CN109613920B - Method and device for determining vehicle position - Google Patents
Method and device for determining vehicle position Download PDFInfo
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- CN109613920B CN109613920B CN201811612226.1A CN201811612226A CN109613920B CN 109613920 B CN109613920 B CN 109613920B CN 201811612226 A CN201811612226 A CN 201811612226A CN 109613920 B CN109613920 B CN 109613920B
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The application discloses a method and a device for determining vehicle position, and particularly can acquire target position information of a target vehicle and map the target position information into a target coordinate system; acquiring a first image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot; and then drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates. Since the second image may represent the position of the target vehicle in the parking lot, the user may determine that the target vehicle is located at a specific position in the parking lot using the second image displayed by the terminal device.
Description
Technical Field
The present application relates to the field of vehicles, and in particular, to a method and an apparatus for determining a vehicle position.
Background
With the development of automatic driving technology, vehicles can be automatically driven not only on roads, but also can be automatically parked, for example, automatically driven to a corresponding parking space in a parking lot.
It is understood that during automatic parking, a user may pay more attention to the actual location of the vehicle to determine whether the vehicle can be parked correctly in the corresponding parking space. Currently, a user can determine the position of a vehicle using images taken by a camera installed near a parking lot. However, because the range of the viewing angle of the camera is limited, the panorama of the whole parking lot cannot be monitored in a panoramic manner. Through the image that the camera was shot, the user often can only estimate that the vehicle is in a certain position in parking area probably through this image, can not confirm the specific position of vehicle in the parking area.
Therefore, a solution to the above problems is urgently needed.
Disclosure of Invention
The technical problem to be solved by the application is that the specific position of a vehicle in a parking lot cannot be correctly determined through an image shot by a camera, and the method and the device for determining the position of the vehicle are provided.
In a first aspect, an embodiment of the present application provides a method for determining a vehicle position, where the method includes:
acquiring target position information of a target vehicle, mapping the target position information to a target coordinate system, and obtaining a target coordinate of the target vehicle in the target coordinate system; acquiring a first image which is an image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot;
drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates;
and displaying the second image by using the terminal equipment.
Optionally, the first image is obtained by drawing in the following manner:
acquiring position information of a target parking lot and position information of parking spaces included in the target parking lot;
according to the position information of the target parking lot and the position information of the parking spaces, the parking spaces included in the target parking lot and the target parking place are mapped into a pre-established coordinate system to obtain a plurality of mapping coordinates;
and drawing the first image by using the mapping coordinates.
Optionally, the displaying the second image by using the terminal device includes:
acquiring the resolution of the terminal equipment, and adaptively adjusting the resolution of the second image according to the resolution of the terminal equipment so that the adjusted image is adaptive to the resolution of the terminal equipment;
and sending the adjusted image to a terminal device so that the terminal device displays the adjusted image.
Optionally, the target position information includes information of a direction of a head of the target vehicle; the second image comprises a simulated vehicle; the direction of the head of the simulated vehicle in the second image is determined by the following method:
mapping the locomotive direction information to the target coordinate system to obtain a mapped locomotive direction; and taking the mapped vehicle head direction as the vehicle head direction of the simulated vehicle in the second image.
Optionally, the coordinate system is a coordinate system established with the center of the target parking lot as an origin.
In a second aspect, an embodiment of the present application provides an apparatus for determining a position of a vehicle, the apparatus including:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring target position information of a target vehicle, mapping the target position information to a target coordinate system and obtaining a target coordinate of the target vehicle in the target coordinate system; acquiring a first image which is an image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot;
a drawing unit, configured to draw a second image representing a position of the target vehicle in the target parking lot according to the first image and the target coordinates;
and the display unit is used for displaying the second image by using the terminal equipment.
Optionally, the first image is obtained by drawing in the following manner:
acquiring position information of a target parking lot and position information of parking spaces included in the target parking lot;
according to the position information of the target parking lot and the position information of the parking spaces, the parking spaces included in the target parking lot and the target parking place are mapped into a pre-established coordinate system to obtain a plurality of mapping coordinates;
and drawing the first image by using the mapping coordinates.
Optionally, the display unit is specifically configured to:
acquiring the resolution of the terminal equipment, and adaptively adjusting the resolution of the second image according to the resolution of the terminal equipment so that the adjusted image is adaptive to the resolution of the terminal equipment;
and sending the adjusted image to a terminal device so that the terminal device displays the adjusted image.
Optionally, the target position information includes information of a direction of a head of the target vehicle; the second image comprises a simulated vehicle; the direction of the head of the simulated vehicle in the second image is determined by the following method:
mapping the locomotive direction information to the target coordinate system to obtain a mapped locomotive direction; and taking the mapped vehicle head direction as the vehicle head direction of the simulated vehicle in the second image.
Optionally, the coordinate system is a coordinate system established with the center of the target parking lot as an origin.
Compared with the prior art, the embodiment of the application has the following advantages:
the embodiment of the application provides a method and a device for determining a vehicle position, and particularly, the method and the device can acquire target position information of a target vehicle and map the target position information into a target coordinate system; acquiring a first image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot; and then drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates. Since the second image may represent the position of the target vehicle in the parking lot, the user may determine that the target vehicle is located at a specific position in the parking lot using the second image displayed by the terminal device.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for determining a vehicle position according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for rendering a first image according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a method for displaying the second image by using a terminal device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an apparatus for determining a vehicle position according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The inventor of the present application has found through research that, in the prior art, during automatic parking, a user may pay more attention to an actual location of a vehicle to determine whether the vehicle can be correctly parked at a corresponding parking space. Currently, a user can determine the position of a vehicle using images taken by a camera installed near a parking lot. However, the user often can only estimate that the vehicle is located at a certain position in the parking lot by using the image shot by the camera, and cannot determine the specific position of the vehicle in the parking lot.
In view of this, the present application provides a method and an apparatus for determining a vehicle position, and specifically, target position information of a target vehicle may be obtained and mapped into a target coordinate system; acquiring a first image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot; and then drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates. Since the second image may represent the position of the target vehicle in the parking lot, the user may determine that the target vehicle is located at a specific position in the parking lot using the second image displayed by the terminal device.
Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.
Exemplary method
Referring to fig. 1, the figure is a schematic flowchart of a method for determining a vehicle position according to an embodiment of the present application.
The method for determining the vehicle position provided by the embodiment of the present application may be executed by a server, and the embodiment of the present application is not particularly limited to the server, and the server may be a dedicated server that only executes the method described in the present application, or may be a server having other data processing functions.
In this embodiment, the method may be implemented, for example, by the following steps S101-S103.
S101: acquiring target position information of a target vehicle, mapping the target position information to a target coordinate system, and obtaining a target coordinate of the target vehicle in the target coordinate system; and acquiring a first image, wherein the first image is an image which is drawn based on the target coordinate system and embodies the position relation of each parking space in the target parking lot.
In the embodiment of the present application, the target position information of the target vehicle may be acquired by using a positioning device mounted on the target vehicle.
The target location information is not specifically limited in the embodiments of the present application, and for example, the latitude and longitude of the target location of the target vehicle may be used.
In this embodiment, the target coordinate system may be a coordinate system constructed by the server itself. In one implementation of the embodiment of the present application, the target coordinate system may be, for example, a coordinate system with the center of the target parking lot as an origin.
In the embodiment of the present application, the coordinate system may be a two-dimensional coordinate system, and the coordinate system may also be a three-dimensional coordinate system. For example, when the target parking lot is a multi-storey parking lot, the coordinate system may be a three-dimensional coordinate system in order to intuitively represent the position relationship among the parking lots in the target parking lot; when the target parking lot is a one-floor parking lot, the coordinate system may be a two-dimensional coordinate system.
The target parking lot mentioned in the embodiment of the present application may be an indoor parking lot or an outdoor parking lot, and the embodiment of the present application is not particularly limited.
In the embodiment of the application, the target coordinates of the target vehicle in the target coordinate system can be obtained according to a mapping rule between predetermined position information and coordinates in the target coordinate system.
In this embodiment of the application, the first image is drawn based on the target coordinate system, and the first image may represent a positional relationship of each parking space in the target parking lot. The embodiment of the present application is not particularly limited to a specific implementation manner of acquiring the first image, and as an example, the server may store the first images corresponding to a plurality of parking lots, so that the target parking lot where the target vehicle is currently located may be determined according to the target position information of the target vehicle, and the first image corresponding to the target parking lot may be acquired from the server.
And S102, drawing a second image representing the position of the target vehicle in the target parking lot according to the first image and the target coordinates.
It is understood that, since the first image is drawn based on the target coordinate system, and the target coordinates are coordinates in the target coordinate system, the position of the target vehicle in the target parking lot in the second image can be regarded as the actual position of the target vehicle in the parking lot. For example, if the target vehicle is located between the parking spaces No. 2 and No. 3 in the second image, it may be considered that the target vehicle is actually located between the parking spaces No. 2 and No. 3.
In the embodiment of the present application, when S102 is implemented specifically, there may be multiple implementations, and two possible implementations are described below.
In one possible implementation, a simulated vehicle embodying the target vehicle may be drawn directly at the target coordinates in the second image.
In yet another possible implementation manner, a third image including a simulated vehicle embodying the target vehicle may be drawn according to the target coordinates, and then the third image and the first image may be combined to obtain the second image.
And S103, displaying the second image by using the terminal equipment.
The terminal device mentioned in the embodiment of the present application may be a mobile terminal such as a smart phone, a tablet computer, or a terminal such as a desktop computer, and the embodiment of the present application is not particularly limited.
In this embodiment, the server may send the second image to the terminal device, so that the terminal device displays the second image. As an example, a user may send a request to a server by using a terminal device, for example, the user may open a browser on the terminal device and input a corresponding website; and after receiving the request, the server sends the second image to the terminal equipment.
As can be seen from the above description, by using the method for determining a vehicle position provided by the embodiment of the present application, target position information of a target vehicle can be obtained, and the target position information is mapped into a target coordinate system; acquiring a first image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot; and then drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates. Since the second image may represent the position of the target vehicle in the parking lot, the user may determine that the target vehicle is located at a specific position in the parking lot using the second image displayed by the terminal device.
As described in S101, the first image is an image that is rendered based on the target coordinate system and represents a positional relationship between parking spaces in the target parking lot, and a specific implementation of rendering the first image is described below with reference to the drawings.
Referring to fig. 2, the figure is a schematic flowchart of a method for drawing a first image according to an embodiment of the present application.
The method may be implemented, for example, by the following steps S201-S203.
S201: the method comprises the steps of obtaining position information of a target parking lot and position information of parking spaces included in the target parking lot.
In this embodiment, the location information of the target parking lot may include, for example, location information of a boundary area of the target parking lot, and the location information may include, for example, latitude and longitude. For example, if the area occupied by the target parking lot is a rectangular area, the position information of the target parking lot may include position information of a plurality of points on four sides of the rectangle.
The embodiment of the present application does not specifically limit the specific implementation manner of obtaining the location information of the target parking lot, and as an example, the location information of the target parking lot may be collected by a surveying and mapping staff in the field. As still another example, the position information of the target parking lot may be acquired using several positioning devices installed at the boundary area of the target parking lot.
In this embodiment of the application, the location information of the parking space may include, for example, location information of a boundary area of the parking space, and the location information may include, for example, longitude and latitude. For example, if the area occupied by the parking space is a rectangular area, the position information of the parking space may include position information of a plurality of points on four sides of the rectangle.
The embodiment of the application does not specifically limit the specific implementation manner of obtaining the position information of the parking space, and as an example, a surveying and mapping staff can be used for collecting the position information of the parking space on the spot. As still another example, the position information of the parking space may be acquired by using a plurality of positioning devices installed in a boundary area of the parking space.
S202: and mapping the parking spaces included in the target parking lot and the target parking place to a pre-established coordinate system according to the position information of the target parking lot and the position information of the parking spaces to obtain a plurality of mapping coordinates.
Similar to the implementation manner of "mapping the target location information to the target coordinate system to obtain the target coordinates of the target vehicle in the target coordinate system" in S101, in the embodiment of the present application, the mapping coordinates may be obtained according to a predetermined mapping rule between the location information and the coordinates in the target coordinate system.
S203: and drawing the first image by using the mapping coordinates.
In this embodiment of the application, in a specific implementation, in S203, an image representing the target parking lot may be drawn according to a mapping coordinate obtained by mapping the position information of the target parking lot among the plurality of mapping coordinates; according to the mapping coordinates obtained by mapping the position information of the parking space in the plurality of mapping coordinates, drawing an image showing the parking space; and combining the image representing the parking lot and the images representing all parking spaces to obtain the first image.
As described in S103, the server may display the second image by using the terminal device, and a possible implementation manner of S103 is described below with reference to the drawings.
Referring to fig. 3, the figure is a schematic flowchart of a method for displaying the second image by using a terminal device according to an embodiment of the present application.
The method may be implemented, for example, by the following steps S301-S302.
S301: and acquiring the resolution of the terminal equipment, and adaptively adjusting the resolution of the second image according to the resolution of the terminal equipment so that the adjusted image is adaptive to the resolution of the terminal equipment.
It is understood that the resolutions of different terminal devices are different, and if the resolution of the second image does not match the resolution of the terminal device, the second image displayed by the terminal device may be distorted. On the one hand, the visual effect brought to the user is not good, and on the other hand, the user is not facilitated to determine the actual position of the target vehicle by using the second image.
Therefore, in order to enable the user to adapt the displayed second image to the resolution of the terminal device when viewing the second image with the terminal device. In this embodiment, the server may further adjust the resolution of the second image according to the resolution of the terminal device, so that the adjusted image is adapted to the resolution of the terminal device.
The embodiment of the present application does not specifically limit a specific implementation manner of adaptively adjusting the resolution of the second image according to the resolution of the terminal device, and as an example, a scaling ratio may be determined according to the resolution of the second image and the resolution of the terminal device, and the second image is scaled according to the scaling ratio to adjust the resolution of the second image, so that the adjusted image is adapted to the resolution of the terminal device.
S302: and sending the adjusted image to a terminal device so that the terminal device displays the adjusted image.
It can be understood that, since the adjusted image is adapted to the resolution of the terminal device, the image is not deformed. On one hand, the visual effect brought to the user is better, and on the other hand, the user is more facilitated to determine the actual position of the target vehicle by using the adjusted image.
It is understood that, in this embodiment of the present application, the server may periodically perform the above-mentioned S101-S103 at preset time intervals, so that when the preset time interval is relatively short, the user may determine the driving track of the target vehicle in the target parking lot through the plurality of second images displayed by the terminal device.
In one example of the embodiment of the present application, when the target position information uploaded by the target vehicle a plurality of times is the same, it may be determined that the target vehicle has stopped traveling. For the situation, the server may further determine whether the target vehicle is correctly parked in the parking space according to the relationship between the target coordinate and the coordinate of the parking space, and if the target vehicle is not correctly parked in the parking space, the server may further generate warning information and send the warning information to the terminal device, so that the user determines that the parking position of the target vehicle is not appropriate through the warning information displayed by the terminal device. In this way, the user can take corresponding measures in time, for example, remotely control the target vehicle to travel to the corresponding parking space, and for example, the user can drive the target vehicle to the corresponding parking space by himself.
In a possible implementation manner of the embodiment of the present application, the driving track displayed by the terminal device is more vivid, and in order that the user can predict the driving track of the target vehicle through the second image to determine that the target vehicle can accurately drive to the corresponding parking space, in the possible implementation manner of the embodiment of the present application, the target position information includes information of a direction of a head of the target vehicle; the second image includes a simulated vehicle.
The vehicle head direction information refers to information of a direction in which the vehicle head of the target vehicle faces. The vehicle head direction information can represent the current driving direction of the target vehicle to a certain extent.
In the embodiment of the application, after the vehicle head direction information is obtained, in order to enable the simulated vehicle in the second image to embody the vehicle head direction, the vehicle head direction information may be mapped to the target coordinate system to obtain a mapped vehicle head direction; and taking the mapped vehicle head direction as the vehicle head direction of the simulated vehicle in the second image.
The embodiment of the present application does not specifically limit an implementation manner of mapping the vehicle head direction information into the target coordinate system, and as an example, a correspondence between the vehicle head direction information and the vehicle head direction in the target coordinate system may be calibrated in advance, so that the vehicle head direction is determined based on the correspondence.
Exemplary device
Based on the method for determining the vehicle position provided by the above embodiment, the embodiment of the application also provides a device for determining the vehicle position. The device is described below with reference to the accompanying drawings.
Referring to fig. 4, the drawing is a schematic structural diagram of an apparatus for determining a vehicle position according to an embodiment of the present application.
The apparatus 400 may specifically include, for example: an acquisition unit 410, a rendering unit 420, and a display unit 430.
An obtaining unit 410, configured to obtain target position information of a target vehicle, map the target position information to a target coordinate system, and obtain a target coordinate of the target vehicle in the target coordinate system; acquiring a first image which is an image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot;
a drawing unit 420, configured to draw a second image representing a position of the target vehicle in the target parking lot according to the first image and the target coordinates;
a display unit 430, configured to display the second image by using a terminal device.
In a possible implementation manner, the first image is obtained by rendering as follows:
acquiring position information of a target parking lot and position information of parking spaces included in the target parking lot;
according to the position information of the target parking lot and the position information of the parking spaces, the parking spaces included in the target parking lot and the target parking place are mapped into a pre-established coordinate system to obtain a plurality of mapping coordinates;
and drawing the first image by using the mapping coordinates.
In a possible implementation manner, the display unit 430 is specifically configured to:
acquiring the resolution of the terminal equipment, and adaptively adjusting the resolution of the second image according to the resolution of the terminal equipment so that the adjusted image is adaptive to the resolution of the terminal equipment;
and sending the adjusted image to a terminal device so that the terminal device displays the adjusted image.
In one possible implementation, the target location information includes heading direction information of the target vehicle; the second image comprises a simulated vehicle; the direction of the head of the simulated vehicle in the second image is determined by the following method:
mapping the locomotive direction information to the target coordinate system to obtain a mapped locomotive direction; and taking the mapped vehicle head direction as the vehicle head direction of the simulated vehicle in the second image.
In one possible implementation, the coordinate system is a coordinate system established with the center of the target parking lot as an origin.
Since the apparatus 400 is an apparatus corresponding to the method provided in the above method embodiment, and the specific implementation of each unit of the apparatus 400 is the same as that of the above method embodiment, for the specific implementation of each unit of the apparatus 400, reference may be made to the description part of the above method embodiment, and details are not repeated here.
As can be seen from the above description, with the apparatus for determining a vehicle position provided in the embodiments of the present application, target position information of a target vehicle may be obtained and mapped into a target coordinate system; acquiring a first image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot; and then drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates. Since the second image may represent the position of the target vehicle in the parking lot, the user may determine that the target vehicle is located at a specific position in the parking lot using the second image displayed by the terminal device.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the attached claims
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. A method of determining a position of a vehicle, the method comprising:
acquiring target position information of a target vehicle, mapping the target position information to a target coordinate system, and obtaining a target coordinate of the target vehicle in the target coordinate system; acquiring a first image which is an image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot;
drawing a second image reflecting the position of the target vehicle in the target parking lot according to the first image and the target coordinates;
displaying the second image by using a terminal device;
the first image is obtained by drawing in the following way:
acquiring position information of a target parking lot and position information of parking spaces included in the target parking lot;
according to the position information of the target parking lot and the position information of the parking spaces, the parking spaces included in the target parking lot and the target parking place are mapped into a pre-established coordinate system to obtain a plurality of mapping coordinates;
and drawing the first image by using the mapping coordinates.
2. The method of claim 1, wherein displaying the second image with a terminal device comprises:
acquiring the resolution of the terminal equipment, and adaptively adjusting the resolution of the second image according to the resolution of the terminal equipment so that the adjusted image is adaptive to the resolution of the terminal equipment;
and sending the adjusted image to a terminal device so that the terminal device displays the adjusted image.
3. The method of claim 1, wherein the target location information includes heading information of the target vehicle; the second image comprises a simulated vehicle; the direction of the head of the simulated vehicle in the second image is determined by the following method:
mapping the locomotive direction information to the target coordinate system to obtain a mapped locomotive direction; and taking the mapped vehicle head direction as the vehicle head direction of the simulated vehicle in the second image.
4. The method according to any one of claims 1 to 3, wherein the coordinate system is a coordinate system established with the center of the target parking lot as an origin.
5. An apparatus for determining a position of a vehicle, the apparatus comprising:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring target position information of a target vehicle, mapping the target position information to a target coordinate system and obtaining a target coordinate of the target vehicle in the target coordinate system; acquiring a first image which is an image which is drawn based on the target coordinate system and reflects the position relation of each parking space in the target parking lot;
a drawing unit, configured to draw a second image representing a position of the target vehicle in the target parking lot according to the first image and the target coordinates;
a display unit configured to display the second image using a terminal device;
the first image is obtained by drawing in the following way:
acquiring position information of a target parking lot and position information of parking spaces included in the target parking lot;
according to the position information of the target parking lot and the position information of the parking spaces, the parking spaces included in the target parking lot and the target parking place are mapped into a pre-established coordinate system to obtain a plurality of mapping coordinates;
and drawing the first image by using the mapping coordinates.
6. The apparatus according to claim 5, wherein the display unit is specifically configured to:
acquiring the resolution of the terminal equipment, and adaptively adjusting the resolution of the second image according to the resolution of the terminal equipment so that the adjusted image is adaptive to the resolution of the terminal equipment;
and sending the adjusted image to a terminal device so that the terminal device displays the adjusted image.
7. The apparatus of claim 5, wherein the target location information comprises heading information of the target vehicle; the second image comprises a simulated vehicle; the direction of the head of the simulated vehicle in the second image is determined by the following method:
mapping the locomotive direction information to the target coordinate system to obtain a mapped locomotive direction; and taking the mapped vehicle head direction as the vehicle head direction of the simulated vehicle in the second image.
8. The apparatus according to any one of claims 5 to 7, wherein the coordinate system is a coordinate system established with the center of the target parking lot as an origin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811612226.1A CN109613920B (en) | 2018-12-27 | 2018-12-27 | Method and device for determining vehicle position |
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| CN201811612226.1A CN109613920B (en) | 2018-12-27 | 2018-12-27 | Method and device for determining vehicle position |
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| CN109613920B true CN109613920B (en) | 2022-02-11 |
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