CN110345967A - Vehicle positioning method, apparatus and system based on mileage indicant - Google Patents
Vehicle positioning method, apparatus and system based on mileage indicant Download PDFInfo
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- CN110345967A CN110345967A CN201810281826.8A CN201810281826A CN110345967A CN 110345967 A CN110345967 A CN 110345967A CN 201810281826 A CN201810281826 A CN 201810281826A CN 110345967 A CN110345967 A CN 110345967A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- Radar, Positioning & Navigation (AREA)
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Abstract
This application discloses vehicle positioning method, device and systems based on mileage indicant.The vehicle positioning method includes: the mileage indicant detected in preset range；The geographical location bar code for including on the mileage indicant is obtained according to the mileage indicant detected；The absolute geographical location of the mileage indicant is determined according to the geographical location bar code；According to the absolute geographical location of the absolute Geographic mapping vehicle of the mileage indicant.The application can be according to the absolute geographical location of the absolute Geographic mapping vehicle of mileage indicant itself, and then realize high accuracy positioning, and it is easy to operate, be conducive to improve road management efficiency, the quick positioning for also contributing to the absolute geographical location of vehicle itself, to realize automatic Pilot.
Description
Technical field
This application involves automatic Pilot fields, more particularly to the vehicle positioning method based on mileage indicant, device and are
System.
Background technique
Highways ' is generally provided with mileage indicant, such as kilometer stone, milestone etc..Mileage indicant is compiled comprising road
Number and mileage indicant number.By taking kilometer stone as an example, as shown in Figure 1, kilometer stone pile No. identifies kilometer stone apart from highway starting point
Distance is positioned for highway.
Automatic driving vehicle in the process of moving, can receive global positioning system (Golobal Positioning
System, GPS) signal positioned, vehicle " home position " is known as by the position that GPS positioning obtains.Due to GPS positioning sheet
The error of body and the accumulated error for calculating vehicle location generation cause vehicle " home position " error larger, can not be used to automatic
It drives.
Fig. 2 shows accumulated errors to generate schematic diagram.Vehicle timing obtains GPS signal, such as vehicle obtains GPS in A point
Signal, GPS signal can just be obtained again by then arriving B point, the coordinate when vehicle driving is to D point, can only by the coordinate of A point into
Row calculates.When calculating, many shape points are had among from A point to D point driving trace along vehicle, calculate distance A point most first
The coordinate of close shape point after shape point coordinate is calculated, further according to the coordinate of shape point, calculates the shape nearest apart from it
Point coordinate, and so on, the coordinate until calculating D point.Specific calculation is that the speed VA of A point is split as transverse direction
The speed VC of C point is split as lateral velocity VC1 and longitudinal velocity VC2, passes through VA1 and VC1 by speed VA1 and longitudinal velocity VA2
Lateral average speed is calculated, longitudinal average speed is calculated by VA2 and VC2, average speed and time can calculate cross
Add lateral displacement and length travel to displacement and length travel, then by A point coordinate, calculates C point coordinate.Since sensor is deposited
In error, so calculated C point coordinate is also to have error.There are many shape points among from A point to D point, so error
It will continue to accumulate, calculated D point coordinate can have accumulated error.
In order to realize automatic Pilot, auxiliary information is needed to assist vehicle location, and mileage indicant can become
Useful auxiliary information.
Summary of the invention
In view of this, the application provides vehicle positioning method, device and system based on mileage indicant, it is fixed to improve
Position precision, and further realize automatic Pilot.
This application provides a kind of vehicle positioning methods based on mileage indicant, comprising:
Detect the mileage indicant in preset range；
The geographical location bar code for including on the mileage indicant is obtained according to the mileage indicant detected；
The absolute geographical location of the mileage indicant is determined according to the geographical location bar code；
According to the absolute geographical location of the absolute Geographic mapping vehicle of the mileage indicant, the vehicle, which has, to be detectd
Survey the function of mileage indicant.
Optionally, it is numbered in the geographical location bar code comprising road number and mileage indicant, it is described according to
Geographical location bar code determines that the absolute geographical location of the mileage indicant includes:
It parses the geographical location bar code and obtains the road number and mileage indicant number；According at least to vehicle row
Direction, mileage indicant number and the road number sailed obtain the absolute geographical location of the mileage indicant；Alternatively,
It include the absolute geographical location of the mileage indicant in the geographical location bar code, it is described according to the geographical position
It sets bar code and determines that the absolute geographical location of the mileage indicant includes:
Parse the absolute geographical location that the geographical location bar code obtains the mileage indicant.
Optionally, the absolute geographical location packet of the absolute Geographic mapping vehicle according to the mileage indicant
It includes:
The opposite geographical location of vehicle and the mileage indicant is calculated according to the positional relationship of mileage indicant and vehicle；
According to the absolute geographical location of the mileage indicant and the relatively geographical position of vehicle and mileage indicant
Set the absolute geographical location for positioning the vehicle.
Optionally, described that vehicle and mileage indicant are calculated relatively according to the positional relationship of mileage indicant and vehicle
Reason position includes:
Detect the linear distance between the vehicle and mileage indicant；
Detect the angle of the straight line and default reference orientation between the vehicle and mileage indicant；
According to the opposite geographical location of the angle calculation vehicle of the linear distance and the angle and mileage indicant.
Optionally, the information on services in the geographical location bar code also comprising road where the mileage indicant；
The information on services of road where parsing the mileage indicant from the geographical location bar code；
The information on services is stored with for users to use.
This application provides a kind of vehicle locating device based on mileage indicant, which includes:
Detecting module, for detecting the mileage indicant in preset range；
Module is obtained, for obtaining the geographical location for including on the mileage indicant according to the mileage indicant detected
Bar code；
Mileage indicant absolute position determining module, for determining the mileage indicant according to the geographical location bar code
Absolute geographical location；
Vehicle absolute position determining module, for according to the exhausted of the absolute Geographic mapping vehicle of the mileage indicant
To geographical location, the vehicle has the function of detecting mileage indicant.
Optionally, mileage indicant absolute position determining module is obtained specifically for parsing the geographical location bar code
The road number and mileage indicant is taken to number；According at least to the direction of vehicle driving, mileage indicant number and road
Road number obtains the absolute geographical location of the mileage indicant；Wherein, in the geographical location bar code comprising road number with
And mileage indicant number；Alternatively,
Mileage indicant absolute position determining module, be specifically used for parsing the geographical location bar code obtain it is described in
The absolute geographical location of journey indicant；Wherein, the absolute geographical position in the geographical location bar code comprising the mileage indicant
It sets.
Optionally, vehicle absolute position determining module, specifically for being closed according to the position of mileage indicant and vehicle
System calculates the opposite geographical location of vehicle and the mileage indicant；According to the absolute geographical location of the mileage indicant
And the absolute geographical location of vehicle described in opposite Geographic mapping of the vehicle with mileage indicant.
Optionally, the detecting module, specifically for detecting the linear distance between the vehicle and mileage indicant；It detects
Survey the angle of the straight line and default reference orientation between the vehicle and mileage indicant；
Vehicle absolute position determining module, specifically for the angle calculation according to the linear distance and the angle
The opposite geographical location of vehicle and mileage indicant.
Optionally, the information on services in the geographical location bar code also comprising road where the mileage indicant；The dress
It sets further include:
Information on services module, the clothes for road where parsing the mileage indicant from the geographical location bar code
Business information；And the information on services is stored with for users to use.
This application provides a kind of vehicle positioning system based on mileage indicant, which includes to have the device
Vehicle.
This application provides a kind of storage equipment, are stored thereon with program, described program is for real when being executed by processor
The existing method.
The application can be according to the absolute geographical location of the absolute Geographic mapping vehicle of mileage indicant itself, in turn
Realize high accuracy positioning, it is easy to operate, be conducive to improve road management efficiency, it helps the absolute geographical location of vehicle itself
Quickly positioning, to realize automatic Pilot.The application can also be by by the spatial positional information of mileage indicant, essential information
And bar code is written in information on services, can quickly be positioned by spatial positional information by parsing bar code.In addition, the application may be used also
With the information on services comprising place road, Vehicular automatic driving system can carry out letter with platforms such as road administration, police service, roadside assistances
Breath interaction, by information exchange, vehicle can obtain road conditions on the way in time, or information of vehicles is fed back to platform to obtain phase
Service is closed, promotes the intelligent level of Vehicular automatic driving, while by mileage indicant information two dimensional code, driver can be square
Just peripheral path information on services is obtained, the social value of mileage indicant is able to ascend, helps to improve the driving experience of user
With the efficiency of service of administration of highways department.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is kilometer stone schematic diagram provided by the present application；
Fig. 2 is that accumulated error provided by the present application generates schematic diagram；
Fig. 3 is the vehicle positioning method schematic diagram provided by the present application based on kilometer stone；
Fig. 4 is the kilometer stone schematic diagram provided by the present application with two dimensional code；
Fig. 5 is cameras line schematic diagram provided by the present application；
Fig. 6 and Fig. 7 is the relatively geographical position view of vehicle and kilometer stone provided by the present application；
Fig. 8 is that vehicle location provided by the present application updates schematic diagram；
Fig. 9 is the schematic diagram of automatic Pilot provided by the present application；
Figure 10 is the vehicle locating device schematic diagram provided by the present application based on kilometer stone.
Specific embodiment
As used some vocabulary to censure specific components in the specification and claims.Those skilled in the art answer
It is understood that hardware manufacturer may call the same component with different nouns.This specification and benefit require not with title
Difference as the mode for distinguishing component, but with the difference of component functionally as the criterion of differentiation.Such as in the whole text
The "comprising" of specification and claim mentioned in is an open language, therefore should be construed to " including but not limited to ".
" substantially " refer within the acceptable error range, those skilled in the art can solve the technology within a certain error range
Problem basically reaches the technical effect.Specification subsequent descriptions are to implement the better embodiment of the application, the right description
It is being not intended to limit the scope of the present application for the purpose of the rule for illustrating the application.The protection scope of the application is when view
Subject to appended claims institute defender.
Fig. 3 shows the vehicle positioning method provided by the invention based on kilometer stone, specifically includes:
Step 300, the mileage indicant in preset range is detected；
Optionally, which can be 10-50m；
Optionally, which includes the milestone on highway, and mileage board, kilometer stone, road mark board etc. is position
Object above road both sides or road.It is described so that mileage indicant is kilometer stone as an example in following embodiments.
Illustrate: the mileage indicant in the present embodiment does not include directly applying the road instruction letter being drawn on road surface
Breath is such as drawn in the symbol that road name or instruction mileage are represented on road surface, two dimensional code etc..Because this directly scribble symbol on road surface
Mode be easy because contact vehicle and ground friction bring wear, to influence the clear or accuracy of symbol, cause
The problems such as not easy to identify or frequent maintenance, therefore the mileage indicant in the present embodiment does not include that direct apply is drawn on road surface
Road instruction information.
Step 305, the geographical location bar code for including on mileage indicant is obtained according to the mileage indicant detected；Such as
Geographical location bar code can be one-dimension code or two dimensional code；
Step 310, the absolute geographical location of mileage indicant is determined according to geographical location bar code；
In order to realize that automatic Pilot, camera or camera are the necessary attachmentes of vehicle, camera can play vehicle eyes
Effect is used to analyze after vehicle periphery information is shot or scanned, such as analysis lane line, obstacle etc..In the present invention
In, it needs to analyze by the geographical location bar code in the installation onboard kilometer stone of camera shooting or scanning, determines that mileage refers to
Show the absolute geographical location of object.
Optionally, it is numbered in the bar code of geographical location comprising road number and mileage indicant, it is described according to the geography
Position bar code determines that the absolute geographical location of the mileage indicant includes:
It parses the geographical location bar code and obtains the road number and mileage indicant number (such as kilometer stone pile No.)；
The absolute geography of the mileage indicant is obtained according at least to the direction of vehicle driving, mileage indicant number and road number
Position.
As one embodiment, geographical location bar code may include such as mileage indicant number and road number, incite somebody to action
The two dimensional code spray printing is on mileage indicant, as shown in Figure 4.Mileage indicant number and road can be obtained by parsing bar code
Road number；In order to determine the absolute geographical location of mileage indicant according to mileage indicant number and road number, such as
Coordinate in WGS84 coordinate system, it is also necessary to the driving direction of vehicle, because for mileage indicant, the volume that identifies thereon
Number only distance apart from road starting point.Before implementing the method for the invention, mileage indicant can be numbered, link name
In the database, which can be located at server for the storages such as the absolute geographical location of title, road direction, mileage indicant
It can be located in client.During vehicle driving, in order to obtain the mileage instruction of the shooting of camera appended by vehicle or scanning
The absolute geographical location of object can identify the bar code for including in mileage indicant, identify that mileage included in it refers to
Show object number and road number, further according to the direction of road, such as road is generally exactly both direction, a uplink, and one
Downlink can be represented with 1 and 2 respectively, can be obtained from Roads in Maps line (Li nk), so as in client or
Person's server is inquired, and the absolute geographical location of mileage indicant is obtained.
It optionally, include the absolute geographical location of the mileage indicant in the geographical location bar code, it is described according to institute
It states geographical location bar code and determines that the absolute geographical location of the mileage indicant includes:
Parse the absolute geographical location that the geographical location bar code obtains the mileage indicant.
As another embodiment, geographical location bar code may include the absolute geographical location of kilometer stone, which is sprayed
It is imprinted on kilometer stone, as shown in Figure 4.Two can be decoded after shooting or scanning the mark (i.e. two dimensional code) in the kilometer stone
Code is tieed up, the absolute geographical location of the kilometer stone is directly obtained.
Step 315, according to the absolute geographical location of the absolute Geographic mapping vehicle of mileage indicant, vehicle, which has, to be detectd
Survey the function of mileage indicant.
The vehicle can be itself function with detecting mileage indicant and be also possible to and have detecting mileage indicated work
The device (such as sensor or camera) of energy is of coupled connections.The detecting mileage indicant function can be used to execute above-mentioned steps
300。
Fig. 5 shows and can be shot by camera or the schematic diagram of scanning range, wherein can cover comprising two dimensional code
Kilometer stone, vehicle drive to B point from the preparation of A point, and A point can obtain GPS coordinate, and B point can obtain GPS coordinate, but in the mistake
Vehicle can not rely on GPS positioning in journey, in such a case it is possible to determine the absolute geographical position of vehicle using the scheme of the application
It sets.
Optionally, include: according to the absolute geographical location of the absolute Geographic mapping vehicle of mileage indicant
The opposite geographical location of vehicle and mileage indicant is calculated according to the positional relationship of mileage indicant and vehicle；According to
The absolute geography of the opposite Geographic mapping vehicle of the absolute geographical location of mileage indicant and vehicle and mileage indicant
Position.
Wherein, the opposite geographical location of vehicle and mileage indicant is calculated according to the positional relationship of mileage indicant and vehicle
Include:
Linear distance between detecting vehicle and mileage indicant；
The angle of straight line and default reference orientation between detecting vehicle and mileage indicant；
According to the opposite geographical location of the angle calculation vehicle of linear distance and angle and mileage indicant.
In embodiment, in order to position to vehicle, and the accuracy of positioning is improved, vehicle can also be further calculated
The opposite geographical location with kilometer stone, and further according to this with respect to geographical location and the absolute Geographic mapping of kilometer stone
The absolute geographical location of vehicle.
For example, needing to install the device of sensor, such as radar etc on vehicle, by right to realize automatic Pilot
The distance between the available vehicle of analysis of sensor signal and kilometer stone and the line between vehicle and kilometer stone with just
The north to angle.Fig. 6 and Fig. 7 shows the relatively geographical position view of vehicle and kilometer stone, shown in Fig. 6 vehicle with
Line and direct north between the distance between kilometer stone d and vehicle and kilometer stone angle [alpha] (angle α seek with
The coordinate system of selection is related, and according to the coordinate system of selection, which is also possible to the angle with other directions), it shows in Fig. 7
The cross stream component d1 and longitudinal component d2 of distance d.
Corresponding latitude value and longitude are conversed respectively with longitudinal component d2 according to cross stream component d1, then according to mileage
It is calibrated in the absolute geographical location of stake, so that it may which positioning obtains the absolute geographical location of vehicle, and utilizes the absolute geographical position
Set the absolute geographical location that the vehicle is updated in electronic map.Such as by the sensor of vehicle determine vehicle and kilometer stone it
Between distance be 100m, the angle in line between vehicle and kilometer stone and the positive north is 30 °, so that it is determined that cross stream component
100 × sin30 °=50m, longitudinal component is 100 × cos30 °=86.6m, then carries out the conversion of longitude and latitude and obtain corresponding warp
Degree and latitude, to determine the absolute geographical location of vehicle according to the absolute geographical location of kilometer stone.Fig. 8 shows vehicle location
Schematic diagram is updated, the absolute geographical location of vehicle that vehicle is obtained according to positioning updates the position of its own to A2 point from A1 point.
Through the above technical solution, the present invention can make full use of kilometer stone to position the absolute geographical location of vehicle and sit
Mark realizes auxiliary positioning, promotes vehicle location precision.
Further, the application can also carry out automatic Pilot according to the absolute geographical location of vehicle that positioning obtains.It is obtaining
Behind the absolute geographical location of vehicle, the data of each sensor can be updated, promote automatic driving vehicle to the judgement energy of road conditions
Power.Automatic driving vehicle location information variation after, numerous sensors of vehicle can all be impacted, need to sensor into
Row adjustment.Automatic driving vehicle to realize automatic Pilot, first it is to be understood that oneself where, secondly it is to be understood that oneself periphery has
What realizes Function for Automatic Pilot by analysis self-position and periphery situation, constantly adjustment vehicle running state.Fig. 9 is shown
The schematic diagram of automatic Pilot, wherein assuming that vehicle will keep straight on through crossing, " home position " be point A1, by fusion operation,
Vehicle location is adjusted to point A2.At this point, vehicle can find two problems, first is that lane where vehicle is not right, i.e., should walk straight
Runway, and vehicle is located at left turn lane at present, second is that the speed limit in lane is different, i.e. Through Lane speed limit 60Km/h, and turn left
Lane speed limit 40Km/h, behind absolute geographical location in obtaining updated, vehicle can automatically control speed, transform to straight traffic
Road.After location updating, due to " home position " point A1 apart from crossing farther out, vehicle is in normally travel state, and new location point
A2 is closer apart from crossing, and vehicle meeting automatic retarding slows down through crossing, while sensor can detect traffic when passing through crossing
Signal lamp, to judge whether that Stop and give way, if you do not need to parking, sensor can detect side when through crossing come vehicle,
With support vehicles driving safety.As can be seen that vehicle location update before with update after, the state of automatic driving vehicle is obviously not
Together, also there is variation in the use of sensor, and vehicle can more accurately screen road conditions, makes to actual road conditions correctly anti-
It answers.
It optionally, can also be basic by the kilometer stone of such as road direction, road name etc. in order to provide more information
Information is included in the bar code of such as two dimensional code, and two dimensional code can be realized using QR code coding mode.Kilometer stone coordinate can be with
Referred to as spatial positional information.
It can be saved in the database by following format:
By the format of above- mentioned information write-in two dimensional code are as follows: { GEOMETRY: kilometer stone coordinate, MILEAGE_NUM: kilometer stone
Pile No., DIRECT: road direction, ROAD_NAME: road name, ROAD_NUM: road number }.
Optionally, the information on services in the bar code of geographical location also comprising road where mileage indicant；This method further include:
The information on services of road where parsing the mileage indicant from the geographical location bar code；Store the information on services with
For users to use.For example, it is also possible to include the information on services of road where mileage indicant, such as administrative area in two dimensional code
It draws, road administration platform information (network port, phone etc.), police service platform interface information (network port, phone etc.), roadside assistance are put down
Platform interface message (network port, phone etc.), Traffic Announcement, the area that stops ahead/service area title and distance, forward fuel point name
Title/distance, charge station name/distance etc. in front.Database field format are as follows:
By the format of above- mentioned information write-in two dimensional code are as follows: { ADMIN: administrative division, ROAD_TEL: road administration platform, ALARM_
TEL: police service platform, RESCUE_TEL: Succor plain stage, BROADCAST: Traffic Announcement, SA: the area that stops ahead/service area title,
SA_DISTANCE: the area that stops ahead/service area distance, GS: forward fuel point title, GS_DISTANCE: forward fuel point away from
From CS: charge station name in front, CS_DISTANCE: front charging station distance }.
What the generation of two dimensional code and the production of kilometer stone will be appreciated that those skilled in the art, herein not
It repeats again.
Vehicular automatic driving system can carry out information exchange with platforms such as road administration, police service, roadside assistances, be handed over by information
Mutually, vehicle can obtain road conditions on the way in time, or information of vehicles is fed back to platform to obtain related service, promote vehicle certainly
The dynamic intelligent level driven, while by kilometer stone information two dimensional code, driver, which can be convenient, obtains peripheral path service letter
Breath.
This application provides a kind of vehicle locating devices based on kilometer stone, as shown in Figure 10, comprising: detecting module
1005, obtain module 1010, mileage indicant absolute position determining module 1015 and vehicle absolute position determining module
1020.It optionally, further include information on services module 1025.Detecting module 1005 can be used for detecting kilometer stone；Obtain module
1010, it can be used for obtaining the bar code on kilometer stone；Mileage indicant absolute position determining module 1015, can be used for according to item
The kilometer stone information for including in code, such as road number and kilometer stone number and vehicle heading determine kilometer stone
Absolute geographical location, or directly parse the absolute geographical location for the kilometer stone for including in bar code；Vehicle absolute position determines
Module 1020, for determining vehicle according to the relative positional relationship in the absolute geographical location of kilometer stone and kilometer stone and vehicle
Absolute geographical location, the vehicle have the function of detecting mileage indicant.
Specifically, mileage indicant absolute position determining module 1015, is specifically used for parsing the geographical location bar code
Obtain the road number and mileage indicant number；Numbered according at least to the direction of vehicle driving, mileage indicant and
Road number obtains the absolute geographical location of the mileage indicant；It wherein, include road number in the geographical location bar code
And mileage indicant number；Alternatively,
Mileage indicant absolute position determining module 1015 is specifically used for parsing geographical location bar code acquisition institute
State the absolute geographical location of mileage indicant；Wherein, in the geographical location bar code comprising the mileage indicant utterly
Manage position.
Vehicle absolute position determining module 1020, specifically for the positional relationship meter according to mileage indicant and vehicle
Calculate the opposite geographical location of vehicle and the mileage indicant；According to the absolute geographical location of the mileage indicant and
The absolute geographical location of vehicle described in the opposite Geographic mapping of vehicle and mileage indicant.
The detecting module 1005, specifically for detecting the linear distance between the vehicle and mileage indicant；Detecting
The angle of straight line and default reference orientation between the vehicle and mileage indicant；
Vehicle absolute position determining module 1020, specifically for the angle according to the linear distance and the angle
Calculate the opposite geographical location of vehicle and mileage indicant.
Optionally, which can also enter oneself for the examination: information on services module 1025, can be used to parse the clothes for including in bar code
Business information simultaneously stores, so that user uses in the future.
Above-mentioned technical proposal can position vehicle location in real time in vehicular motion, to provide for automatic Pilot
Technical guarantee, in case vehicle, which loses location information, still can be realized automatic Pilot when can not obtain GPS signal.Into one
Step ground, above-mentioned technical proposal can also promote the intelligent level of Vehicular automatic driving by obtaining information on services on the way.
Vehicle locating device provided in this embodiment based on kilometer stone can reside in a kind of vehicle positioning system,
It can be exactly a kind of vehicle positioning system；Or changes vehicle locating device and be also possible to a kind of chip or equipment；But either
Device, system, chip or equipment, the product provided in this embodiment are suitable for configuring in the vehicle with Function for Automatic Pilot
On.
Present invention also provides a kind of vehicle positioning system based on mileage indicant, which includes having vehicle location
The vehicle of device.The vehicle locating device is the vehicle locating device provided by the present application based on kilometer stone, and vehicle can be machine
Motor-car, such as automobile, truck etc..
The present invention also provides storage equipment, for storing program, when program is executed by processor, realize that the application provides
The vehicle positioning method based on kilometer stone.
It should be understood by those skilled in the art that, embodiments herein can provide as method, apparatus or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
Several specific embodiments of the application have shown and described in above description, but as previously described, it should be understood that the application
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and can be changed in the application contemplated scope by the above teachings or related fields of technology or knowledge
It is dynamic.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be appended by the application
In scope of protection of the claims.
Claims (11)
1. a kind of vehicle positioning method based on mileage indicant characterized by comprising
Detect the mileage indicant in preset range；
The geographical location bar code for including on the mileage indicant is obtained according to the mileage indicant detected；
The absolute geographical location of the mileage indicant is determined according to the geographical location bar code；
According to the absolute geographical location of the absolute Geographic mapping vehicle of the mileage indicant, the vehicle has in detecting
The function of journey indicant.
2. the method according to claim 1, wherein
It is numbered in the geographical location bar code comprising road number and mileage indicant, it is described according to the geographical location bar code
The absolute geographical location for determining the mileage indicant includes:
It parses the geographical location bar code and obtains the road number and mileage indicant number；According at least to vehicle driving
Direction, mileage indicant number and road number obtain the absolute geographical location of the mileage indicant；Alternatively,
It include the absolute geographical location of the mileage indicant in the geographical location bar code, it is described according to the geographical location item
Code determines that the absolute geographical location of the mileage indicant includes:
Parse the absolute geographical location that the geographical location bar code obtains the mileage indicant.
3. the method according to claim 1, wherein the absolute geographical location according to the mileage indicant
The absolute geographical location of positioning vehicle includes:
The opposite geographical location of vehicle and the mileage indicant is calculated according to the positional relationship of mileage indicant and vehicle；
It is fixed according to the absolute geographical location of the mileage indicant and the opposite geographical location of vehicle and mileage indicant
The absolute geographical location of the position vehicle.
4. according to the method described in claim 3, it is characterized in that, the positional relationship meter according to mileage indicant and vehicle
Calculating vehicle, opposite geographical location includes: with mileage indicant
Detect the linear distance between the vehicle and mileage indicant；
Detect the angle of the straight line and default reference orientation between the vehicle and mileage indicant；
According to the opposite geographical location of the angle calculation vehicle of the linear distance and the angle and mileage indicant.
5. method described in any one of -4 according to claim 1, which is characterized in that also include in the geographical location bar code
The information on services of road where the mileage indicant；This method further include:
The information on services of road where parsing the mileage indicant from the geographical location bar code；
The information on services is stored with for users to use.
6. a kind of vehicle locating device based on mileage indicant, which is characterized in that the device includes:
Detecting module, for detecting the mileage indicant in preset range；
Module is obtained, for obtaining the geographical location item for including on the mileage indicant according to the mileage indicant detected
Code；
Mileage indicant absolute position determining module, for determining the exhausted of the mileage indicant according to the geographical location bar code
To geographical location；
Vehicle absolute position determining module, for according to the absolute Geographic mapping vehicle of the mileage indicant utterly
Position is managed, the vehicle has the function of detecting mileage indicant.
7. device according to claim 6, which is characterized in that
Mileage indicant absolute position determining module is specifically used for parsing the geographical location bar code acquisition road volume
Number and mileage indicant number；It is numbered according at least to the direction of vehicle driving, mileage indicant and road number obtains institute
State the absolute geographical location of mileage indicant；It wherein, include road number and mileage indicant in the geographical location bar code
Number；Alternatively,
Mileage indicant absolute position determining module refers to specifically for parsing the geographical location bar code acquisition mileage
Show the absolute geographical location of object；It wherein, include the absolute geographical location of the mileage indicant in the geographical location bar code.
8. device according to claim 6, which is characterized in that vehicle absolute position determining module is specifically used for root
The opposite geographical location of vehicle and the mileage indicant is calculated according to the positional relationship of mileage indicant and vehicle；According to the institute
State the exhausted of absolute geographical location and the vehicle vehicle described in opposite Geographic mapping with mileage indicant of mileage indicant
To geographical location.
9. device according to claim 8, which is characterized in that
The detecting module, specifically for detecting the linear distance between the vehicle and mileage indicant；Detect the vehicle
The angle of straight line and default reference orientation between mileage indicant；
Vehicle absolute position determining module, specifically for the angle calculation vehicle according to the linear distance and the angle
The opposite geographical location with mileage indicant.
10. according to device described in claim 6-9 any one, which is characterized in that also include in the geographical location bar code
The information on services of road where the mileage indicant；The device further include:
Information on services module, the service letter for road where parsing the mileage indicant from the geographical location bar code
Breath；And the information on services is stored with for users to use.
11. a kind of vehicle positioning system based on mileage indicant, which includes with any one according to claim 6-10
The vehicle of device described in.
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