CN109920266A - A kind of intelligent vehicle localization method - Google Patents
A kind of intelligent vehicle localization method Download PDFInfo
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- CN109920266A CN109920266A CN201910268806.1A CN201910268806A CN109920266A CN 109920266 A CN109920266 A CN 109920266A CN 201910268806 A CN201910268806 A CN 201910268806A CN 109920266 A CN109920266 A CN 109920266A
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Abstract
The invention discloses a kind of intelligent vehicle localization methods, first pass through intelligent vehicle vehicle positioning system and realize Primary Location, obtain coarse localization coordinate；As where coarse localization coordinate determines current time intelligent vehicle coarse positioning section and its ID, the absolute coordinate information of all two dimensional codes in the coarse positioning section is obtained by database；The two dimensional code that video camera is identified is filtered out from the two dimensional code in the coarse positioning section, and is denoted as effective two dimensional code；According to video camera imaging geometrical relationship, in conjunction with the absolute coordinate information of effective two dimensional code and its with the relative positional relationship of intelligent vehicle, the final position appearance that intelligent vehicle is calculated is believed.This method can satisfy the location requirement of intelligent vehicle, be conducive to improve that intelligent vehicle positioning accuracy is lower, the higher situation of equipment cost.
Description
Technical field
The present invention relates to vehicle positioning technology fields, more specifically to a kind of intelligent vehicle localization method.
Background technique
With the fast development of science and technology, intelligent automobile has been the Main way of automobile industry research and development.Orientation problem becomes intelligence
The most key one of the key problem of energy development of automobile, draws high-precision map or raising intelligent vehicle positioning accuracy has become solution
Certainly two kinds of main methods of the problem.Current most common positioning method is with GPS (Global Positioning
System) or high accuracy inertial navigation system (Inertial Navigation System) realizes positioning.It is fixed for using GPS to realize
Position, this method precision is about 10m, and is easy to be interfered by landform, especially even without signal under tunnel environment or overline bridge, no
It is able to satisfy the actual location requirement of intelligent vehicle；Positioning accuracy can also be substantially improved with high accuracy inertial navigation system combination GPS, essence
Degree is about 10~20cm, but its cost is excessively high, is not suitable for promoting.Based on SLAM (simultaneous localization
And mapping) the more accurate relative position of the available intelligent vehicle of algorithm, but current SLAM algorithm is to characteristic point
Unstable, low efficiency is extracted, especially often changes for the forward sight scene of SLAM, there are associated difficulties.
Summary of the invention
To overcome defect of the existing technology, the present invention proposes a kind of intelligent vehicle localization method, first passes through intelligent vehicle
Vehicle positioning system realizes Primary Location, obtains coarse localization coordinate；Current time intelligent vehicle is determined by coarse localization coordinate
Coarse positioning section and its ID number where are believed by the absolute coordinate that database obtains all two dimensional codes in the coarse positioning section
Breath；The two dimensional code that video camera is identified is filtered out from the two dimensional code in the coarse positioning section, and is denoted as effective two dimensional code；According to
Video camera imaging geometrical relationship, in conjunction with effective two dimensional code absolute coordinate information and its with the relative positional relationship of intelligent vehicle,
The final position information of intelligent vehicle is calculated.This method can satisfy the location requirement of intelligent vehicle, be conducive to improve intelligence
It can vehicle location precision be lower, the higher situation of equipment cost.
The purpose of the present invention is achieved through the following technical solutions:
Design a kind of intelligent vehicle localization method, comprising the following steps:
Step1 installs vehicle positioning system on intelligent vehicle and respectively installs one in the front and back of intelligent vehicle
Video camera；
Step2 establishes the two dimensional code for being easy to read and identify, two dimensional code is installed in pre- seek by its absolute coordinate information
Road two sides；
Step3 carries out coarse positioning piece Division to pre-selection road and distributes an ID number to each coarse positioning section；
Step4 establishes database, the absolute seat of two dimensional code in the ID number of each coarse positioning section and each coarse positioning section
Information storage is marked into the database；
Step5, video camera obtain the two-dimensional barcode information for reading and identifying when intelligent vehicle is travelled to current location and meter
It calculates intelligent vehicle and is read the relative positional relationship of identification two dimensional code；
Step6, intelligent vehicle vehicle positioning system obtains the Primary Location coordinate information at intelligent vehicle current time, by this
Primary Location coordinate information determines coarse positioning section and its ID number where current time intelligent vehicle, and being obtained by database should
The absolute coordinate information of all two dimensional codes in coarse positioning section；
Step7 from the two dimensional code for filtering out video camera in the coarse positioning section in all two dimensional codes and being identified, and has been denoted as
Imitate two dimensional code, according to video camera imaging geometrical relationship, in conjunction with effective two dimensional code absolute coordinate information and its with intelligent vehicle
The final position information of intelligent vehicle is calculated in relative positional relationship.
In the above scheme, in the step Step2, two dimensional code is a kind of 3 × 3 be made of chequered with black and white grid
Rectangular dimension code is equidistantly mounted on pre-selection street lamp poles on both sides of road or traffic sign bar according to same elevation, ipsilateral adjacent
Spacing 30-50m between two dimensional code.
In the above scheme, in the step Step4, each two dimensional code setting is corresponding with its absolute coordinate position only
One encodes, two dimensional code coding and two dimensional code absolute coordinate information in each coarse positioning section, its ID number and the coarse positioning section
It is interrelated；Two dimensional code in different coarse positioning sections is recursive.
In the above scheme, in the step Step5, video camera first obtains intelligent vehicle left front, right front, left back
At least one in side and right back four direction contains the picture frame of two dimensional code, and then video camera identifies the picture frame, and calculating obtains
The relative positional relationship of the two dimensional code and intelligent vehicle that must be read and identify.
Compared with prior art, the invention has the following advantages:
(1) cost is relatively low, and intelligent vehicle only needs to be arranged vehicle-mounted common GPS and video camera, and trackside only need to be in two sides rod piece
Upper setting two dimensional code；(2) trackside characteristic body maintainability is strong, and the two-dimentional code system for being easy to be read identification by video camera of trackside is arranged in
Work is simple, service life is longer, convenient for safeguarding；(3) positioning accuracy is high, and the absolute coordinate of two dimensional code is obtained by reading database
Information, and the relative positional relationship of the two dimensional code and intelligent vehicle that resolve according to video camera is combined, it can extremely accurate obtain
Know intelligent vehicle current location；(4) stability is high, and Machine Vision Recognition two dimensional code from variable environment than extracting needed for feature
It wants the information capacity of finishing analysis smaller, can quickly obtain intelligent vehicle final position information.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is a kind of flow diagram of intelligent vehicle localization method；
Fig. 2 is the schematic diagram that vehicle-mounted vidicon read and identified two dimensional code；
Fig. 3 is the schematic diagram that intelligent vehicle screens effective two dimensional code；
Fig. 4 is the transition diagram of visual geometric relationship.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.
As shown in Figure 1, the present invention provides a kind of intelligent vehicle localization method, method includes the following steps:
Step1 first establishes the two dimensional code for being easy to read and identify, two dimensional code is installed according to its practical absolute coordinate information
In the corresponding position of Yu Xianxuanding both sides of the road, two dimensional code presses equidistant regular distribution, is generally arranged one at interval of 30-50m
Two dimensional code；Then, coarse positioning piece Division is carried out to pre-selection road and distributes an ID number to each coarse positioning section, it is each thick
Positioning section diameter is 3-5km；Then, database is established, two in the ID number of each coarse positioning section and each coarse positioning section
The absolute coordinate information for tieing up code is stored into the database；Vehicle positioning system is installed on intelligent vehicle and in intelligent vehicle
Front and back respectively installs a video camera；Finally, carrying out parameter calibration to video camera according to camera imaging model principle.
Wherein, two dimensional code is a kind of 3 × 3 rectangular dimension codes being made of chequered with black and white grid, for intelligent vehicle video camera read with
Identification, two dimensional code are mounted in street lamp poles on both sides of road or already existing traffic sign bar according to same elevation.
It is noted that front and back two camera installation locations it is reasonable so that front video can at least obtain left front or
Two dimensional code, the postposition video camera of right front can at least obtain the two dimensional code of left back and right back, as shown in Figure 2.
Step2, two video cameras of intelligent vehicle obtain when intelligent vehicle is travelled to current location respectively and read and know
Other two-dimensional barcode information and computational intelligence vehicle and the relative positional relationship for being read identification two dimensional code.
Wherein, video camera first obtains at least one in left front, right front, left back and right back four direction and contains two
The picture frame of code is tieed up, then video camera identifies picture frame, parses the phase of the two dimensional code and intelligent vehicle that are read and are identified
To positional relationship.
Step3 realizes Primary Location using vehicle positioning system, obtains intelligent vehicle current time under geographic coordinate system
Primary Location information, thus in the database inquiry obtain coarse positioning section and its ID number locating for the Primary Location information and
The absolute coordinate position of all two dimensional codes in the coarse positioning section.
Wherein, unique encodings are arranged in each two dimensional code；After each coarse positioning section determines, each two dimensional code encoded information
Corresponding absolute coordinate position is known；The two-dimentional number of codes that can be set within the scope of each diameter 3-5km can reach 256
It is a；Two dimensional code in different coarse positioning sections is recursive.
Step4, in conjunction with intelligent vehicle Primary Location information and intelligent vehicle be read identification two dimensional code it is opposite
Positional relationship obtains the final position information at intelligent vehicle current time.
As shown in figure 3, reading knowledge with by video camera if found in the coarse positioning section locating for the Primary Location information
The absolute coordinate information for the two dimensional code being clipped to then marks it for effective two dimensional code；If video camera reads the two dimensional code recognized
It is not among coarse positioning section locating for the Primary Location information, then video camera is read into the two dimensional code recognized and its correlation
Information is rejected.It is closed according to the relative position of effective two dimensional code of known absolute coordinate position and effective two dimensional code and intelligent vehicle
System, by video camera imaging visual geometric transformational relation, is calculated the final position information of intelligent vehicle, as shown in Figure 4.
The embodiment of the present invention is described in attached drawing, but the invention is not limited to above-mentioned specific embodiment parties
Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair
Under bright enlightenment, without breaking away from the scope protected by the purposes and claims of the present invention, many forms can be also made, this
It is belonged within protection of the invention a bit.
Claims (4)
1. a kind of intelligent vehicle localization method, which comprises the following steps:
Step1 installs vehicle positioning system on intelligent vehicle and respectively installs a camera shooting in the front and back of intelligent vehicle
Machine；
Step2 establishes the two dimensional code for being easy to read and identify, two dimensional code is installed in pre-selection road two by its absolute coordinate information
Side；
Step3 carries out coarse positioning piece Division to pre-selection road and distributes an ID number to each coarse positioning section；
Step4 establishes database, the absolute coordinate letter of two dimensional code in the ID number of each coarse positioning section and each coarse positioning section
Breath storage is into the database；
Step5, video camera obtain the two-dimensional barcode information for reading and identifying when intelligent vehicle is travelled to current location and calculate intelligence
Energy vehicle and the relative positional relationship for being read identification two dimensional code；
Step6, intelligent vehicle vehicle positioning system obtain the Primary Location coordinate information at intelligent vehicle current time, preliminary by this
Positioning coordinate information determines coarse positioning section and its ID number where current time intelligent vehicle, and it is thick fixed to obtain this by database
The absolute coordinate information of all two dimensional codes in bit slice area；
Step7 from the two dimensional code for filtering out video camera in the coarse positioning section in all two dimensional codes and being identified, and is denoted as effective two
Code is tieed up, according to video camera imaging geometrical relationship, in conjunction with the absolute coordinate information of effective two dimensional code and its opposite with intelligent vehicle
The final position information of intelligent vehicle is calculated in positional relationship.
2. a kind of intelligent vehicle localization method according to claim 1, which is characterized in that in the step Step2, two
Tieing up code is a kind of 3 × 3 rectangular dimension codes being made of chequered with black and white grid, is equidistantly mounted on pre-selection road according to same elevation
Spacing 30-50m on two sides light pole or traffic sign bar, between ipsilateral adjacent two dimensional code.
3. a kind of intelligent vehicle localization method according to claim 1, which is characterized in that in the step Step4, often
Unique encodings corresponding with its absolute coordinate position, each coarse positioning section, its ID number and the coarse positioning is arranged in a two dimensional code
Two dimensional code coding and two dimensional code absolute coordinate information are interrelated in section；Two dimensional code in different coarse positioning sections is can to weigh
Multiple.
4. a kind of intelligent vehicle localization method according to claim 1, which is characterized in that in the step Step5, take the photograph
Camera first obtains at least one in intelligent vehicle left front, right front, left back and right back four direction and contains two dimensional code
Picture frame, then video camera identifies the picture frame, calculates the opposite position of the two dimensional code and intelligent vehicle that are read and are identified
Set relationship.
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| CN111025365A (en) * | 2019-12-24 | 2020-04-17 | 东南大学 | Method for assisting in high-precision positioning of vehicle by two adjacent street lamps |
| CN111083633A (en) * | 2019-12-12 | 2020-04-28 | 华为技术有限公司 | Mobile terminal positioning system, establishment method thereof and positioning method of mobile terminal |
| CN111767968A (en) * | 2020-06-23 | 2020-10-13 | 重庆赛迪奇智人工智能科技有限公司 | Two-dimensional code-based outdoor carriage positioning method for iron and steel enterprises |
| CN112585613A (en) * | 2020-11-30 | 2021-03-30 | 华为技术有限公司 | Code scanning method and device |
| WO2021129347A1 (en) * | 2019-12-24 | 2021-07-01 | 炬星科技（深圳）有限公司 | Auxiliary positioning column and navigation assistance system of self-traveling robot |
| CN113110408A (en) * | 2019-12-25 | 2021-07-13 | 北京极智嘉科技股份有限公司 | Robot positioning system, robot, computer-readable storage medium, and robot positioning method |
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| CN111767968A (en) * | 2020-06-23 | 2020-10-13 | 重庆赛迪奇智人工智能科技有限公司 | Two-dimensional code-based outdoor carriage positioning method for iron and steel enterprises |
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Application publication date: 20190621 |