CN110189546A - A kind of vehicle positioning method and vehicle positioning system - Google Patents
A kind of vehicle positioning method and vehicle positioning system Download PDFInfo
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- CN110189546A CN110189546A CN201910578409.4A CN201910578409A CN110189546A CN 110189546 A CN110189546 A CN 110189546A CN 201910578409 A CN201910578409 A CN 201910578409A CN 110189546 A CN110189546 A CN 110189546A
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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Abstract
The present embodiments relate to vehicle positioning technology field, a kind of vehicle positioning method and vehicle positioning system are disclosed, this method comprises: obtaining the target signature information of vehicle-surroundings in current environment；The target signature information that will acquire is matched in the preset database, wherein presetting database stores the corresponding relationship of characteristic information and vehicle location；The corresponding vehicle location of characteristic information in the presetting database to match with target signature information is determined as vehicle location information.Implement the embodiment of the present invention, can be improved the positioning accuracy of vehicle.
Description
Technical field
The present invention relates to vehicle positioning technology field more particularly to a kind of vehicle positioning methods and vehicle positioning system.
Background technique
With the rapid development of auto industry, the function of automobile is more and more perfect, wherein bus location function almost becomes
The necessary functions of auxiliary vehicle drive, such as self-navigation function.Currently, vehicle would generally use global positioning system
(Global Positioning System, GPS) carries out the positioning of itself to vehicle, provides self-navigation for vehicle.However,
In practice, it has been found that indoors in navigation scenarios (such as indoor multilayer parking lot), the vehicle that is positioned above by GPS
Position may correspond to multiple positions in parking lot, therefore be unable to get specific location of the vehicle in the parking lot, greatly
Ground reduces the positioning accuracy of vehicle.
Summary of the invention
The embodiment of the invention discloses a kind of vehicle positioning method and vehicle positioning systems, can be improved the positioning accurate of vehicle
Degree.
First aspect of the embodiment of the present invention discloses a kind of vehicle positioning method, comprising:
Obtain the target signature information of vehicle-surroundings in current environment；
The target signature information that will acquire is matched in the preset database；Wherein, the presetting database
Store the corresponding relationship of characteristic information and vehicle location；
By the corresponding vehicle location of characteristic information in the presetting database to match with the target signature information
It is determined as vehicle location information.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the characteristic information includes but not
It is limited at least one of the following: parking space information, navigation mark information, obstacle information.
As an alternative embodiment, the presetting database is specifically wrapped in first aspect of the embodiment of the present invention
Parking stall map is included, the parking stall map includes, but is not limited at least one of the following: parking space information and vehicle location
The corresponding relationship of corresponding relationship, navigation mark information and the corresponding relationship of vehicle location, obstacle information and vehicle location.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the method also includes:
The visual sensor for controlling the vehicle acquires the ambient image of the current environment；
Parking stall measure is carried out using the ambient image, to obtain the parking space information of the current environment；The parking stall letter
Breath includes at least parking stall shape and parking stall quantity；
Position detection is carried out using the ambient image, the vehicle location when ambient image is collected to obtain；
Vehicle location when according to the parking space information and collecting the ambient image, constructs the parking stall map.
As an alternative embodiment, the parking stall map is by other vehicles in first aspect of the embodiment of the present invention
It establishes and is uploaded to server.
As an alternative embodiment, being believed described according to the parking stall in first aspect of the embodiment of the present invention
Vehicle location when ceasing and collecting the ambient image, after constructing the parking stall map, the method also includes:
The parking stall quantity in the current environment is requested to the service platform bound with the current environment；
It detects the parking stall quantity in the current environment and whether the parking stall quantity in the parking stall map is identical；
If it is not, transferring another parking stall map that other vehicles are uploaded to the service platform from the service platform；
The parking stall map is modified according to another parking stall map.
As an alternative embodiment, in first aspect of the embodiment of the present invention, in the acquisition current environment
Before the target signature information of vehicle-surroundings, the method also includes:
Obtain the signal collection of the equipment transmitting of the current environment；The signal collection includes signal and signal strength；
The navigator fix information of the vehicle is determined according to the signal collection；
According to presetting database described in navigator fix information architecture described in the signal collection.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described will be special with the target
The corresponding vehicle location of characteristic information in the matched presetting database of reference manner of breathing is determined as after vehicle location information,
The method also includes:
When receiving convergence command, the convergence command is parsed to obtain and converge the information of object and described converge object
Indicated converges position；
According to the information for converging object, converge described in detection object and the vehicle owning user cohesion whether
Greater than preset threshold；
If so, being starting point, the position of converging for terminal using the corresponding position of the vehicle location information, the vehicle is planned
Converge navigation routine；
The vehicle is controlled to converge navigation routine according to described and travel from the corresponding position of the vehicle location information to institute
It states and converges position.
Second aspect of the embodiment of the present invention discloses a kind of vehicle positioning system, comprising:
First acquisition unit, for obtaining the target signature information of vehicle-surroundings in current environment；
Matching unit, the target signature information for will acquire are matched in the preset database；Wherein, institute
State the corresponding relationship that presetting database stores characteristic information and vehicle location；
First determination unit, the feature letter in the presetting database for will match with the target signature information
It ceases corresponding vehicle location and is determined as vehicle location information.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the system also includes:
Second acquisition unit, for obtaining the target signature letter of vehicle-surroundings in current environment in the first acquisition unit
Before breath, the signal collection of the equipment transmitting of the current environment is obtained；The signal collection includes signal and signal strength；
Second determination unit, for determining the navigator fix information of the vehicle according to the signal collection；
First construction unit, for presetting database described in the navigator fix information architecture according to the signal collection.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the system also includes:
Resolution unit, the present count for will match with the target signature information in first determination unit
After being determined as vehicle location information according to the corresponding vehicle location of characteristic information in library, when receiving convergence command, parsing
The convergence command with obtain converge object information and it is described converge converge position indicated by object；
First detection unit converges object and the vehicle institute for converging the information of object according to described in detection
Whether the cohesion for belonging to user is greater than preset threshold；
Planning unit, for detecting object and the vehicle owning user of converging when the first detection unit
It is starting point, the position of converging for terminal using the corresponding position of the vehicle location information when cohesion is greater than preset threshold, rule
That draws the vehicle converges navigation routine；
Control unit, for controlling the vehicle, to converge navigation routine corresponding from the vehicle location information according to described
Position, which is travelled to described, converges position.
The third aspect of the embodiment of the present invention discloses a kind of vehicle, including a kind of vehicle disclosed in second aspect of the embodiment of the present invention
Positioning system.
Fourth aspect of the embodiment of the present invention discloses a kind of vehicle positioning system, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the
A kind of vehicle positioning method disclosed in one side.
The 5th aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein
The computer program makes computer execute a kind of vehicle positioning method disclosed in first aspect of the embodiment of the present invention.
The 6th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 7th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, vehicle positioning system obtains the target signature information of vehicle-surroundings in current environment, then
The target signature information that will acquire is matched in the preset database, wherein presetting database store characteristic information with
The corresponding relationship of vehicle location, then by the corresponding vehicle of characteristic information in the presetting database to match with target signature information
Position is determined as vehicle location information.As it can be seen that implementing the embodiment of the present invention, presetting database stores characteristic information and vehicle
The corresponding relationship of position is based on presetting database, has its corresponding vehicle from the target signature information of some position acquisition
Position, therefore, vehicle positioning system first obtain the target signature information of vehicle-surroundings in current environment, then presetting database again
In matched, it is finally that the corresponding vehicle location of characteristic information in the presetting database to match with target signature information is true
It is set to vehicle location information, can be improved the positioning accuracy of vehicle.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of vehicle positioning method disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of another vehicle positioning method disclosed by the embodiments of the present invention；
Fig. 3 is a kind of structural schematic diagram of vehicle positioning system disclosed by the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of another vehicle positioning system disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another vehicle positioning system disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " first ", " second " and " third " in description and claims of this specification
Etc. being not use to describe a particular order for distinguishing different objects.The term " includes " of the embodiment of the present invention and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In the present invention, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the present invention and embodiment
It sets, component or component part must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, it may be solid
Fixed connection, is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, either
It indirectly connected through an intermediary, or is connection internal between two devices, component or component parts.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
The embodiment of the invention discloses a kind of vehicle positioning method and vehicle positioning systems, can be improved the positioning accurate of vehicle
Degree.It is described in detail below in conjunction with attached drawing.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of vehicle positioning method disclosed by the embodiments of the present invention.Such as Fig. 1 institute
Show, this method may comprise steps of.
101, vehicle positioning system obtains the target signature information of vehicle-surroundings in current environment.
In the embodiment of the present invention, the current environment where vehicle can be indoor multilayer parking lot, or indoor single
Layer parking lot, the embodiment of the present invention are not construed as limiting.
In the embodiment of the present invention, the available characteristic information to vehicle-surroundings of vehicle positioning system, and this feature is believed
Breath is used as target signature information.Optionally, characteristic information includes but is not limited at least one of the following: parking space information, navigation
Mark information, obstacle information, the embodiment of the present invention are not construed as limiting.
102, the target signature information that vehicle positioning system will acquire is matched in the preset database.
In the embodiment of the present invention, presetting database stores the corresponding relationship of characteristic information and vehicle location.
Optionally, presetting database can specifically include parking stall map, and parking stall map includes, but is not limited in following
At least one: the corresponding relationship of parking space information and vehicle location, navigate mark information and vehicle location corresponding relationship, obstacle
The corresponding relationship of object information and vehicle location, the embodiment of the present invention are not construed as limiting.
Since characteristic information may be the combination of different elements, the target signature information that vehicle positioning system will acquire exists
Matched mode is carried out in presetting database can be with are as follows:
For convenience of understanding, it is described in embodiments of the present invention with following two situation:
S1: characteristic information is single element, for example, characteristic information includes parking space information.
Optionally, vehicle positioning system can compare each parking space information in target parking space information and presetting database
Similarity, and using the wherein corresponding parking space information of similarity highest as the parking space information to match with target parking space information.
S2: characteristic information is not single element, for example, characteristic information includes parking space information and navigation mark information.
Optionally, different weights can be arranged to parking space information and navigation mark information in vehicle positioning system, then will
Believe the parking stall in each characteristic information in parking space information and navigation mark information and presetting database in target signature information
Breath and navigation mark information carry out similarity-rough set, and the similarity obtained is multiplied with corresponding weight again, then by parking stall
Information and the similarity of navigation mark information are overlapped, and obtain each spy in target signature information and presetting database with this
The similarity of reference breath, then using the wherein corresponding characteristic information of similarity highest as the feature to match with target signature information
Information.
As an alternative embodiment, parking stall map can be established by other vehicles and be uploaded to server.As
Another optional embodiment, parking stall map can be constructed in the past by vehicle and be saved to vehicle memory.
Further, as an alternative embodiment, if parking stall map was constructed by vehicle in the past, building mode can be with
It is as follows:
Vehicle positioning system controls the ambient image of the visual sensor acquisition current environment of vehicle；
Vehicle positioning system carries out parking stall measure using ambient image, to obtain the parking space information of current environment；Wherein, vehicle
Position information includes at least parking stall shape and parking stall quantity；
Vehicle positioning system carries out position detection using ambient image, and vehicle position when ambient image is collected to obtain
It sets；
Vehicle location of the vehicle positioning system according to parking space information and when collecting ambient image, constructs parking stall map.
In the embodiment of the present invention, parking space information includes at least parking stall shape and parking stall quantity, the embodiment of the present invention do not limit
It is fixed.In embodiments of the present invention, vehicle positioning system can pass through the visual sensor pair of vehicle in the driving process of vehicle
The environment of vehicle-surroundings is acquired in real time, to obtain the ambient image of current environment, wherein the visual sensor of vehicle can
With comprising image capture device (such as video camera), the embodiment of the present invention is not construed as limiting.
It is understood that including in the ambient image of the current environment where the vehicle that the visual sensor of vehicle acquires
Parking stall in current environment, vehicle positioning system identifies the ambient image, the parking stall in current environment can be obtained
Information (such as parking stall shape and parking stall quantity).It is understood that when vehicle is in same position, the visual sensor of vehicle
Collected ambient image is similar or identical, that is to say, that ambient image is mutually matched with acquisition position, therefore, vehicle
Positioning system can use ambient image and carry out position detection, and acquisition position when collecting the ambient image can be obtained.
Implement the optional embodiment, by the ambient image of the current environment where acquisition vehicle, then utilizing should
Ambient image carries out parking stall measure and position detection, the parking space information in current environment obtained according to parking stall measure and position
It detects obtained acquisition position when collecting ambient image and constructs parking stall map, so that parking stall map better authenticity, favorably
In raising positional accuracy.
Still further, as an alternative embodiment, according to parking space information and being collected in vehicle positioning system
Following steps can also be performed after constructing parking stall map in vehicle location when ambient image:
Parking stall quantity of the vehicle positioning system into the service platform request current environment bound with current environment；
Vehicle positioning system detects the parking stall quantity in current environment and whether the parking stall quantity in the map of parking stall is identical；
If it is not, vehicle positioning system transfers another parking stall that other vehicles are uploaded to the service platform from service platform
Figure；
Vehicle positioning system is modified parking stall map according to another parking stall map.
In the embodiment of the present invention, it is to be understood that there may be imperfect for the parking stall map of vehicle positioning system building
The case where, such as the parking stall missing in the map of parking stall, the parking stall quantity for causing parking space information to include is reduced, therefore, vehicle location system
System can request the parking stall quantity of current environment to the service platform of current environment, then according to the parking stall quantity to parking stall map
It is detected, to judge whether parking stall map is complete.
In the embodiment of the present invention, current environment (such as indoor multilayer parking lot) can be equipped with service platform, vehicle location system
System can carry out the transmission of data by wireless (such as Wi-Fi, bluetooth) mode and the service platform, such as can be by building
Parking stall map is uploaded to the service platform, and another parking stall map of other vehicles upload can also be transferred from the service platform, this
Inventive embodiments are not construed as limiting.
Implement the optional embodiment, vehicle positioning system can detect parking stall according to the parking stall quantity in current environment
Whether map is complete, if imperfect, transfers another parking stall map that other vehicles upload from service platform, and another according to this
Parking stall map is modified parking stall map, is conducive to the confidence level for improving parking stall map.
Still further, as another optional embodiment, in vehicle positioning system according to parking space information and acquisition
Following steps can also be performed after constructing parking stall map in vehicle location when to ambient image:
Vehicle positioning system identifies the navigation road sign in current environment；
Vehicle positioning system obtains the road sign position of navigation road sign；
Navigation road sign is added to parking stall map according to the road sign position of navigation road sign by vehicle positioning system.
In the embodiment of the present invention, navigation road sign can for deceleration strip indication road sign, entering slope ,/go out slope indication road sign, enter curved/goes out
Curved indication road sign or banister indication road sign etc., the embodiment of the present invention is not construed as limiting.As an example it is assumed that current environment is indoor more
Layer parking lot is nearby equipped with deceleration strip indication road sign to deceleration strip, deceleration strip is equipped between the 8th parking stall the 5th parking stall,
Vehicle positioning system can identify the deceleration strip indication road sign, and according to the road sign position of the deceleration strip indication road sign, this is subtracted
Speed belt indication road sign is added to the 5th parking stall to the corresponding position between the 8th parking stall in the map of parking stall.
Implement the optional embodiment, the navigation road sign in current environment (such as indoor multilayer parking lot) is added to vehicle
In the map of position, the safety during automobile navigation can be greatlyd improve.
103, vehicle positioning system is corresponding by the characteristic information in the presetting database to match with target signature information
Vehicle location is determined as vehicle location information.
In the embodiment of the present invention, it is to be understood that when vehicle is in same position, the characteristic information of vehicle-surroundings is
It is essentially identical, that is to say, that characteristic information with vehicle location be it is unique corresponding, therefore, vehicle positioning system can be from pre-
If the characteristic information in database finds out the characteristic information to match with target signature information, then this feature information is corresponding
Vehicle location is determined as vehicle location information.
As an alternative embodiment, vehicle positioning system can be with when vehicle failure can not continue when driving
Above-mentioned vehicle location information is carried out encryption to be packaged to obtain position compressed package, then obtains the contact person of the vehicle owning user
List is chosen from contacts list and the vehicle owning user relevance biggish target user and determines the target user
Then the position compressed package is occurred by the contact method to target user for contact method.
The mode that the embodiment of the present invention carries out encryption packing to vehicle location information is not construed as limiting；In addition, with the vehicle institute
The judgment basis for belonging to the biggish target user of user-association can be not construed as limiting for connection frequency, the embodiment of the present invention；In addition,
Contact method in the embodiment of the present invention can be the Email Accounts of target user, be also possible to the social platform account of target user
Number, the embodiment of the present invention is not construed as limiting.
Implement the optional embodiment, when vehicle failure can not continue that when driving, vehicle location information is sent
The biggish target user of the vehicle owning user relevance is given, is conducive to target user and helps.In addition, to vehicle location
Information carries out encryption packing, can be avoided leakage information, improves the confidentiality of information.
As it can be seen that implementing method described in Fig. 1, vehicle week in current environment (such as indoor multilayer parking lot) is first acquired
The target signature information on side, the target signature information that then will acquire is matched in the preset database, due to present count
Be according to vehicle location in library and characteristic information it is unique corresponding, therefore, the presetting database that will be matched with target signature information
In the corresponding vehicle location of characteristic information be determined as vehicle location information, can be improved the positioning accuracy of vehicle.
Embodiment two
Referring to Fig. 2, Fig. 2 is the flow diagram of another vehicle positioning method disclosed by the embodiments of the present invention.Such as Fig. 2
Shown, this method may comprise steps of.
201, vehicle positioning system obtains the target signature information of vehicle-surroundings in current environment.
In the embodiment of the present invention, the current environment where vehicle can be indoor multilayer parking lot, or indoor single
Layer parking lot, the embodiment of the present invention are not construed as limiting.
In the embodiment of the present invention, the available characteristic information to vehicle-surroundings of vehicle positioning system, and this feature is believed
Breath is used as target signature information.Optionally, characteristic information includes but is not limited at least one of the following: parking space information, navigation
Mark information, obstacle information, the embodiment of the present invention are not construed as limiting.
As an alternative embodiment, obtaining vehicle-surroundings in current environment in step 201 vehicle positioning system
Before target signature information, following steps can also be performed:
Vehicle positioning system obtains the signal collection of the equipment transmitting of current environment；
Wherein, above-mentioned signal collection includes signal and signal strength；
Vehicle positioning system determines the navigator fix information of vehicle according to signal collection；
Vehicle positioning system is according to signal collection and navigator fix information architecture presetting database.
In the embodiment of the present invention, the signal and signal strength difference emitted due to the equipment received in different location,
Therefore, vehicle positioning system can determine the navigator fix information of vehicle according to signal and signal strength, and be constructed with this default
Database.
Implement this optionally embodiment there is provided a kind of construction method of presetting database, can be improved preset data
The confidence level in library.
202, the target signature information that vehicle positioning system will acquire is matched in the preset database.
In the embodiment of the present invention, presetting database stores the corresponding relationship of characteristic information and vehicle location.
Optionally, presetting database can specifically include parking stall map, and parking stall map includes, but is not limited in following
At least one: the corresponding relationship of parking space information and vehicle location, navigate mark information and vehicle location corresponding relationship, obstacle
The corresponding relationship of object information and vehicle location, the embodiment of the present invention are not construed as limiting.
203, vehicle positioning system is corresponding by the characteristic information in the presetting database to match with target signature information
Vehicle location is determined as vehicle location information.
204, when receiving convergence command, vehicle positioning system parses the convergence command to obtain the information for converging object
Converge position indicated by object with converging.
In the embodiment of the present invention, converging object can be people, be also possible to vehicle, and the embodiment of the present invention is not construed as limiting.
Vehicles are waited to converge in situ it is appreciated that sometimes converging object and can't stand, that is to say, that converging object can also
Be it is mobile, therefore, as an alternative embodiment, convergence command can also include converge object movement speed and
Moving direction, when receiving convergence command, vehicle positioning system parse the convergence command with obtain converge object information and
Converge and converge the mode of position indicated by object and be specifically as follows:
When receiving convergence command, convergence command is parsed to obtain the mobile speed converged the information of object, converge object
It spends, converge the moving direction of object and converge the initial position that object is currently located；
According to the movement for converging the movement speed of object, the moving direction for converging object, the current location of vehicle and vehicle
Speed determines that vehicle converges position with converge object.
Implement the optional embodiment, it is contemplated that converge the movement speed and moving direction of object, and then determine to converge
Coincidence is set, both can to avoid with converge object and be staggered, the long period can also be waited to avoid one party, can further promote use
Family experience.
205, vehicle positioning system converges the cohesion of object Yu vehicle owning user according to the information for converging object, detection
Whether preset threshold is greater than；If so, executing step 206- step 207；Conversely, terminating this process.
In the embodiment of the present invention, the cohesion for converging object and vehicle owning user can be to converge belonging to object and vehicle
Converge frequency between user, preset threshold can according to certain rule settings predeterminated frequency, when converge frequency be greater than it is pre-
If when frequency, showing that converging object and vehicle owning user often meets, step 206 vehicle positioning system is executed at this time with current
Position is starting point, to converge position be terminal, and that plans vehicle converges navigation routine, reduces vehicle owning user and stranger
The risk met, improves safety.
206, vehicle positioning system using the corresponding position of vehicle location information as starting point, converge position for terminal, plan vehicle
Converge navigation routine.
207, vehicle positioning system control vehicle is travelled from the corresponding position of vehicle location information according to converging navigation routine
To converging position.
In the embodiment of the present invention, implementation steps 204- step 207 is first determined to converge pair when receiving convergence command
It as the cohesion between vehicle owning user, then cooks up and converges navigation routine, and control vehicle according to converging navigation routine
The safety that can be improved trip to position is converged is travelled from the corresponding position of vehicle location information.
As it can be seen that implementing method described in Fig. 2, vehicle week in current environment (such as indoor multilayer parking lot) is first acquired
The target signature information on side, the target signature information that then will acquire is matched in the preset database, due to present count
Be according to vehicle location in library and characteristic information it is unique corresponding, therefore, the presetting database that will be matched with target signature information
In the corresponding vehicle location of characteristic information be determined as vehicle location information, can be improved the positioning accuracy of vehicle.In addition, implementing
Method described in Fig. 2 is first determined to converge intimate between object and vehicle owning user when receiving convergence command
Degree, then cooks up and converges navigation routine, and controls vehicle and travelled to converging position, energy from current location according to converging navigation routine
Enough safeties for improving trip.
Embodiment three
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram of vehicle positioning system disclosed by the embodiments of the present invention.Such as Fig. 3 institute
Show, which may include:
First acquisition unit 301, for obtaining the target signature information of vehicle-surroundings in current environment.
In the embodiment of the present invention, the current environment where vehicle can be indoor multilayer parking lot, or indoor single
Layer parking lot, the embodiment of the present invention are not construed as limiting.
In the embodiment of the present invention, the available characteristic information to vehicle-surroundings of first acquisition unit 301, and by this feature
Information is as target signature information.Optionally, characteristic information includes but is not limited at least one of the following: parking space information is led
Navigate mark information, obstacle information, and the embodiment of the present invention is not construed as limiting.
Matching unit 302, the target signature information for will acquire are matched in the preset database.
In the embodiment of the present invention, presetting database stores the corresponding relationship of characteristic information and vehicle location.
Optionally, presetting database can specifically include parking stall map, and parking stall map includes, but is not limited in following
At least one: the corresponding relationship of parking space information and vehicle location, navigate mark information and vehicle location corresponding relationship, obstacle
The corresponding relationship of object information and vehicle location, the embodiment of the present invention are not construed as limiting.
Since characteristic information may be the combination of different elements, the target signature information that matching unit 302 will acquire exists
Matched mode is carried out in presetting database can be with are as follows:
For convenience of understanding, it is described in embodiments of the present invention with following two situation:
S1: characteristic information is single element, for example, characteristic information includes parking space information.
Optionally, matching unit 302 can compare each parking space information in target parking space information and presetting database
Similarity, and using the wherein corresponding parking space information of similarity highest as the parking space information to match with target parking space information.
S2: characteristic information is not single element, for example, characteristic information includes parking space information and navigation mark information.
Optionally, different weights can be arranged to parking space information and navigation mark information in matching unit 302, then by mesh
Mark the parking space information in each characteristic information in the parking space information and navigation mark information and presetting database in characteristic information
Similarity-rough set is carried out with navigation mark information, the similarity obtained is multiplied with corresponding weight again, then believes parking stall
The similarity of breath and navigation mark information is overlapped, and obtains each feature in target signature information and presetting database with this
The similarity of information, then believe the wherein corresponding characteristic information of similarity highest as the feature to match with target signature information
Breath.
As an alternative embodiment, parking stall map can be established by other vehicles and be uploaded to server.As
Another optional embodiment, parking stall map can be constructed in the past by vehicle and be saved to vehicle memory.
Further, as an alternative embodiment, vehicle positioning system can also include following list (not shown)
Member, if parking stall map was constructed by vehicle in the past, building mode be can be such that
Acquisition unit, the visual sensor for controlling vehicle acquire the ambient image of current environment；
Parking stall measure unit, for carrying out parking stall measure using ambient image, to obtain the parking space information of current environment；Its
In, parking space information includes at least parking stall shape and parking stall quantity；
Position detection unit collects vehicle when ambient image to obtain for carrying out position detection using ambient image
Position；
Second construction unit, for the vehicle location according to parking space information and when collecting ambient image, building parking stall
Figure.
In the embodiment of the present invention, parking space information includes at least parking stall shape and parking stall quantity, the embodiment of the present invention do not limit
It is fixed.In embodiments of the present invention, acquisition unit can pass through the visual sensor of vehicle to vehicle in the driving process of vehicle
The environment on periphery is acquired in real time, to obtain the ambient image of current environment, wherein the visual sensor of vehicle can wrap
Containing image capture device (such as video camera), the embodiment of the present invention is not construed as limiting.
It is understood that including in the ambient image of the current environment where the vehicle that the visual sensor of vehicle acquires
Parking stall in current environment, parking stall measure unit identifies the ambient image, the parking stall in current environment can be obtained
Information (such as parking stall shape and parking stall quantity).It is understood that when vehicle is in same position, the visual sensor of vehicle
Collected ambient image is similar or identical, that is to say, that ambient image is mutually matched with acquisition position, therefore, position
Setting detection unit can use ambient image progress position detection, and acquisition position when collecting the ambient image can be obtained.
Implement the optional embodiment, by the ambient image of the current environment where acquisition vehicle, then utilizing should
Ambient image carries out parking stall measure and position detection, the parking space information in current environment obtained according to parking stall measure and position
It detects obtained acquisition position when collecting ambient image and constructs parking stall map, so that parking stall map better authenticity, favorably
In raising positional accuracy.
Still further, as an alternative embodiment, vehicle positioning system can also include following (not shown)
Unit, the vehicle location when the second construction unit is according to parking space information and collects ambient image, after constructing parking stall map,
Following steps can also be performed:
Request unit, for the parking stall quantity into the service platform request current environment bound with current environment；
Second detection unit, for detect the parking stall quantity in current environment and the parking stall quantity in the map of parking stall whether phase
Together；
Unit is transferred, for detecting the parking stall quantity in current environment and the vehicle in the map of parking stall when second detection unit
When bit quantity is not identical, another parking stall map that other vehicles are uploaded to the service platform is transferred from service platform；
Amending unit, for being modified according to another parking stall map to parking stall map.
In the embodiment of the present invention, it is to be understood that there may be imperfect for the parking stall map of the second construction unit building
The case where, such as the parking stall missing in the map of parking stall, the parking stall quantity for causing parking space information to include is reduced, and therefore, request unit can
With to the parking stall quantity of the service platform of current environment request current environment, second detection unit is according to the parking stall quantity to parking stall
Map is detected, to judge whether parking stall map is complete.
In the embodiment of the present invention, current environment (such as indoor multilayer parking lot) can be equipped with service platform, vehicle location system
System can carry out the transmission of data by wireless (such as Wi-Fi, bluetooth) mode and the service platform, such as can be by building
Parking stall map is uploaded to the service platform, and another parking stall map of other vehicles upload can also be transferred from the service platform, this
Inventive embodiments are not construed as limiting.
Implement the optional embodiment, whether complete parking stall map can be detected according to the parking stall quantity in current environment
It is whole, if imperfect, another parking stall map that other vehicles upload is transferred from service platform, and according to another parking stall map pair
Parking stall map is modified, and is conducive to the confidence level for improving parking stall map.
Still further, as another optional embodiment, vehicle positioning system can also include following not shown
Unit, in the second construction unit according to parking space information and vehicle location when collecting ambient image, building parking stall map it
Afterwards, following steps can also be performed:
Recognition unit, for identification the navigation road sign in current environment；
Third acquiring unit, for obtaining the road sign position of navigation road sign；
Navigation road sign is added to parking stall map for the road sign position according to navigation road sign by adding unit.
In the embodiment of the present invention, navigation road sign can for deceleration strip indication road sign, entering slope ,/go out slope indication road sign, enter curved/goes out
Curved indication road sign or banister indication road sign etc., the embodiment of the present invention is not construed as limiting.As an example it is assumed that current environment is indoor more
Layer parking lot is nearby equipped with deceleration strip indication road sign to deceleration strip, deceleration strip is equipped between the 8th parking stall the 5th parking stall,
Recognition unit can identify the deceleration strip indication road sign, and third acquiring unit obtains the road sign position of the deceleration strip indication road sign,
The deceleration strip indication road sign is added in the map of parking stall the 5th parking stall to the corresponding positions between the 8th parking stall by adding unit
It sets.
Implement the optional embodiment, the navigation road sign in current environment (such as indoor multilayer parking lot) is added to vehicle
In the map of position, the safety during automobile navigation can be greatlyd improve.
First determination unit 303, the characteristic information pair in presetting database for will match with target signature information
The vehicle location answered is determined as vehicle location information.
As an alternative embodiment, vehicle positioning system can also include transmission unit (not shown), work as vehicle
Failure can not continue when driving, and above-mentioned vehicle location information can be carried out encryption and is packaged to obtain position pressure by transmission unit
Contracting packet, then obtains the contacts list of the vehicle owning user, chooses from contacts list and closes with the vehicle owning user
The biggish target user of connection property and the contact method for determining the target user, then pass through the contact method for the position compressed package
Occur to target user.
The mode that the embodiment of the present invention carries out encryption packing to vehicle location information is not construed as limiting；In addition, with the vehicle institute
The judgment basis for belonging to the biggish target user of user-association can be not construed as limiting for connection frequency, the embodiment of the present invention；In addition,
Contact method in the embodiment of the present invention can be the Email Accounts of target user, be also possible to the social platform account of target user
Number, the embodiment of the present invention is not construed as limiting.
Implement the optional embodiment, when vehicle failure can not continue that when driving, vehicle location information is sent
The biggish target user of the vehicle owning user relevance is given, is conducive to target user and helps.In addition, to vehicle location
Information carries out encryption packing, can be avoided leakage information, improves the confidentiality of information.
As it can be seen that vehicle positioning system described in implementing Fig. 3, first acquires current environment (such as indoor multilayer parking lot)
The target signature information of middle vehicle-surroundings, the target signature information that then will acquire are matched in the preset database, by
Vehicle location and characteristic information are unique corresponding in presetting database, therefore, pre- by matching with target signature information
If the corresponding vehicle location of characteristic information in database is determined as vehicle location information, the positioning accuracy of vehicle can be improved.
Example IV
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of another vehicle positioning system disclosed by the embodiments of the present invention.Wherein,
Vehicle positioning system shown in Fig. 4 is that vehicle positioning system as shown in Figure 3 advanced optimizes.With vehicle shown in Fig. 3
Positioning system compares, and vehicle positioning system shown in Fig. 4 can also include:
Resolution unit 304, for will be in the presetting database that matched with target signature information in the first determination unit 303
The corresponding vehicle location of characteristic information be determined as after vehicle location information, when receiving convergence command, parse this and converge
Instruction converges position indicated by object to obtain to converge the information of object and converge.
Vehicles are waited to converge in situ it is appreciated that sometimes converging object and can't stand, that is to say, that converging object can also
Be it is mobile, therefore, as an alternative embodiment, convergence command can also include converge object movement speed and
Moving direction, when receiving convergence command, resolution unit 304 parses the convergence command to obtain the information and remittance of converging object
The mode for converging position indicated by conjunction object is specifically as follows:
When receiving convergence command, convergence command is parsed to obtain the mobile speed converged the information of object, converge object
It spends, converge the moving direction of object and converge the initial position that object is currently located；
According to the movement for converging the movement speed of object, the moving direction for converging object, the current location of vehicle and vehicle
Speed determines that vehicle converges position with converge object.
Implement the optional embodiment, it is contemplated that converge the movement speed and moving direction of object, and then determine to converge
Coincidence is set, both can to avoid with converge object and be staggered, the long period can also be waited to avoid one party, can further promote use
Family experience.
First detection unit 305, for according to the information for converging object, detection to converge the parent of object Yu vehicle owning user
Whether density is greater than preset threshold.
Planning unit 306, for using the corresponding position of vehicle location information as starting point, converge position for terminal, plan vehicle
Converge navigation routine.
Control unit 307 is travelled from the corresponding position of vehicle location information for controlling vehicle according to converging navigation routine
To converging position.
As an alternative embodiment, vehicle, which determines system, to include following unit (not shown), obtained first
Take unit 301 obtain current environment in vehicle-surroundings target signature information before, following steps can also be performed:
Second acquisition unit, the signal collection that the equipment for obtaining current environment emits；
Wherein, above-mentioned signal collection includes signal and signal strength；
Second determination unit, for determining the navigator fix information of vehicle according to signal collection；
First construction unit, for according to signal collection and navigator fix information architecture presetting database.
In the embodiment of the present invention, the signal and signal strength difference emitted due to the equipment received in different location,
Therefore, the navigator fix information of vehicle can be determined according to signal and signal strength, and presetting database is constructed with this.
Implement this optionally embodiment there is provided a kind of construction method of presetting database, can be improved preset data
The confidence level in library.
As it can be seen that implementing vehicle positioning system described in Fig. 4, current environment (such as indoor multilayer parking lot) is first acquired
The target signature information of middle vehicle-surroundings, the target signature information that then will acquire are matched in the preset database, by
Vehicle location and characteristic information are unique corresponding in presetting database, therefore, pre- by matching with target signature information
If the corresponding vehicle location of characteristic information in database is determined as vehicle location information, the positioning accuracy of vehicle can be improved.
In addition, implement method described in Fig. 2, when receiving convergence command, first determine to converge object and vehicle owning user it
Between cohesion, then cook up and converge navigation routine, and control vehicle and travelled to remittance from current location according to converging navigation routine
Coincidence is set, and can be improved the safety of trip.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another vehicle positioning system disclosed by the embodiments of the present invention.Such as Fig. 5
Shown, which may include:
It is stored with the memory 501 of executable program code；
The processor 502 coupled with memory 501；
Wherein, processor 502 calls the executable program code stored in memory 501, and it is any one to execute FIG. 1 to FIG. 2
Kind vehicle positioning method.
The embodiment of the present invention discloses a kind of vehicle, including a kind of vehicle positioning system disclosed by the embodiments of the present invention.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes computer execute any one vehicle positioning method of FIG. 1 to FIG. 2.
The embodiment of the present invention discloses a kind of computer program product, which includes storing computer journey
The non-transient computer readable storage medium of sequence, and the computer program is operable to keep computer execution FIG. 1 to FIG. 2 any
A kind of vehicle positioning method.
The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journey
Sequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodiment
In some or all of method step.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these special characteristics, structure
Or characteristic can combine in any suitable manner in one or more embodiments.Those skilled in the art should also know that
Embodiment described in this description belongs to alternative embodiment, and not necessarily the present invention must for related actions and modules
Must.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks
On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
In various embodiments of the present invention, it should be appreciated that the meaning of " A and/or B " refer to A and B respectively individualism or
In the case where person A and B are existed simultaneously is included in.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
A kind of vehicle positioning method disclosed by the embodiments of the present invention and vehicle positioning system are described in detail above,
Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention；At the same time, for those skilled in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as
Limitation of the present invention.
Claims (14)
1. a kind of vehicle positioning method characterized by comprising
Obtain the target signature information of vehicle-surroundings in current environment；
The target signature information that will acquire is matched in the preset database；Wherein, the presetting database storage
The corresponding relationship of characteristic information and vehicle location；
The corresponding vehicle location of characteristic information in the presetting database to match with the target signature information is determined
For vehicle location information.
2. the method according to claim 1, wherein the characteristic information include but is not limited in following at least
It is a kind of: parking space information, navigation mark information, obstacle information.
3. described according to the method described in claim 2, it is characterized in that, the presetting database specifically includes parking stall map
Parking stall map includes, but is not limited at least one of the following: the corresponding relationship of parking space information and vehicle location, navigation road
Mark the corresponding relationship of information and vehicle location, the corresponding relationship of obstacle information and vehicle location.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
The visual sensor for controlling the vehicle acquires the ambient image of the current environment；
Parking stall measure is carried out using the ambient image, to obtain the parking space information of the current environment；The parking space information is extremely
It less include parking stall shape and parking stall quantity；
Position detection is carried out using the ambient image, the vehicle location when ambient image is collected to obtain；
Vehicle location when according to the parking space information and collecting the ambient image, constructs the parking stall map.
5. according to the method described in claim 3, it is characterized in that, the parking stall map is established by other vehicles and is uploaded to clothes
Business device.
6. according to the method described in claim 4, it is characterized in that, described according to the parking space information and collecting the ring
The vehicle location when image of border, after constructing the parking stall map, the method also includes:
The parking stall quantity in the current environment is requested to the service platform bound with the current environment；
It detects the parking stall quantity in the current environment and whether the parking stall quantity in the parking stall map is identical；
If it is not, transferring another parking stall map that other vehicles are uploaded to the service platform from the service platform；
The parking stall map is modified according to another parking stall map.
7. the method according to claim 1, wherein the target of vehicle-surroundings is special in the acquisition current environment
Before reference breath, the method also includes:
Obtain the signal collection of the equipment transmitting of the current environment；The signal collection includes signal and signal strength；
The navigator fix information of the vehicle is determined according to the signal collection；
According to presetting database described in navigator fix information architecture described in the signal collection.
8. method according to claim 1 or claim 7, which is characterized in that will match with the target signature information described
The presetting database in the corresponding vehicle location of characteristic information be determined as after vehicle location information, the method is also wrapped
It includes:
When receiving convergence command, parse the convergence command with obtain converge object information and it is described converge object meaning
That shows converges position；
According to the information for converging object, whether the cohesion for converging object and the vehicle owning user described in detection is greater than
Preset threshold；
If so, being starting point, the position of converging for terminal using the corresponding position of the vehicle location information, the vehicle is planned
Converge navigation routine；
The vehicle is controlled to converge navigation routine according to described and travel from the corresponding position of the vehicle location information to the remittance
Coincidence is set.
9. a kind of vehicle positioning system characterized by comprising
First acquisition unit, for obtaining the target signature information of vehicle-surroundings in current environment；
Matching unit, the target signature information for will acquire are matched in the preset database；Wherein, described pre-
If the database purchase corresponding relationship of characteristic information and vehicle location；
First determination unit, the characteristic information pair in the presetting database for will match with the target signature information
The vehicle location answered is determined as vehicle location information.
10. system according to claim 9, which is characterized in that the system also includes:
Second acquisition unit, for the first acquisition unit obtain current environment in vehicle-surroundings target signature information it
Before, obtain the signal collection of the equipment transmitting of the current environment；The signal collection includes signal and signal strength；
Second determination unit, for determining the navigator fix information of the vehicle according to the signal collection；
First construction unit, for presetting database described in the navigator fix information architecture according to the signal collection.
11. system according to claim 9 or 10, which is characterized in that the system also includes:
Resolution unit, the presetting database for will match with the target signature information in first determination unit
In the corresponding vehicle location of characteristic information be determined as after vehicle location information, when receiving convergence command, described in parsing
Convergence command with obtain converge object information and it is described converge converge position indicated by object；
First detection unit is converged described in detection and is used belonging to object and the vehicle for converging the information of object according to
Whether the cohesion at family is greater than preset threshold；
Planning unit, for described converging the intimate of object and the vehicle owning user when the first detection unit detects
It is starting point, the position of converging for terminal using the corresponding position of the vehicle location information when degree is greater than preset threshold, plans institute
That states vehicle converges navigation routine；
Control unit, for controlling the vehicle according to the navigation routine that converges from the corresponding position of the vehicle location information
Traveling converges position to described.
12. a kind of vehicle, which is characterized in that the vehicle includes the described in any item vehicle positioning systems of claim 9-11.
13. a kind of vehicle positioning system characterized by comprising
It is stored with the memory of executable program code；
The central processing unit coupled with the memory；
The central processing unit calls the executable program code stored in the memory, requires 1- for perform claim
A kind of 8 described in any item vehicle positioning methods.
14. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage computer journey
Sequence, wherein the computer program makes computer perform claim require a kind of described in any item vehicle positioning methods of 1-8.
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