steps:
detecting a first pressure sudden change between a wheel and a road surface when a vehicle runs on the road surface by using a pressure sensor of the wheel, and recording the time of the first pressure sudden change;
continuously detecting pressure data between the wheel and the road surface, and judging whether the product of the time interval between the time of the second pressure sudden change and the time of the first pressure sudden change and the vehicle speed is equal to the integral multiple of the width of the convex strip or the concave strip;
if so, taking the time of the first time of pressure mutation as the starting point of the pressure change curve;
otherwise, discarding the time of the first pressure jump, and repeating the steps when the pressure jump between the wheel and the road surface is detected again.
6. The vehicle positioning method according to claim 5,
after the time of the first change of the pressure data is taken as a starting point of the pressure change curve, the method further comprises the following steps:
continuously detecting pressure data between wheels of the vehicle and the road surface, and judging whether the pressure data meets an end detection condition after the second pressure mutation;
if so, taking the time of the sudden change of the pressure detected when the detection ending condition is met as the ending point of the pressure change curve;
otherwise, continuing to detect the pressure data until the pressure data meets the detection ending condition.
7. The vehicle positioning method according to claim 6,
the end detection condition includes:
after the second pressure jump, no next pressure jump is detected within a preset time threshold;
the taking the time of the pressure data detected when the end detection condition is satisfied as the end point of the pressure change curve includes:
and taking the second pressure sudden change as a corresponding pressure sudden change when the end detection condition is met, and taking the time of the second pressure sudden change as the end point of the pressure change condition.
8. The vehicle positioning method according to claim 6,
the end detection condition further includes:
after the second pressure sudden change, the product of the time interval of the two adjacent detected pressure sudden changes and the vehicle speed is not equal to integral multiple of the width of the convex strip or the concave strip;
the setting, as the end point of the pressure change curve, a time of the pressure data detected when the end detection condition is satisfied includes:
and taking the previous pressure mutation in the two adjacent pressure mutations as the corresponding pressure mutation when the end detection condition is met, and taking the time of the previous pressure mutation in the two adjacent pressure mutations as the end point of the pressure change curve.
9. The vehicle positioning method according to claim 1,
finding the matched preset pressure change information, and acquiring the prestored position information of the road surface represented by the matched preset pressure change information to serve as the current position information of the vehicle, wherein the method comprises the following steps:
searching matched preset pressure change information, acquiring prestored position information represented by the preset pressure change information, and judging whether the acquired prestored position information is unique;
if the pre-stored position information represented by the preset pressure change information is the only pre-stored position information, taking the pre-stored position information as the current position information of the vehicle;
if the pre-stored position information represented by the preset pressure change information is not unique, acquiring GPS positioning, satellite positioning or base station positioning to obtain the current positioning coordinate of the vehicle; determining a geographical area where the vehicle is currently located according to the current positioning coordinates, and taking prestored position information belonging to the geographical area in a plurality of pieces of prestored position information represented by the preset pressure change information as current position information of the vehicle; or
Acquiring previous prestored position information represented by preset pressure change information obtained by last matching; and pre-stored position information which meets a preset spatial relationship with the last pre-stored position information in the plurality of pieces of pre-stored position information represented by the preset pressure change information is used as the current position information of the vehicle.
10. The vehicle positioning method according to claim 1,
finding the matched preset pressure change information, and acquiring the prestored position information of the road surface represented by the matched preset pressure change information to be used as the current position information of the vehicle, wherein the steps of:
searching matched preset pressure change information, and acquiring prestored position information represented by the preset pressure change information;
acquiring GPS positioning, satellite positioning or base station positioning to obtain the current positioning coordinates of the vehicle;
judging whether an error value between the pre-stored position information and the current positioning coordinate is smaller than or equal to a preset error threshold value or not;
if so, taking the pre-stored position information as the current position information of the vehicle;
and if not, taking the current positioning coordinates as the current position information of the vehicle.
11. The vehicle positioning method according to claim 1,
the pressure sensors of the wheels are arranged along the outer surface of the vehicle so that the vehicle can continuously detect the pressure change between the wheels and the road surface during running.
12. The vehicle positioning method according to claim 1,
the set concave-convex pattern is a deceleration pattern, and the plurality of convex strips or concave strips are deceleration strips.
13. A vehicle positioning apparatus, comprising: a pressure sensor, a memory, and a processor coupled to each other by a bus;
the pressure sensor is used for detecting pressure data between wheels of the vehicle and the road surface when the vehicle runs on the road surface;
the memory is used for storing the operation instruction executed by the processor and various data collected in the vehicle positioning process;
the processor is used for executing the vehicle positioning method according to any one of claims 1-12 according to the operation instruction.
14. A storage medium in which program data is stored, the program data being executable to implement the vehicle positioning method of any one of claims 1-12.
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| CN112435476A (en) * | 2020-12-19 | 2021-03-02 | 宋彦震 | Garage departure safety prompt system |
| CN113299102A (en) * | 2021-03-27 | 2021-08-24 | 宁波工程学院 | Underground parking lot navigation method, system and storage medium |
| CN114234980B (en) * | 2021-12-16 | 2023-11-10 | 哈尔滨工业大学 | Indoor positioning device and method based on pressure sensing |
| CN115472015B (en) * | 2022-09-20 | 2024-01-02 | 福建鼎旸信息科技股份有限公司 | High-precision guiding system and method based on positioning correction of Internet of things of foundation |
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| CN1641712A (en) * | 2004-01-15 | 2005-07-20 | 于君 | Vehicle positioning system and its special vehicular device and road side facility |
| IT1397047B1 (en) * | 2009-11-27 | 2012-12-28 | Corghi Spa | APPARATUS AND PROCEDURE TO PROVIDE INDICATIONS TO A PERSON FOR A STATIC REGULATION OF A MOTOR VEHICLE EQUIPPED WITH WHEELS WITH TIRES. |
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| KR102034664B1 (en) * | 2013-06-18 | 2019-10-22 | 현대모비스 주식회사 | Map Matching System and Method Using Tire Pressure Monitoring System |
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