CN110189546B - Vehicle positioning method and vehicle positioning system - Google Patents
Vehicle positioning method and vehicle positioning system Download PDFInfo
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- CN110189546B CN110189546B CN201910578409.4A CN201910578409A CN110189546B CN 110189546 B CN110189546 B CN 110189546B CN 201910578409 A CN201910578409 A CN 201910578409A CN 110189546 B CN110189546 B CN 110189546B
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Abstract
The embodiment of the invention relates to the technical field of vehicle positioning, and discloses a vehicle positioning method and a vehicle positioning system, wherein the method comprises the following steps: acquiring target characteristic information of the periphery of a vehicle in the current environment; matching the acquired target characteristic information in a preset database, wherein the preset database stores the corresponding relation between the characteristic information and the vehicle position; and determining the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as vehicle positioning information. By implementing the embodiment of the invention, the positioning accuracy of the vehicle can be improved.
Description
Technical Field
The invention relates to the technical field of vehicle positioning, in particular to a vehicle positioning method and a vehicle positioning system.
Background
With the rapid development of the automobile industry, the functions of automobiles are more and more complete, wherein the automobile positioning function is almost a necessary function for assisting the driving of the automobile, such as an automatic navigation function. Currently, a vehicle usually uses a Global Positioning System (GPS) to position the vehicle, so as to provide automatic navigation for the vehicle. However, in practice, it is found that in an indoor navigation scenario (such as an indoor multi-storey parking lot), the position of the vehicle obtained through GPS positioning may correspond to multiple positions of the parking lot, so that a specific position of the vehicle in the parking lot cannot be obtained, and the positioning accuracy of the vehicle is greatly reduced.
Disclosure of Invention
The embodiment of the invention discloses a vehicle positioning method and a vehicle positioning system, which can improve the positioning accuracy of a vehicle.
The embodiment of the invention discloses a vehicle positioning method in a first aspect, which comprises the following steps:
acquiring target characteristic information of the periphery of a vehicle in the current environment;
matching the acquired target characteristic information in a preset database; the preset database stores the corresponding relation between the characteristic information and the vehicle position;
and determining the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as vehicle positioning information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the feature information includes, but is not limited to, at least one of the following: parking space information, navigation road sign information and barrier information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the preset database specifically includes a parking space map, where the parking space map at least includes but is not limited to at least one of the following: the corresponding relation between the parking space information and the vehicle position, the corresponding relation between the navigation road sign information and the vehicle position, and the corresponding relation between the obstacle information and the vehicle position.
As an optional implementation manner, in the first aspect of this embodiment of the present invention, the method further includes:
controlling a vision sensor of the vehicle to acquire an environment image of the current environment;
carrying out parking space detection by using the environment image so as to obtain parking space information of the current environment; the parking space information at least comprises parking space shapes and parking space quantity;
carrying out position detection by using the environment image to obtain the position of the vehicle when the environment image is acquired;
and constructing the parking space map according to the parking space information and the position of the vehicle when the environment image is acquired.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the parking space map is created by another vehicle and uploaded to the server.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the constructing the parking space map according to the parking space information and the vehicle position at the time of acquiring the environment image, the method further includes:
requesting the number of the parking spaces in the current environment from a service platform bound with the current environment;
detecting whether the number of parking spaces in the current environment is the same as the number of parking spaces in the parking space map;
if not, another parking space map uploaded to the service platform by other vehicles is taken from the service platform;
and correcting the parking space map according to the other parking space map.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, before the acquiring target feature information of the vehicle periphery in the current environment, the method further includes:
acquiring a signal set transmitted by equipment in the current environment; the set of signals comprises signals and signal strengths;
determining navigation positioning information of the vehicle according to the signal set;
and constructing the preset database according to the navigation positioning information of the signal set.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after determining, as the vehicle positioning information, the vehicle position corresponding to the feature information in the preset database that matches the target feature information, the method further includes:
when a confluence instruction is received, analyzing the confluence instruction to obtain information of a confluence object and a confluence position indicated by the confluence object;
detecting whether the intimacy degree of the converged object and the user to which the vehicle belongs is greater than a preset threshold value or not according to the information of the converged object;
if so, planning a convergence navigation route of the vehicle by taking the position corresponding to the vehicle positioning information as a starting point and the convergence position as a terminal point;
and controlling the vehicle to run from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route.
A second aspect of the embodiments of the present invention discloses a vehicle positioning system, including:
a first acquisition unit configured to acquire target feature information of a vehicle periphery in a current environment;
the matching unit is used for matching the acquired target characteristic information in a preset database; the preset database stores the corresponding relation between the characteristic information and the vehicle position;
and the first determining unit is used for determining the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as vehicle positioning information.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the system further includes:
the second acquisition unit is used for acquiring a signal set transmitted by equipment in the current environment before the first acquisition unit acquires target characteristic information of the periphery of a vehicle in the current environment; the set of signals comprises signals and signal strengths;
a second determining unit for determining navigation positioning information of the vehicle according to the signal set;
and the first construction unit is used for constructing the preset database according to the navigation positioning information of the signal set.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the system further includes:
an analysis unit, configured to, after the first determination unit determines, as vehicle positioning information, a vehicle position corresponding to feature information in the preset database that matches the target feature information, when a merging instruction is received, analyze the merging instruction to obtain information of a merging object and a merging position indicated by the merging object;
the first detection unit is used for detecting whether the intimacy degree of the converged object and the user to which the vehicle belongs is greater than a preset threshold value or not according to the information of the converged object;
the planning unit is used for planning a convergence navigation route of the vehicle by taking a position corresponding to the vehicle positioning information as a starting point and the convergence position as a terminal point when the first detection unit detects that the intimacy degree of the convergence object and the user to which the vehicle belongs is greater than a preset threshold value;
and the control unit is used for controlling the vehicle to run from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route.
In a third aspect of the embodiments of the present invention, a vehicle is disclosed, which includes a vehicle positioning system disclosed in the second aspect of the embodiments of the present invention.
A fourth aspect of the embodiments of the present invention discloses a vehicle positioning system, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the vehicle positioning method disclosed by the first aspect of the embodiment of the invention.
A fifth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute a vehicle positioning method disclosed in the first aspect of the embodiments of the present invention.
A sixth aspect of the embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A seventh aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, a vehicle positioning system acquires target characteristic information of the periphery of a vehicle in the current environment, then matches the acquired target characteristic information in a preset database, wherein the preset database stores the corresponding relation between the characteristic information and the vehicle position, and then determines the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as the vehicle positioning information. Therefore, by implementing the embodiment of the invention, the preset database stores the corresponding relation between the characteristic information and the vehicle position, and the target characteristic information acquired from a certain position has the corresponding vehicle position on the basis of the preset database, so that the vehicle positioning system firstly acquires the target characteristic information around the vehicle in the current environment, then performs matching in the preset database, and finally determines the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as the vehicle positioning information, thereby improving the positioning precision of the vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of another vehicle locating method disclosed in the embodiments of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle positioning system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another vehicle positioning system disclosed in the embodiments of the present invention;
FIG. 5 is a schematic structural diagram of another vehicle positioning system disclosed in the embodiments of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It is to be noted that the terms "first", "second" and "third" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, components or elements to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in communication between two devices, components or parts. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
The embodiment of the invention discloses a vehicle positioning method and a vehicle positioning system, which can improve the positioning accuracy of a vehicle. The following detailed description is made with reference to the accompanying drawings.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a vehicle positioning method according to an embodiment of the present invention. As shown in fig. 1, the method may include the following steps.
101. The vehicle positioning system acquires target characteristic information of the periphery of the vehicle in the current environment.
In the embodiment of the present invention, the current environment of the vehicle may be an indoor multi-floor parking lot or an indoor single-floor parking lot, and the embodiment of the present invention is not limited.
In the embodiment of the invention, the vehicle positioning system can acquire the characteristic information of the periphery of the vehicle and take the characteristic information as the target characteristic information. Optionally, the characteristic information includes, but is not limited to, at least one of the following: parking space information, navigation road sign information and obstacle information, and the embodiment of the invention is not limited.
102. And the vehicle positioning system matches the acquired target characteristic information in a preset database.
In the embodiment of the invention, the preset database stores the corresponding relation between the characteristic information and the vehicle position.
Optionally, the preset database may specifically include a parking space map, and the parking space map at least includes but is not limited to at least one of the following: the corresponding relationship between the parking space information and the vehicle position, the corresponding relationship between the navigation road sign information and the vehicle position, and the corresponding relationship between the obstacle information and the vehicle position, which are not limited in the embodiments of the present invention.
Because the feature information may be a combination of different elements, the way for the vehicle positioning system to match the acquired target feature information in the preset database may be:
for convenience of understanding, the following two cases are described in the embodiments of the present invention:
s1: the characteristic information is a single element, for example, the characteristic information includes parking space information.
Optionally, the vehicle positioning system may compare the similarity between the target parking space information and each piece of parking space information in the preset database, and use the parking space information corresponding to the highest similarity as the parking space information matched with the target parking space information.
S2: the characteristic information is not a single element, and for example, the characteristic information includes parking space information and navigation road sign information.
Optionally, the vehicle positioning system may set different weights for the parking space information and the navigation road sign information, compare similarity between the parking space information and the navigation road sign information in the target characteristic information and the parking space information and the navigation road sign information in each characteristic information in the preset database, multiply the obtained similarity with the corresponding weight, overlap the similarity between the parking space information and the navigation road sign information to obtain the similarity between the target characteristic information and each characteristic information in the preset database, and use the characteristic information corresponding to the highest similarity as the characteristic information matched with the target characteristic information.
As an alternative embodiment, the parking space map can be built by other vehicles and uploaded to the server. As another alternative, the parking space map may be constructed by the vehicle and saved to the vehicle's own memory.
Further, as an optional implementation manner, if the parking space map is constructed by the vehicle in the past, the construction manner may be as follows:
the vehicle positioning system controls a visual sensor of a vehicle to acquire an environment image of a current environment;
the vehicle positioning system utilizes the environment image to carry out parking space detection so as to obtain parking space information of the current environment; the parking space information at least comprises parking space shapes and parking space quantity;
the vehicle positioning system utilizes the environment image to carry out position detection so as to obtain the position of the vehicle when the environment image is acquired;
and the vehicle positioning system constructs a parking space map according to the parking space information and the vehicle position when the environment image is acquired.
In the embodiment of the present invention, the parking space information at least includes the parking space shape and the parking space number, and the embodiment of the present invention is not limited. In the embodiment of the present invention, the vehicle positioning system may acquire, in real time, an environment around the vehicle through the vehicle vision sensor during the driving process of the vehicle, so as to obtain an environment image of the current environment, where the vehicle vision sensor may include an image acquisition device (such as a camera), and the embodiment of the present invention is not limited.
It can be understood that the environment image of the current environment where the vehicle is located, which is acquired by the visual sensor of the vehicle, includes the parking space in the current environment, and the vehicle positioning system identifies the environment image, so that the parking space information (such as the parking space shape and the parking space number) in the current environment can be obtained. It can be understood that when the vehicles are at the same position, the environment images collected by the vision sensors of the vehicles are similar or identical, that is, the environment images and the collected positions are matched with each other, so that the vehicle positioning system can perform position detection by using the environment images, that is, the collected positions when the environment images are collected can be obtained.
According to the implementation of the optional implementation mode, the parking space map is constructed according to the parking space information in the current environment obtained by parking space detection and the acquired position when the environment image is acquired by position detection, so that the parking space map is more authentic, and the positioning accuracy is favorably improved.
Still further, as an optional implementation manner, after the vehicle positioning system constructs the parking space map according to the parking space information and the vehicle position when the environment image is acquired, the following steps may be further performed:
the vehicle positioning system requests the number of parking spaces in the current environment from a service platform bound with the current environment;
the method comprises the steps that a vehicle positioning system detects whether the number of parking spaces in the current environment is the same as the number of parking spaces in a parking space map or not;
if not, the vehicle positioning system calls another parking space map uploaded to the service platform by other vehicles from the service platform;
and the vehicle positioning system corrects the parking space map according to the other parking space map.
In the embodiment of the present invention, it can be understood that a parking space map constructed by a vehicle positioning system may have an incomplete condition, for example, a missing parking space in the parking space map results in a reduction in the number of parking spaces included in parking space information, and therefore, the vehicle positioning system may request the service platform of the current environment for the number of parking spaces of the current environment, and then detect the parking space map according to the number of parking spaces to determine whether the parking space map is complete.
In the embodiment of the present invention, a service platform may be disposed in a current environment (e.g., an indoor multi-floor parking lot), and a vehicle positioning system may perform data transmission with the service platform in a wireless manner (e.g., Wi-Fi, bluetooth, etc.), for example, a constructed parking space map may be uploaded to the service platform, and another parking space map uploaded by another vehicle may also be retrieved from the service platform.
By implementing the optional implementation mode, the vehicle positioning system can detect whether the parking space map is complete according to the number of the parking spaces in the current environment, if the parking space map is incomplete, another parking space map uploaded by other vehicles is taken from the service platform, and the parking space map is corrected according to the another parking space map, so that the improvement of the reliability of the parking space map is facilitated.
Still further, as another optional implementation, after the vehicle positioning system constructs the parking space map according to the parking space information and the vehicle position when the environment image is acquired, the following steps may be further performed:
the vehicle positioning system identifies navigation landmarks in a current environment;
the vehicle positioning system acquires the road sign position of the navigation road sign;
and the vehicle positioning system adds the navigation road signs to the parking space map according to the road sign positions of the navigation road signs.
In the embodiment of the present invention, the navigation road sign may be a deceleration strip indication road sign, a slope entering/exiting indication road sign, a curve entering/exiting indication road sign, or a barrier indication road sign, and the embodiment of the present invention is not limited. For example, assuming that the current environment is an indoor multi-storey parking lot, a deceleration strip is arranged between the fifth parking space and the eighth parking space, a deceleration strip indicating road sign is arranged near the deceleration strip, the vehicle positioning system may recognize the deceleration strip indicating road sign, and add the deceleration strip indicating road sign to a corresponding position between the fifth parking space and the eighth parking space in the parking space map according to the road sign position of the deceleration strip indicating road sign.
By implementing the optional implementation mode, the navigation road signs in the current environment (such as an indoor multi-layer parking lot) are added into the parking space map, so that the safety of the vehicle in the navigation process can be greatly improved.
103. And the vehicle positioning system determines the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as the vehicle positioning information.
In the embodiment of the present invention, it can be understood that when the vehicles are located at the same position, the feature information of the periphery of the vehicle is substantially the same, that is, the feature information and the vehicle position are uniquely corresponding, so that the vehicle positioning system can find out the feature information matching the target feature information from the feature information in the preset database, and then the vehicle position corresponding to the feature information is determined as the vehicle positioning information.
As an optional implementation manner, when the vehicle fails and cannot continue to run, the vehicle positioning system may encrypt and package the vehicle positioning information to obtain a position compression packet, then obtain a contact list of a user to which the vehicle belongs, select a target user with a relatively high association with the user to which the vehicle belongs from the contact list, determine a contact manner of the target user, and then generate the position compression packet to the target user through the contact manner.
The embodiment of the invention does not limit the way of encrypting and packaging the vehicle positioning information; in addition, the judgment basis of the target user with the greater relevance to the user to which the vehicle belongs may be the contact frequency, and the embodiment of the present invention is not limited; in addition, the contact information in the embodiment of the present invention may be a mailbox account of the target user, or may also be a social platform account of the target user, which is not limited in the embodiment of the present invention.
By implementing the optional implementation mode, when the vehicle fails and cannot continue to run, the vehicle positioning information is sent to the target user with larger relevance to the user to which the vehicle belongs, and the target user is helped. In addition, the vehicle positioning information is encrypted and packaged, so that information leakage can be avoided, and the information confidentiality is improved.
It can be seen that, when the method described in fig. 1 is implemented, the target feature information around the vehicle in the current environment (such as an indoor multi-storey parking lot) is obtained, and then the obtained target feature information is matched in the preset database, because the vehicle position in the preset database and the feature information are uniquely corresponding, the vehicle position corresponding to the feature information in the preset database matched with the target feature information is determined as the vehicle positioning information, and the positioning accuracy of the vehicle can be improved.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another vehicle positioning method according to an embodiment of the invention. As shown in fig. 2, the method may include the following steps.
201. The vehicle positioning system acquires target characteristic information of the periphery of the vehicle in the current environment.
In the embodiment of the present invention, the current environment of the vehicle may be an indoor multi-floor parking lot or an indoor single-floor parking lot, and the embodiment of the present invention is not limited.
In the embodiment of the invention, the vehicle positioning system can acquire the characteristic information of the periphery of the vehicle and take the characteristic information as the target characteristic information. Optionally, the characteristic information includes, but is not limited to, at least one of the following: parking space information, navigation road sign information and obstacle information, and the embodiment of the invention is not limited.
As an optional implementation manner, before the vehicle positioning system acquires the target feature information of the vehicle periphery in the current environment in step 201, the following steps may be further performed:
the method comprises the steps that a vehicle positioning system obtains a signal set transmitted by equipment in the current environment;
wherein the signal set comprises signals and signal strengths;
the vehicle positioning system determines navigation positioning information of the vehicle according to the signal set;
and the vehicle positioning system constructs a preset database according to the signal set and the navigation positioning information.
In the embodiment of the invention, because the signals and the signal strengths transmitted by the equipment received at different positions are different, the vehicle positioning system can determine the navigation positioning information of the vehicle according to the signals and the signal strengths, and construct the preset database.
By implementing the optional implementation mode, a preset database construction method is provided, and the reliability of the preset database can be improved.
202. And the vehicle positioning system matches the acquired target characteristic information in a preset database.
In the embodiment of the invention, the preset database stores the corresponding relation between the characteristic information and the vehicle position.
Optionally, the preset database may specifically include a parking space map, and the parking space map at least includes but is not limited to at least one of the following: the corresponding relationship between the parking space information and the vehicle position, the corresponding relationship between the navigation road sign information and the vehicle position, and the corresponding relationship between the obstacle information and the vehicle position, which are not limited in the embodiments of the present invention.
203. And the vehicle positioning system determines the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as the vehicle positioning information.
204. When receiving the merging instruction, the vehicle positioning system parses the merging instruction to obtain information of the merging object and the merging position indicated by the merging object.
In the embodiment of the present invention, the merging object may be a person or a vehicle, and the embodiment of the present invention is not limited.
It is understood that sometimes the merging object does not stand on the spot and the like to merge vehicles, that is, the merging object may also be mobile, therefore, as an optional implementation, the merging instruction may further include a moving speed and a moving direction of the merging object, and when receiving the merging instruction, the vehicle positioning system may specifically parse the merging instruction to obtain information of the merging object and a merging position indicated by the merging object:
when receiving the converging instruction, analyzing the converging instruction to obtain information of the converging object, the moving speed of the converging object, the moving direction of the converging object and the current initial position of the converging object;
and determining the merging position of the vehicle and the merging object according to the moving speed of the merging object, the moving direction of the merging object, the current position of the vehicle and the moving speed of the vehicle.
By implementing the optional implementation mode, the moving speed and the moving direction of the converged object are considered, and then the converged position is determined, so that the object can be prevented from being staggered, a certain party can be prevented from waiting for a long time, and the user experience can be further improved.
205. The vehicle positioning system detects whether the intimacy degree of the converging object and the user to which the vehicle belongs is greater than a preset threshold value or not according to the information of the converging object; if yes, go to step 206-step 207; otherwise, the flow is ended.
In the embodiment of the present invention, the intimacy between the merging object and the user to which the vehicle belongs may be a merging frequency between the merging object and the user to which the vehicle belongs, the preset threshold may be a preset frequency set according to a certain rule, and when the merging frequency is greater than the preset frequency, it indicates that the merging object and the user to which the vehicle belongs frequently meet, and at this time, the vehicle positioning system executes step 206, taking the current position as a starting point and the merging position as an end point, plans the merging navigation route of the vehicle, reduces the danger of the user to which the vehicle belongs meeting a stranger, and improves the traveling safety.
206. The vehicle positioning system plans the convergence navigation route of the vehicle by taking the position corresponding to the vehicle positioning information as a starting point and the convergence position as a terminal point.
207. And the vehicle positioning system controls the vehicle to run from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route.
In the embodiment of the invention, step 204-step 207 are implemented, when the merging instruction is received, the intimacy between the merging object and the user to which the vehicle belongs is determined, then the merging navigation route is planned, and the vehicle is controlled to drive from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route, so that the safety of travel can be improved.
It can be seen that, when the method described in fig. 2 is implemented, the target feature information around the vehicle in the current environment (such as an indoor multi-storey parking lot) is obtained, and then the obtained target feature information is matched in the preset database, because the vehicle position in the preset database is uniquely corresponding to the feature information, the vehicle position corresponding to the feature information in the preset database matched with the target feature information is determined as the vehicle positioning information, and the positioning accuracy of the vehicle can be improved. In addition, when the method described in fig. 2 is implemented, when the merging instruction is received, the intimacy between the merging object and the user to which the vehicle belongs is determined, then the merging navigation route is planned, and the vehicle is controlled to travel from the current position to the merging position according to the merging navigation route, so that the safety of travel can be improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a vehicle positioning system according to an embodiment of the present invention. As shown in fig. 3, the vehicle positioning system may include:
a first obtaining unit 301, configured to obtain target feature information of a vehicle periphery in a current environment.
In the embodiment of the present invention, the current environment of the vehicle may be an indoor multi-floor parking lot or an indoor single-floor parking lot, and the embodiment of the present invention is not limited.
In the embodiment of the present invention, the first acquisition unit 301 may acquire feature information of the periphery of the vehicle and use the feature information as target feature information. Optionally, the characteristic information includes, but is not limited to, at least one of the following: parking space information, navigation road sign information and obstacle information, and the embodiment of the invention is not limited.
A matching unit 302, configured to match the obtained target feature information in a preset database.
In the embodiment of the invention, the preset database stores the corresponding relation between the characteristic information and the vehicle position.
Optionally, the preset database may specifically include a parking space map, and the parking space map at least includes but is not limited to at least one of the following: the corresponding relationship between the parking space information and the vehicle position, the corresponding relationship between the navigation road sign information and the vehicle position, and the corresponding relationship between the obstacle information and the vehicle position, which are not limited in the embodiments of the present invention.
Since the feature information may be a combination of different elements, the matching unit 302 may match the acquired target feature information in the preset database in the following manner:
for convenience of understanding, the following two cases are described in the embodiments of the present invention:
s1: the characteristic information is a single element, for example, the characteristic information includes parking space information.
Optionally, the matching unit 302 may compare the similarity between the target parking space information and each piece of parking space information in the preset database, and use the parking space information corresponding to the highest similarity as the parking space information matched with the target parking space information.
S2: the characteristic information is not a single element, and for example, the characteristic information includes parking space information and navigation road sign information.
Optionally, the matching unit 302 may set different weights for the parking space information and the navigation road sign information, compare the similarity between the parking space information and the navigation road sign information in the target characteristic information and the parking space information and the navigation road sign information in each characteristic information in the preset database, multiply the obtained similarity with the corresponding weight, overlap the similarities between the parking space information and the navigation road sign information to obtain the similarity between the target characteristic information and each characteristic information in the preset database, and use the characteristic information corresponding to the highest similarity as the characteristic information matched with the target characteristic information.
As an alternative embodiment, the parking space map can be built by other vehicles and uploaded to the server. As another alternative, the parking space map may be constructed by the vehicle and saved to the vehicle's own memory.
Further, as an optional implementation manner, the vehicle positioning system may further include the following units, which are not shown in the drawing, and if the parking space map is constructed by the vehicle in the past, the construction manner may be as follows:
the acquisition unit is used for controlling a visual sensor of the vehicle to acquire an environment image of the current environment;
the parking space detection unit is used for detecting a parking space by utilizing the environment image so as to obtain parking space information of the current environment; the parking space information at least comprises parking space shapes and parking space quantity;
the position detection unit is used for carrying out position detection by utilizing the environment image so as to obtain the position of the vehicle when the environment image is acquired;
and the second construction unit is used for constructing the parking space map according to the parking space information and the vehicle position when the environment image is acquired.
In the embodiment of the present invention, the parking space information at least includes the parking space shape and the parking space number, and the embodiment of the present invention is not limited. In the embodiment of the present invention, the acquisition unit may acquire, in real time, an environment around the vehicle through a vision sensor of the vehicle during a driving process of the vehicle, so as to obtain an environment image of a current environment, where the vision sensor of the vehicle may include an image acquisition device (such as a camera), and the embodiment of the present invention is not limited.
It can be understood that the environment image of the current environment where the vehicle is located, which is acquired by the visual sensor of the vehicle, includes the parking space in the current environment, and the parking space detection unit identifies the environment image, so that the parking space information (such as the parking space shape and the parking space number) in the current environment can be obtained. It can be understood that when the vehicles are at the same position, the environment images collected by the vision sensors of the vehicles are similar or identical, that is, the environment images and the collected positions are matched with each other, so that the position detection unit can perform position detection by using the environment images, that is, the collected positions when the environment images are collected can be obtained.
According to the implementation of the optional implementation mode, the parking space map is constructed according to the parking space information in the current environment obtained by parking space detection and the acquired position when the environment image is acquired by position detection, so that the parking space map is more authentic, and the positioning accuracy is favorably improved.
Still further, as an optional implementation manner, the vehicle positioning system may further include the following unit, not shown in the figure, and after the second construction unit constructs the parking space map according to the parking space information and the vehicle position when the environment image is acquired, the following steps may be further performed:
the request unit is used for requesting the number of the parking spaces in the current environment from the service platform bound with the current environment;
the second detection unit is used for detecting whether the number of the parking spaces in the current environment is the same as that of the parking spaces in the parking space map or not;
the calling unit is used for calling another parking space map uploaded to the service platform by other vehicles from the service platform when the second detection unit detects that the number of the parking spaces in the current environment is different from the number of the parking spaces in the parking space map;
and the correction unit is used for correcting the parking space map according to the other parking space map.
In the embodiment of the present invention, it can be understood that the parking space map constructed by the second construction unit may be incomplete, for example, the number of parking spaces included in the parking space information is reduced due to the missing of the parking spaces in the parking space map, so that the request unit may request the service platform of the current environment for the number of parking spaces in the current environment, and the second detection unit detects the parking space map according to the number of parking spaces to determine whether the parking space map is complete.
In the embodiment of the present invention, a service platform may be disposed in a current environment (e.g., an indoor multi-floor parking lot), and a vehicle positioning system may perform data transmission with the service platform in a wireless manner (e.g., Wi-Fi, bluetooth, etc.), for example, a constructed parking space map may be uploaded to the service platform, and another parking space map uploaded by another vehicle may also be retrieved from the service platform.
By implementing the optional implementation mode, whether the parking space map is complete or not can be detected according to the number of the parking spaces in the current environment, if the parking space map is incomplete, another parking space map uploaded by other vehicles is taken from the service platform, and the parking space map is corrected according to the another parking space map, so that the reliability of the parking space map is improved.
Still further, as another optional implementation, the vehicle positioning system may further include the following unit, not shown in the figure, and after the second construction unit constructs the parking space map according to the parking space information and the vehicle position when the environment image is acquired, the following steps may be further performed:
the identification unit is used for identifying the navigation signposts in the current environment;
the third acquisition unit is used for acquiring the landmark position of the navigation landmark;
and the adding unit is used for adding the navigation road signs to the parking space map according to the road sign positions of the navigation road signs.
In the embodiment of the present invention, the navigation road sign may be a deceleration strip indication road sign, a slope entering/exiting indication road sign, a curve entering/exiting indication road sign, or a barrier indication road sign, and the embodiment of the present invention is not limited. For example, assuming that the current environment is an indoor multi-layer parking lot, a deceleration strip is arranged between the fifth parking space and the eighth parking space, a deceleration strip indicating road sign is arranged near the deceleration strip, the identification unit can identify the deceleration strip indicating road sign, the third acquisition unit acquires the road sign position of the deceleration strip indicating road sign, and the addition unit adds the deceleration strip indicating road sign to the corresponding position between the fifth parking space and the eighth parking space in the parking space map.
By implementing the optional implementation mode, the navigation road signs in the current environment (such as an indoor multi-layer parking lot) are added into the parking space map, so that the safety of the vehicle in the navigation process can be greatly improved.
A first determining unit 303, configured to determine a vehicle position corresponding to the feature information in the preset database that matches the target feature information as vehicle positioning information.
As an optional implementation manner, the vehicle positioning system may further include a sending unit, not shown in the figure, and when the vehicle fails and cannot continue to run, the sending unit may encrypt and package the vehicle positioning information to obtain a position compression packet, then obtain a contact list of the user to which the vehicle belongs, select a target user with a greater association with the user to which the vehicle belongs from the contact list, determine a contact manner of the target user, and then send the position compression packet to the target user through the contact manner.
The embodiment of the invention does not limit the way of encrypting and packaging the vehicle positioning information; in addition, the judgment basis of the target user with the greater relevance to the user to which the vehicle belongs may be the contact frequency, and the embodiment of the present invention is not limited; in addition, the contact information in the embodiment of the present invention may be a mailbox account of the target user, or may also be a social platform account of the target user, which is not limited in the embodiment of the present invention.
By implementing the optional implementation mode, when the vehicle fails and cannot continue to run, the vehicle positioning information is sent to the target user with larger relevance to the user to which the vehicle belongs, and the target user is helped. In addition, the vehicle positioning information is encrypted and packaged, so that information leakage can be avoided, and the information confidentiality is improved.
It can be seen that, with the vehicle positioning system described in fig. 3, the target feature information of the periphery of the vehicle in the current environment (such as an indoor multi-storey parking lot) is obtained first, and then the obtained target feature information is matched in the preset database, and since the vehicle position in the preset database and the feature information are uniquely corresponding, the vehicle position corresponding to the feature information in the preset database that is matched with the target feature information is determined as the vehicle positioning information, so that the positioning accuracy of the vehicle can be improved.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another vehicle positioning system disclosed in the embodiment of the present invention. Wherein the vehicle positioning system shown in fig. 4 is further optimized from the vehicle positioning system shown in fig. 3. Compared to the vehicle positioning system shown in fig. 3, the vehicle positioning system shown in fig. 4 may further include:
an analyzing unit 304, configured to, after the first determining unit 303 determines the vehicle position corresponding to the feature information in the preset database that matches the target feature information as the vehicle positioning information, when receiving the merging instruction, analyze the merging instruction to obtain information of the merging object and the merging position indicated by the merging object.
It is understood that sometimes the merging object does not stand on the spot and the like to merge vehicles, that is, the merging object may also be mobile, and therefore, as an optional implementation, the merging instruction may further include a moving speed and a moving direction of the merging object, and when the merging instruction is received, the parsing unit 304 may specifically parse the merging instruction to obtain the information of the merging object and the merging position indicated by the merging object:
when receiving the converging instruction, analyzing the converging instruction to obtain information of the converging object, the moving speed of the converging object, the moving direction of the converging object and the current initial position of the converging object;
and determining the merging position of the vehicle and the merging object according to the moving speed of the merging object, the moving direction of the merging object, the current position of the vehicle and the moving speed of the vehicle.
By implementing the optional implementation mode, the moving speed and the moving direction of the converged object are considered, and then the converged position is determined, so that the object can be prevented from being staggered, a certain party can be prevented from waiting for a long time, and the user experience can be further improved.
A first detecting unit 305, configured to detect whether the intimacy degree between the merging object and the user to which the vehicle belongs is greater than a preset threshold value according to the information of the merging object.
And a planning unit 306, configured to plan a merged navigation route of the vehicle by using the position corresponding to the vehicle positioning information as a starting point and the merging position as an ending point.
And a control unit 307, configured to control the vehicle to travel from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route.
As an alternative embodiment, the vehicle determination system may further include the following units, not shown in the figure, and before the first obtaining unit 301 obtains the target feature information of the vehicle periphery in the current environment, the following steps may be further performed:
the second acquisition unit is used for acquiring a signal set transmitted by equipment in the current environment;
wherein the signal set comprises signals and signal strengths;
the second determining unit is used for determining navigation positioning information of the vehicle according to the signal set;
and the first construction unit is used for constructing a preset database according to the signal set and the navigation positioning information.
In the embodiment of the invention, because the signals and the signal intensities transmitted by the equipment received at different positions are different, the navigation and positioning information of the vehicle can be determined according to the signals and the signal intensities, and the preset database is constructed according to the navigation and positioning information.
By implementing the optional implementation mode, a preset database construction method is provided, and the reliability of the preset database can be improved.
It can be seen that, with the vehicle positioning system described in fig. 4, the target feature information of the periphery of the vehicle in the current environment (such as an indoor multi-storey parking lot) is obtained first, and then the obtained target feature information is matched in the preset database, and since the vehicle position in the preset database and the feature information are uniquely corresponding, the vehicle position corresponding to the feature information in the preset database that is matched with the target feature information is determined as the vehicle positioning information, so that the positioning accuracy of the vehicle can be improved. In addition, when the method described in fig. 2 is implemented, when the merging instruction is received, the intimacy between the merging object and the user to which the vehicle belongs is determined, then the merging navigation route is planned, and the vehicle is controlled to travel from the current position to the merging position according to the merging navigation route, so that the safety of travel can be improved.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another vehicle positioning system according to an embodiment of the present invention. As shown in fig. 5, the vehicle positioning system may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 calls the executable program code stored in the memory 501 to execute any one of the vehicle positioning methods of fig. 1 to 2.
The embodiment of the invention discloses a vehicle, which comprises a vehicle positioning system disclosed by the embodiment of the invention.
An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute any one of the vehicle positioning methods of fig. 1 to 2.
An embodiment of the invention discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform any one of the vehicle positioning methods of fig. 1-2.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
In various embodiments of the present invention, it is understood that the meaning of "a and/or B" means that a and B are each present alone or both a and B are included.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The vehicle positioning method and the vehicle positioning system disclosed by the embodiment of the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (12)
1. A vehicle positioning method, characterized by comprising:
acquiring target characteristic information of the periphery of a vehicle in the current environment;
matching the acquired target characteristic information in a preset database; the preset database stores the corresponding relation between the characteristic information and the vehicle position;
determining the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as vehicle positioning information;
when a confluence instruction is received, analyzing the confluence instruction to obtain information of a confluence object and a confluence position indicated by the confluence object;
detecting whether the intimacy degree of the converged object and the user to which the vehicle belongs is greater than a preset threshold value or not according to the information of the converged object;
if the intimacy is greater than a preset threshold value, planning a convergence navigation route of the vehicle by taking a position corresponding to the vehicle positioning information as a starting point and the convergence position as a terminal point;
and controlling the vehicle to run from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route.
2. The method of claim 1, wherein the feature information includes, but is not limited to, at least one of: parking space information, navigation road sign information and barrier information.
3. The method according to claim 2, wherein the preset database specifically includes a parking space map, and the parking space map includes at least one of, but not limited to: the corresponding relation between the parking space information and the vehicle position, the corresponding relation between the navigation road sign information and the vehicle position, and the corresponding relation between the obstacle information and the vehicle position.
4. The method of claim 3, further comprising:
controlling a vision sensor of the vehicle to acquire an environment image of the current environment;
carrying out parking space detection by using the environment image so as to obtain parking space information of the current environment; the parking space information at least comprises parking space shapes and parking space quantity;
carrying out position detection by using the environment image to obtain the position of the vehicle when the environment image is acquired;
and constructing the parking space map according to the parking space information and the position of the vehicle when the environment image is acquired.
5. The method of claim 3, wherein the parking spot map is created by other vehicles and uploaded to a server.
6. The method of claim 4, wherein after the constructing the parking space map according to the parking space information and the vehicle position at the time of collecting the environment image, the method further comprises:
requesting the number of the parking spaces in the current environment from a service platform bound with the current environment;
detecting whether the number of parking spaces in the current environment is the same as the number of parking spaces in the parking space map;
if not, another parking space map uploaded to the service platform by other vehicles is taken from the service platform;
and correcting the parking space map according to the other parking space map.
7. The method according to claim 1, wherein before the obtaining target feature information of the vehicle surroundings in the current environment, the method further comprises:
acquiring a signal set transmitted by equipment in the current environment; the set of signals comprises signals and signal strengths;
determining navigation positioning information of the vehicle according to the signal set;
and constructing the preset database according to the navigation positioning information of the signal set.
8. A vehicle positioning system, comprising:
a first acquisition unit configured to acquire target feature information of a vehicle periphery in a current environment;
the matching unit is used for matching the acquired target characteristic information in a preset database; the preset database stores the corresponding relation between the characteristic information and the vehicle position;
the first determining unit is used for determining the vehicle position corresponding to the characteristic information in the preset database matched with the target characteristic information as vehicle positioning information;
an analysis unit, configured to, after the first determination unit determines, as vehicle positioning information, a vehicle position corresponding to feature information in the preset database that matches the target feature information, when a merging instruction is received, analyze the merging instruction to obtain information of a merging object and a merging position indicated by the merging object;
the first detection unit is used for detecting whether the intimacy degree of the converged object and the user to which the vehicle belongs is greater than a preset threshold value or not according to the information of the converged object;
the planning unit is used for planning a convergence navigation route of the vehicle by taking a position corresponding to the vehicle positioning information as a starting point and the convergence position as a terminal point when the first detection unit detects that the intimacy degree of the convergence object and the user to which the vehicle belongs is greater than a preset threshold value;
and the control unit is used for controlling the vehicle to run from the position corresponding to the vehicle positioning information to the merging position according to the merging navigation route.
9. The system of claim 8, further comprising:
the second acquisition unit is used for acquiring a signal set transmitted by equipment in the current environment before the first acquisition unit acquires target characteristic information of the periphery of a vehicle in the current environment; the set of signals comprises signals and signal strengths;
a second determining unit for determining navigation positioning information of the vehicle according to the signal set;
and the first construction unit is used for constructing the preset database according to the navigation positioning information of the signal set.
10. A vehicle characterized in that it comprises a vehicle positioning system according to claim 8 or 9.
11. A vehicle positioning system, comprising:
a memory storing executable program code;
a central processor coupled to the memory;
the central processor invokes the executable program code stored in the memory for performing a vehicle localization method of any of claims 1-7.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program causes a computer to execute a vehicle positioning method according to any one of claims 1-7.
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| CN111947675B (en) * | 2020-07-31 | 2022-06-24 | 新石器慧通（北京）科技有限公司 | Man-vehicle mutual searching method and device based on unmanned tour guide vehicle and electronic equipment |
| CN112073911B (en) * | 2020-08-04 | 2023-06-23 | 北方雷科(安徽)科技有限公司 | Mine car position information sending method and device, server and storage medium |
| CN112309004B (en) * | 2020-10-30 | 2022-10-14 | 广州小鹏自动驾驶科技有限公司 | Virtual deceleration strip generation method and device, vehicle and storage medium |
| CN112732848B (en) * | 2020-11-03 | 2023-06-20 | 四川锐图威视科技有限公司 | Vehicle positioning method and device based on color recognition and computer readable storage medium |
| CN112735174B (en) * | 2020-12-25 | 2022-02-01 | 广州小鹏自动驾驶科技有限公司 | Parking method and device |
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| CN105513403A (en) * | 2016-01-08 | 2016-04-20 | 广东翼卡车联网服务有限公司 | Method and system for finding vehicle in parking lot based on image recognition |
| CN106017471A (en) * | 2016-05-17 | 2016-10-12 | Tcl移动通信科技（宁波）有限公司 | Method and system for implementing optimal navigation for converge of multiple devices |
| CN109641538A (en) * | 2016-07-21 | 2019-04-16 | 国际智能技术公司 | It is created using vehicle, updates the system and method for map |
| CN106535126A (en) * | 2016-11-17 | 2017-03-22 | 北京万相融通科技股份有限公司 | Navigation method for mobile terminal and server |
| CN106875442A (en) * | 2016-12-26 | 2017-06-20 | 上海蔚来汽车有限公司 | Vehicle positioning method based on image feature data |
| CN108959321B (en) * | 2017-05-25 | 2022-06-24 | 纵目科技（上海）股份有限公司 | Parking lot map construction method, system, mobile terminal and storage medium |
| CN107393330B (en) * | 2017-06-12 | 2020-12-29 | 纵目科技（上海）股份有限公司 | Human-vehicle convergence route planning method and system, vehicle-mounted terminal and intelligent terminal |
| CN107664500B (en) * | 2017-09-19 | 2019-12-06 | 重庆交通大学 | garage vehicle positioning and navigation method based on image feature recognition |
| CN109637177A (en) * | 2018-12-19 | 2019-04-16 | 斑马网络技术有限公司 | Vehicle positioning method, device, equipment and storage medium |
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