CN110455298A - Vehicle localization method and positioning system - Google Patents
Vehicle localization method and positioning system Download PDFInfo
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- CN110455298A CN110455298A CN201910751687.5A CN201910751687A CN110455298A CN 110455298 A CN110455298 A CN 110455298A CN 201910751687 A CN201910751687 A CN 201910751687A CN 110455298 A CN110455298 A CN 110455298A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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Abstract
This exposure is related to vehicle localization method and positioning system.A kind of vehicle localization method, the position of the vehicle is provided when moving on road for vehicle, it is included in each pre-determined distance, through the continuous state of the lane line on sensor identification road surface, and the binary coding of correspondence is generated according to the continuous state, the binary coding is at least used to indicate the continuous state of the lane line on the road surface；The binary coding is compared with database, if finding identical binary coding in the database, feedback corresponds to the binary-coded location information；And the position of the vehicle is shown according to the positional information.
Description
Technical field
The application relates to a kind of vehicle localization method and positioning system, and espespecially a kind of vehicle for recognizing lane line is used
Localization method and positioning system.
Background technique
Existing driving positions mostly based on global positioning system (Global Positioning System, GPS), when
When GPS signal is blocked (such as being passed a bridge down), navigator can generally be switched to dead reckoning (Dead reckoning), whole
The information of the sensor and accelerometer etc. on vehicle is closed to calculate the position driven a vehicle at present, however dead reckoning can accumulate mistake
Difference causes position inaccurate.Solve foregoing problems method first is that the position driven a vehicle using computer vision auxiliary identification.But make
When with computer vision auxiliary identification, need to carry out neural network analysis to each picture element of each width picture, this will expend big
The calculating power of amount, and for hsrdware requirements height, and calculated result is also not easy in time.
Summary of the invention
The first purpose of the application is to provide a kind of vehicle localization method and positioning system to improve in background technique
The problem of.
According to the embodiment of the application, a kind of vehicle localization method is disclosed, is mentioned when being moved on road for vehicle
For the position of the vehicle, comprising: in each pre-determined distance, through the continuous state of the lane line on sensor identification road surface, and
The binary coding of correspondence is generated according to the continuous state, the binary coding is at least used to indicate the lane on the road surface
The continuous state of line；The binary coding is compared with database, is compiled if finding identical binary system in the database
Code, then feedback corresponds to the binary-coded location information；And the described of the vehicle is shown according to the positional information
Position.
According to the embodiment of the application, it includes: to be incited somebody to action by mobile phone that the binary coding and the database, which are compared,
The binary coding is sent to remote server；By the database in the binary coding and the remote server
It is compared to generate the position of the vehicle；And the position of the passback vehicle is to the mobile phone.
According to the embodiment of the application, it includes: to be deposited by mobile phone that the binary coding is compared with the database
The data obtained from remote server is stored up, to establish the database in the mobile phone；And it will be from the received institute of the sensor
It states binary coding to be compared with the data of the database, to generate the position of the vehicle.
According to the embodiment of the application, the binary coding only includes the continuous state letter of the lane line on the road surface
Breath, and do not include other environmental information.
According to the embodiment of the application, the measurement of the pre-determined distance is by odometer or global positioning system bulk cargo
It sets.
According to the embodiment of the application, the vehicle localization method further includes the global location when the vehicle
The satellite signals that system and device is received be lower than default value when, through sensor identification road surface lane line continuous state with
Show the position of the vehicle.
According to the embodiment of the application, the vehicle localization method further includes working as described in binary coding instruction
When vehicle is less than preset value at a distance from non-FOH or when the instruction vehicle is less than preset value at a distance from the lane line,
Show lane shift information.
According to the embodiment of the application, a kind of positioning system is disclosed, for mobile device offer when moving on road
The position of the mobile device, including sensor and display.The sensor for capturing the image on road surface, and generates institute
The signal of image is stated, the signal includes binary coding, and the binary coding is at least used to indicate the lane on the road surface
The information of line.The display, for according to the signal and database compare as a result, institute to show the mobile device
Rheme is set.
According to the embodiment of the application, the information include the line style of the lane line, color, shape, width,
Distance, the one or more of the coordinate of the lane line of the wantonly two adjacent lane lines.
According to the embodiment of the application, the positioning system further includes processor, for receiving institute from the sensor
It states signal, and the signal is sent to remote server, the remote server is by the signal and the remote server
The comparing of the interior database, to provide the result of comparison described in the display.
According to the embodiment of the application, the positioning system further includes processor, is stored for timing from remote service
The data that device obtains to establish the database in the processor, and receives the signal from the sensor, by institute
The comparing of the database in signal and the processor is stated, to provide the result of comparison described in the display.
According to the embodiment of the application, the processor is also used to when the global positioning system institute in the mobile device
When the satellite signals intensity received is lower than default value, controls the sensor and capture the image on the road surface to indicate
State the information on road surface.
According to the embodiment of the application, the binary coding further includes the non-FOH for being used to indicate the road surface
Information, wherein the non-through row area includes pavement or safety island.
According to the embodiment of the application, the display is also used to indicate the mobile device when the binary coding
It is less than preset value at a distance from the lane line less than preset value or the instruction mobile device at a distance from the non-FOH
When, show lane shift information.
According to the embodiment of the application, a kind of mobile device is disclosed, the mobile device includes the positioning system, and
The mobile device is land vehicle.
The vehicle of this exposure localization method and positioning system and its localization method only recognize the lane line of road surface image, and
Binary coding is carried out to it, therefore, compared to the neural network analysis of existing computer vision auxiliary identification, needed for this exposure
The calculating power wanted can be greatly reduced, therefore can be calculated and be provided with simple and inexpensive hardware and more timely calculated
As a result.In addition, because this exposure is direct identification road surface image, rather than using supposition method meter compared to existing dead reckoning
Position is calculated, therefore more accurate location information can be provided.
Detailed description of the invention
Fig. 1 is the flow chart of the localization method according to the embodiment of the present application.
Fig. 2 is the schematic diagram of the positioning system according to the embodiment of the present application.
Fig. 3 is the top view using situation of the positioning system according to the embodiment of the present application.
Fig. 4 is the schematic diagram using situation of the positioning system according to the embodiment of the present application.
Fig. 5 is the schematic diagram using situation of the positioning system according to the application difference embodiment.
Fig. 6 is the schematic diagram using situation of the positioning system according to the application difference embodiment.
Fig. 7 is the schematic diagram using situation of the positioning system according to the application difference embodiment.
Specific embodiment
Content disclosed below provides numerous embodiments or illustration, can be special to realize the difference of this disclosure
Sign.The concrete example subsystem of component and configuration described below is to simplify this disclosure.When it is contemplated that for these narrations only
Show, is not intended for limiting this disclosure.For example, in the following description, a fisrt feature is formed in one
In second feature or on, may include some embodiments, wherein described first and second feature is in direct contact with one another；And
May include some embodiments to be wherein formed between first and second above-mentioned feature there are also additional component, and make first with
Second feature may not contacted directly.In addition, this disclosure may reuse component symbol in various embodiments
And/or label.Such reuse is based on succinctly with clear purpose, and itself not representing discussed different implement
Relationship between example and/or configuration.
Furthermore vocabulary opposite in use space here, for example " under ", " lower section ", " being lower than ", " on ", " on
Side " and person similar to its, it may be possible to which a component depicted in figure or feature are relative to one or more another groups for convenience of explanation
Relationship between part or feature.Spatially opposite its original idea of vocabulary also covers other than orientation depicted in figure for these
Device locating a variety of different directions in use or operation.The equipment may be placed in other orientation and (e.g., rotate 90
Degree is in other orientation), and these spatially opposite description vocabulary should just do corresponding explanation.
Although the numberical range and parameter to define the application wider range are all rough numerical value, herein as far as possible
The correlation values in specific embodiment are accurately presented.However, any numerical value is substantially inevitably containing because of individual tests
Standard deviation caused by method.Here, " about " usually mean actual numerical value a certain number value or range positive and negative 10%,
5%, within 1% or 0.5%.Either, " about " word represents actual numerical value and falls within the acceptable standard error of average value,
Depending on depending on the application those of ordinary skill in the art the considerations of.When it is understood that other than experimental example, or unless
It separately expressly states otherwise, all ranges used herein, quantity, numerical value and percentage are (such as to describe material utilization amount, time
Length, temperature, operating condition, quantitative proportion and other similar persons) by the modification of " about ".Therefore, unless otherwise opposite
Illustrate, this specification and the revealed numerical parameter of subsidiary claim are all rough numerical value, and visual demand and more
It is dynamic.These numerical parameters should be at least interpreted as to pointed number of significant digit and apply the obtained numerical value of general transfer method.In
Herein, numberical range is expressed as by end point to another endpoint or between two endpoints；Unless otherwise indicated, described herein
Numberical range all include endpoint.
Automatic carrier is one of the trend of current development in science and technology, common automatic carrier include autonomous driving vehicle,
Pilotless automobile and wheeled mobile robot etc..General automatic carrier need to utilize sensor detection ambient enviroment and itself shape
State, including the obstacle informations such as navigator fix information, road information, other vehicle and pedestrians, the location information of itself and movement
Status information makes optimal judgement after certain operation, with accurate auto-control carrier mobile speed and steering.
Therefore, automatic carrier can be made to arrive safe and sound destination in the case where non-driver monitors.
Navigator fix information is even more important to automatic carrier.The absolute fix of automatic carrier can be obtained by GPS, in detail
For thin, double antenna is can be used and by satellite signals to obtain the absolute position of automatic carrier on earth in automatic carrier
And course information.In addition, the relative positioning of automatic carrier can pass through inertial navigation, mileage according to the initial position of automatic carrier
The sensors such as meter obtain acceleration and angular acceleration information, it integrates the time, relative initial position can be obtained
Current location information.
In general, existing driving positioning when GPS signal is blocked (such as being passed a bridge down), is led mostly based on GPS
Boat instrument can generally switch to dead reckoning to calculate the position driven a vehicle at present, however dead reckoning understands accumulated error, causes
Position inaccurate.Solve foregoing problems method first is that the position driven a vehicle using computer vision auxiliary identification.But use computer
When vision auxiliary identification, a large amount of power that calculates need to be expended on analysis picture, therefore the hardware that demand is more high-end, and it is calculated
As a result also it is not easy in time.
In this exposure, the selective part for only recognizing lane line in the image of road surface, and binary system is carried out to lane line
Coding, therefore compared to existing dead reckoning, the positioning system and method for this exposure can provide more accurate position letter
Breath.In addition, calculating power required for this exposure can be substantially compared to the neural network analysis of existing computer vision auxiliary identification
It reduces, therefore can be calculated with simple and inexpensive hardware and more timely calculated result is provided.
Fig. 1 is the flow chart of the localization method according to the embodiment of the present application.Localization method 10 starts from operating S1, in each
Pre-determined distance through the continuous state of the lane line on sensor identification road surface, and generates the two of correspondence according to the continuous state
Scale coding, the binary coding are at least used to indicate the continuous state of the lane line on the road surface.Localization method 10 continues
S2 is operated, the binary coding is compared with database, if finding identical binary coding in the database, instead
Feedback corresponds to the binary-coded location information.Localization method 10 continues to operate S3, shows institute according to the positional information
State the position of vehicle.
Localization method 10 is only example, is not intended to limit this exposure, the part for surmounting the range is expressly recited in power
In sharp claim.Before localization method 10, therebetween and later, it is possible to provide others operation, and the method its
In its embodiment, replaceable, exclusion or mobile some operations.
Fig. 2 is the schematic diagram of the positioning system according to the embodiment of the present application.Positioning system 20 is for mobile device in road
The position of mobile device is provided when upper mobile.Mobile device may include land vehicle, such as: autonomous driving vehicle, nobody
The ground carriers such as the automatic carriers such as driving, wheeled mobile robot, or general automobile, bus, electric car, but not as
Limit.
Positioning system 20 includes sensor 22 and display 24.Sensor 22 is used to capture the image on road surface, and generates shadow
The signal of picture.In some embodiments, sensor 22 recognizes the continuous state of the lane line on road surface, and root in each pre-determined distance
The binary coding of correspondence is generated according to the continuous state of lane line, wherein the measurement of pre-determined distance is filled by odometer or GPS
It sets.
Sensor 22 may include imaging sensor or photosensory assembly, such as: camera, but not limited to this.In some realities
It applies in example, sensor 22 can be the camera of mobile phone, the camera of automobile data recorder or be built into taking the photograph in land vehicle
As head, but not limited to this.
The signal of image may include binary coding, and binary coding is at least used to indicate the information of lane line on road surface.
The information of lane line includes line style, color, shape, the width, the distance of wantonly two adjacent lane lines, lane line of lane line
Coordinate etc., but not limited to this.In some embodiments, binary coding is at least used to indicate the continuous of the lane line on road surface
State.In addition, binary coding can only include the continuous state information of the lane line on road surface, and other environmental information is not included.
In other embodiments, binary coding further includes being used to indicate the information of the non-FOH on road surface, wherein non-FOH includes
Pavement or safety island.
Display 24 be used to compare according to the signal and database of image as a result, position to show mobile device.It is aobvious
Show that device 24 may include image display, such as: display panel, but not limited to this.In some embodiments, display 24 can be
The display panel of mobile phone 36, the display panel of automobile data recorder 32 or the display equipment being built into land vehicle, but not
As limit.In some embodiments, display 24 be also used to when binary coding instruction mobile device and non-FOH away from
From when being less than preset value or indicating that mobile device is less than preset value at a distance from lane line, lane shift information is shown.
Positioning system 20 may also include processor 26 and remote server 28, and but not limited to this.In some embodiments,
The process that the signal and database of image compare can be in remote server 28.When the process that the signal and database of image compare
When being in remote server 28, processor 26 is used to receive the signal of image from sensor 22, and signal is sent to distal end
Server 28, remote server 28 is by the comparing of the database in signal and remote server 28, to provide display 24
The result of comparison.
In other embodiments, the process that the signal of image and database compare can be in processor 26.When the news of image
When number being in remote server 28 with the process that database compares, processor 26 is stored for timing and is obtained from remote server 28
The data taken with the database established in processor 26, and receives signal from sensor 22, will be in signal and processor 26
The comparing of database, to provide the result of the comparison of display 24.
In this exposure, the signal specification of the image meets Wireless Fidelity, mobile network, near-field communication, zigbee etc.
Common home control network communication protocol.Correspondingly, for the processor 26 and remote server of the signal of image described in transmission and reception
28 device specification also corresponds to above-mentioned home control network communication protocol, transmits/receive the signal of the image whereby.The art tool
Usually intellectual will be understood that processor 26 and remote server 28 when transmitting the signal of image, and transmission end will be to image
Signal encrypted, receiving end is by the news according to encryption/manner of decryption for linking up in advance with transmission end to encrypted image
It number is decrypted to interpret the binary coding in the signal of image.This exposure does not limit processor 26 and remote server 28
Between encryption/manner of decryption.
In some embodiments, positioning system 20 may also include global positioning system.Processor 26 is also used to when mobile dress
When the satellite signals intensity that global positioning system in setting is received is lower than default value, control sensor 22 captures the shadow on road surface
As the location information to indicate road surface.
For the technical characteristic for illustrating the application can be become apparent from, below for positioning system provided by the present application and its positioning side
Method carries out the explanation using situation, while providing multiple embodiments so that different variations and application is presented.And understand in order to facilitate,
Same components label will be used with identical or similar functions and the component of effect in different embodiments.Furthermore difference is implemented
In the absence of conflict, can interlock or mix collocation generates new embodiment to different components between example, but still falls within this
In the protection scope of application.
Fig. 3 is the top view using situation of the positioning system according to the embodiment of the present application, and Fig. 4 is implemented according to the application
The schematic diagram using situation of the positioning system of example.As shown in figure 3, the mobile device 30 of the present embodiment is with autonomous driving vehicle
For, but this exposure is not limited.Fig. 3 shows schematic diagram of the autonomous driving vehicle when moving on road surface.
Fig. 4 is please referred to, Fig. 4 shows cockpit and the road surface shadow observed by windshield in autonomous driving vehicle
Picture.As shown in figure 4, being provided with Back mirror 32 and automobile-used screen 34 in cockpit.It in some embodiments, can be additional in cockpit
The mounting seat of mobile phone 36 is set, mobile phone 36 is fixed in front of driver's seat.In the present embodiment, there can be figure in mobile phone 36
2 sensor 22 is to capture the image on road surface.For example, sensor 22 can be the camera of mobile phone 36, and but not limited to this.
After the sensor 22 in mobile phone 36 recognizes the image on road surface, sensor 22 can generate the signal of image, CTC (Centell Technology Corporation)
It number include binary coding, binary coding is at least used to indicate the information of the lane line on road surface.Specifically, lane line
Information may include the line style (such as: dotted line, solid line or compound) of lane line, lane line color (such as: common is white
Color, yellow or red), the shape of lane line (such as: rectangle, parallelogram or arc-shaped), the width of lane line, lane
Distance (example between the coordinate (such as: latitude and longitude coordinates of the lane line in global positioning system) of line, two adjacent lane lines
Such as: the distance of left and right lane line) and the signal of non-FOH (such as: pavement or safety island).
By taking the line style of lane line as an example, as shown in Figure 3, it is assumed that by every 2 meters (pre-determined distances) of every lane line point
It is segmented into different line segments, then lane line can slightly be divided into two kinds, be dotted line and solid line respectively, determine if the dotted line in lane line is encoded
Justice is 0, and the solid line coding in lane line is defined as 1, then the binary system of the continuous state of the left-lane in Fig. 3 and Fig. 4 is compiled
Code is 000000, and the binary coding of the continuous state of right lane is then 001100.Wherein, the pre-determined distance of every lane line
The measurement of (2 meters) can be by odometer or GPS device, and but not limited to this.
Then, signal can be sent to remote server 28 by mobile phone 36.Specifically, the sensor 22 of mobile phone 36 needs
The coding of aforementioned left and right lane line is sent to remote server 28 through the processor 26 of mobile phone 36.In some embodiments,
Coding is sent to the process of remote server 28 by processor 26, encoded information can be sent to distal end by wireless communication mode
Server 28.After the signal that remote server 28 receives, the database in this signal and remote server 28 can be carried out
It compares.
For example, the database in remote server 28 has stored the binary coded data of the lane line of each department.
As shown in figure 4, Fig. 4 shows three groups of data in database, there is the two of different lane lines on different longitudes and latitudes respectively
Scale coding, is denoted as latitude preceding below, and longitude is rear, and left-lane line coding, preceding, right-lane line is encoded rear.First
Group longitude and latitude is 39 ° of 53 ' N, and 115 ° of 25 ' E, the coding of left and right lane line is respectively 001100 and 000111.Second group of longitude and latitude
For 83 ° of 22 ' N, 103 ° of 21 ' E, the coding of left and right lane line is respectively 000000 and 001100.Third group longitude and latitude is 77 ° 59 '
N, 13 ° of 20 ' E, the coding of left and right lane line is respectively 010101 and 100110.After remote server 28 receives binary coding,
Find that same left-lane line is 000000 and right lane is 001100 data in database, then, filtering out array can
The position of energy.Then, the position obtained according to previous comparison result, it is 000000 and right vehicle that judgement, which meets left-lane line,
Road is position most possible in 001100.For example, second group of data in database, which by chance meets left-lane line, is
000000 and right lane be 001100 data, then the longitude and latitude position of mobile device 30 may be 83 ° of 22 ' N, 103 ° 21 '
E。
Specifically, it is assumed that the left-lane line in section is actually continuous dotted line (00) in Fig. 3, and right-lane line is practical
On be to be arranged alternately to be constituted by two dotted lines (00) He Yichang solid line (11), therefore the left and right lane line of tract section in Fig. 3
Front and back binary coding is represented by left-lane line respectively and is encoded toAnd right-lane line is encoded toThen remote server 28 can utilize received left-lane line coding 000000 and right-lane line
Coding 001100, and the position obtained according to previous comparison result or previous GPS information, before and after collocation left and right lane line
Coding to judge the most possible position of mobile device 30 according to this.
For example, may have that the same left-lane line of array is 000000 and right lane is 001100 number in database
According to, by the position of the previous comparison result of mobile device 30, such as: it has been determined that the previous longitude and latitude of mobile device 30
Position be 83 ° of 23 ' N, 103 ° of 21 ' E, then because the longitude and latitude of second group of data in database be 83 ° of 22 ' N, 103 ° of 21 ' E, it is non-
The place of present mobile device 30 is probably very close to the longitude and latitude of the position of previous comparison result, therefore second group of data
Position.
In other embodiments, judge that the most possible position of mobile device 30 may further include according to mobile device 30
Speed per hour, thus it is speculated that and the range that mobile device 30 moves in judgement twice is estimated, meet left-lane to go to compare in this range
Line is 000000 and right lane is 001100 position.Specifically, because the method for the present embodiment first filters out mobile device
30 can mobile range can more quickly compare out most suitable knot therefore when comparing 30 possible position of mobile device
Fruit can save the more time compared to previous embodiment, and provide more accurate information.
After judging the position of mobile device 30, judging result can be back to mobile phone 36 by remote server 28
Location information can be transmitted on the display 24 of mobile phone 36 by the processor 26 of processor 26, mobile phone 36, and display 24 can be hand
The screen of machine 36, whereby, driver can observe the information of position on the screen of mobile phone 36.
In an alternate embodiment, the process of comparing can be in mobile phone terminal, for example, the processor 26 of mobile phone 36
Can timing the newest section encoded information of near zone is required to remote server, with the database established in processor 26,
Also that is, newest section encoded information is stored in mobile phone 36.Therefore, when the processor 26 in mobile phone 36 receives sensor 22
Signal when, mobile phone 36 can directly by the comparing of database in this signal and mobile phone 36, with obtain it is comparing as a result, and
Display position information on the display 24 of mobile phone 36.
In other embodiments, mobile phone 36 interior can have exclusive mobile applications program (mobile application, letter
Claim apps) it include aforementioned positioning system and localization method.For example, driver can open simultaneously when starting mobile device 30
The mobile applications program started in machine 36, mobile applications program can enable the camera of mobile phone 36 to capture the picture of road surface lane line
Face, and to collected lane line picture, carry out binary coding.
In one embodiment, in order to minimize the data volume after binary coding, according to caused by foregoing teachings two into
The continuous state information of the system coding only lane line comprising the road surface, and do not include other environmental information (such as not comprising vehicle
The distance between the line style of diatom, color, shape, adjacent two lane line, GPS data etc.).In this way, can be by data
Amount minimizes, and enables with the communication of remote server 28 more quickly, but not limited to this.In other embodiments, it takes action
Application program can carry out binary system volume according to the distance between the line style of lane line, color, shape, adjacent two lane line
Code, although in this way, increase is compared the promotion that accuracy also can be opposite by the data volume after binary coding.
In some embodiments, the time for capturing or capturing lane line picture can also be carried out binary system by mobile applications program
Coding, with the lane line comparing of newest time in reward data library.In other embodiments, mobile applications program can will most
Nearly primary effective GPS data carries out binary coding, and wherein GPS data includes time and coordinate, with similar with database
The comparing of coordinate position, to judge 30 most likely location of mobile device.The data that GPS is added will be helpful to reduce data
The data area that library compares, therefore can compare out more quickly most suitable as a result, and providing more accurate information.
In response to miscellaneous lane line, the signal of the image of lane line can be carried out binary coding by mobile applications program
Package, with express other than solid line or dotted line more information.For example, the content of package may include the line of lane line
Type, color, width, shape etc..In addition to the information of lane line itself, the content of package may also include time and the seat of GPS
Mark, the time for capturing lane line information.
In some embodiments, the content of package may include the version of mobile applications program, specifically, mobile applications journey
The version of sequence can be considered encryption/decrypted code that transmission end and receiving end are linked up in advance.For example, processor 26 and distal end take
Device 28 be engaged in when transmitting the signal of image, transmission end (processor 26) will encrypt the signal of image, and add in package
Enter the code of the version of application program of taking action as decryption, receiving end (remote server 28) will according to code with after to encryption
The signal of image be decrypted to interpret the binary coding in package.Different, the distal end in response to the version of mobile applications program
The data that may have array to correspond to different editions in server 28, more accurately to provide the location information of mobile device 30.
After mobile applications program obtains the location information of mobile device 30, location information can be incident upon to the screen of mobile phone 36
On curtain, but not limited to this.Mobile applications program can send this data to automobile data recorder or vehicle by wireless communication mode
The medium appropriate such as interior screen understands the location information of mobile device 30 with sharp driver.
The positioning system and its localization method of this exposure are not limited to the above embodiments, and can have other different realities
Apply example.To simplify the description and for the ease of being compared between each embodiment of the disclosure, each embodiment below
In the identical labelled notation of same parts.For the difference between more easily comparing embodiment, being described below will be detailed
Illustrate the difference between different embodiments, and identical feature will not be repeated again.
Fig. 5 is the schematic diagram using situation of the positioning system according to the application difference embodiment.In an alternate embodiment
In, in order to be promoted using upper convenience, the processor 26 of mobile phone 36 can also be after receiving judging result, through processor 26
It is sent on the traffic navigation of automobile-used screen 34, driver can the easier relevant information for obtaining position whereby.
In other embodiments, mobile applications program may work as calculating in mobile phone 36 with the mode operating of backdrop procedure
Out after the location information of mobile device 30, mobile applications program can send this data to driving recording by wireless communication mode
The medium appropriate such as instrument or interior screen, the location information of mobile device 30 is learnt with sharp driver.
Fig. 6 is the schematic diagram using situation of the positioning system according to the application difference embodiment.In an alternate embodiment
In, using traffic navigation or automobile data recorder 38 as the tool for capturing road surface image.For example, automobile data recorder 38 is clapped
After taking the photograph the image on road surface, the signal of image is generated.Such as previous embodiment, signal includes binary coding, is used to indicate road surface
Lane line information.
Then, signal is sent to mobile phone 36, the method that mobile phone 36 can pass through aforementioned any embodiment by automobile data recorder 38
To obtain the identification result of position.For example, the process of comparing can be in mobile phone 36 or remote server 28, when data ratio
To after the completion, then show by mobile phone 36 or traffic navigation instrument 34 position of mobile device 30.
Substitution, if processor 26 is located in automobile data recorder 38, automobile data recorder 38 also can be directly by the news of image
Number with the comparing in database, without via mobile phone or other assemblies, therefore comparison result can be obtained more quickly.
For example, the binary system that the database in mobile phone 36 or automobile data recorder 38 has stored the lane line of each department is compiled
Code data.As shown in fig. 6, Fig. 6 shows three groups of data in database, there is different lanes on different longitudes and latitudes respectively
The binary coding of line, is denoted as latitude preceding below, and longitude is rear, and left-lane line coding, preceding, right-lane line coding exists
Afterwards.First group of longitude and latitude is 49 ° of 53 ' N, and 115 ° of 25 ' E, the coding of left and right lane line is respectively 001100 and 000111.Second group
Longitude and latitude is 83 ° of 22 ' N, and 123 ° of 21 ' E, the coding of left and right lane line is respectively 000000 and 001100.Third group longitude and latitude is
87 ° of 59 ' N, 13 ° of 20 ' E, the coding of left and right lane line is respectively 010101 and 100110.
After remote server 28 receives binary coding, it is 000000 and the right side that same left-lane line is found in database
Lane is 001100 data, then, filters out the possible position of array.Then, it is obtained according to previous comparison result
Position, judgement meet left-lane line be 000000 and right lane be position most possible in 001100.
Specifically, may have that the same left-lane line of array is 000000 and right lane is 001100 number in database
According to, by the position of the previous comparison result of mobile device 30, such as: it has been determined that the previous longitude and latitude of mobile device 30
Position be 83 ° of 23 ' N, 123 ° of 20 ' E, then because the longitude and latitude of second group of data in database be 83 ° of 22 ' N, 123 ° of 21 ' E, it is non-
The place of present mobile device 30 is probably very close to the longitude and latitude of the position of previous comparison result, therefore second group of data
Position.
Fig. 7 is the schematic diagram using situation of the positioning system according to the application difference embodiment.In an alternate embodiment
In, it separately include the image of non-FOH using the road surface image that sensor 22 captures.Whereby, the positioning system of this exposure and fixed
Position method can pass through the information of non-FOH also to judge the position of mobile device 30.For example, non-FOH may include people
Trade or safety island, but not limited to this.
In some embodiments, the section that mobile device 30 may pass through only has side to have lane line, such as: only move
The left side of device 30 has lane line, and the right of mobile device 30 is pavement.In other embodiments, mobile device may
The section two sides passed through are all without lane line, as shown in fig. 7, the left side of mobile device 30 is safety island, and mobile device 30
The right is pavement.Therefore, by the image capture of non-FOH, the positioning system and localization method for being conducive to this exposure differentiate
The position of mobile device 30.
It is interior in mobile device 30 or mobile phone 36 to have global positioning system in another alternate embodiment, when in mobile phone 36
Processor of the processor 26 when detecting satellite signals intensity that global positioning system is received lower than default value, in mobile phone
26 can control sensor 24, the lane line image for making it start to capture road surface, to provide the location information of mobile device 30.
For example, when mobile device 30 passes through the inferior section of bridge, satellite signals may be blocked, built-in at this time
Global positioning system will be unable to play the positioning function of script.Therefore, when the processor 26 in mobile phone 36 or automobile data recorder 38
When detecting satellite signals deficiency, processor 26 can communicate information to sensor 22, and sensor 22 is made to start to play road surface image
The function of acquisition.It, will after sensor 22 generates the signal of image, then via 28 comparison result of processor 26 and remote server
The location information of mobile device 30 is shown on the display 24.
In another alternate embodiment, positioning system 20 can also provide the information of the mobile offset lanes of mobile device 30.
For example, when driver drive mobile device when, may because of some factors, such as: technology is bad, spirit is not good or not attentively
Etc., original lane is deviateed in the direction for causing mobile device 30 mobile.
When mobile device 30 moves between lane line, it is assumed that mobile device 30 first time and left and right lane line away from
From equal, mobile device 30 started to generate variation at a distance from the lane line of left and right in the second time, such as: mobile device 30 is biased to
When the left side is mobile, then mobile device 30 can be less than X in the second time at a distance from left-lane line, and the meeting at a distance from right-lane line
Greater than X.When mobile device 30 continues mobile toward the direction on the left side, then the distance between mobile device 30 and left-lane line can be more next
It is closer.When mobile device 30 is less than preset value at a distance from left-lane line, then positioning system 20 can show the letter of lane shift
Breath reminds driver that must control the moving direction of mobile device 30 whereby.
In other embodiments, mobile device 30 may move between non-FOH.When mobile device 30 be biased to it is a certain
When direction is mobile, then the distance between mobile device 30 and non-FOH can be more and more closer.When mobile device 30 and non-FOH
Distance be less than preset value when, then positioning system 20 can show the information of lane shift, whereby remind driver must adjust movement
The moving direction of device.
In alternate embodiment, mobile device 30 may move between non-FOH and lane line.When mobile device 30
When being biased to a direction movement, then between the distance between mobile device 30 and non-FOH or mobile device 30 and lane line
Distance can be more and more closer.It is less than between preset value or mobile device 30 and lane line at a distance from mobile device 30 with non-FOH
Distance be less than preset value when, then positioning system 20 can show the information of lane shift, to remind driver that must adjust mobile dress
The moving direction set.
The feature of several embodiments of above-outlined, so that those skilled in the art can preferably understand the side of the application
Face.It will be understood by one of ordinary skill in the art that its readily available the application is as identical for carrying out for designing or modifying
Other techniques of the same advantage of purpose and/or realization embodiments described herein and the basis of structure.The skill of fields
Art personnel should be further appreciated that these equivalent constructions do not depart from the spirit and scope of this exposure and it can make various change herein
The spirit and scope for becoming, substituting and changing without departing from this exposure.
Furthermore scope of the present application is not limited to technique described in this specification, machine, manufacture, material composition, structure
The specific embodiment of part, method and step.One of ordinary skill in the art will be easy according to the disclosure of this exposure
Solution, can according to this exposures using generally execute identical with corresponding embodiment described herein function or generally realization and
Its identical result presently, there are or follow-up developments technique, machine, manufacture, material composition, component, method or step.Cause
This, appended claim is intended to these techniques, machine, manufacture, material composition, component, method or step being contained in its model
In enclosing.
Claims (15)
1. a kind of vehicle localization method provides the position of the vehicle for vehicle when moving on road, which is characterized in that
Include:
In each pre-determined distance, through the continuous state of the lane line on sensor identification road surface, and produced according to the continuous state
The binary coding of raw correspondence, the binary coding are at least used to indicate the continuous state of the lane line on the road surface；
The binary coding is compared with database, if finding identical binary coding in the database, is fed back
Corresponding to the binary-coded location information；And
The position of the vehicle is shown according to the positional information.
2. vehicle localization method as claimed in claim 1, which is characterized in that compare the binary coding and the database
Include:
The binary coding is sent to remote server by mobile phone；
The binary coding is compared with the database in the remote server to generate the institute of the vehicle
Rheme is set；And
The position of the vehicle is returned to the mobile phone.
3. vehicle localization method as claimed in claim 1, which is characterized in that compare the binary coding and the database
Include:
The data obtained from remote server is stored by mobile phone, to establish the database in the mobile phone；And
It will be compared from the received binary coding of the sensor with the data of the database, to generate the vehicle
The position.
4. vehicle localization method as claimed in claim 1, which is characterized in that the binary coding only includes the vehicle on the road surface
The continuous state information of diatom, and do not include other environmental information.
5. vehicle localization method as claimed in claim 1, which is characterized in that the measurement of the pre-determined distance be by odometer or
Global positioning system apparatus.
6. vehicle localization method as claimed in claim 5, which is characterized in that further include:
When the satellite signals that the global positioning system apparatus of the vehicle is received are lower than default value, through sensor
The continuous state of the lane line on road surface is recognized to show the position of the vehicle.
7. localization method as claimed in claim 1, which is characterized in that further include:
When the binary coding indicates that the vehicle is less than preset value at a distance from non-FOH or the instruction vehicle with
When the distance of the lane line is less than preset value, lane shift information is shown.
8. a kind of positioning system provides the position of the mobile device for mobile device when moving on road, feature exists
In, comprising:
Sensor for capturing the image on road surface, and generates the signal of the image, and the signal includes binary coding, institute
State the information that binary coding is at least used to indicate the lane line on the road surface；And
Display, for according to the signal and database compare as a result, the position to show the mobile device.
9. positioning system as claimed in claim 8, which is characterized in that the information include the line style of the lane line, color,
Shape, width, the distance of the wantonly two adjacent lane lines, the lane line coordinate appoint one or more.
10. positioning system as claimed in claim 8, which is characterized in that further include:
The signal for receiving the signal from the sensor, and is sent to remote server, the distal end by processor
Server is by the comparing of the database in the signal and the remote server, to provide described in the display
The result of comparison.
11. positioning system as claimed in claim 8, which is characterized in that further include:
Processor, for periodically storing the data obtained from remote server, to establish the database in the processor,
And the signal is received from the sensor, by the comparing of the database in the signal and the processor,
To provide the result of comparison described in the display.
12. such as the positioning system of any one of claim 10 to 11, which is characterized in that the processor is also used to when described
When the satellite signals intensity that global positioning system in mobile device is received is lower than default value, controls the sensor and capture
The image on the road surface is to indicate the information on the road surface.
13. positioning system as claimed in claim 8, which is characterized in that the binary coding further includes being used to indicate the road surface
Non- FOH information, wherein the non-through row area includes pavement or safety island.
14. such as the positioning system of claim 13, which is characterized in that wherein the display is also used to when the binary coding
Indicate that the mobile device is less than preset value or the instruction mobile device and the lane line at a distance from the non-FOH
Distance be less than preset value when, show lane shift information.
15. a kind of mobile device, which is characterized in that the mobile device includes positioning system as described in claim 1, and institute
Stating mobile device is land vehicle.
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| CN201910751687.5A CN110455298B (en) | 2019-08-14 | 2019-08-14 | Positioning method and positioning system for vehicle |
| PCT/CN2020/107793 WO2021027723A1 (en) | 2019-08-14 | 2020-08-07 | Positioning method for vehicle and positioning system |
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|---|---|---|---|
| CN201910751687.5A CN110455298B (en) | 2019-08-14 | 2019-08-14 | Positioning method and positioning system for vehicle |
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| CN110455298B CN110455298B (en) | 2022-02-08 |
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| WO2021027723A1 (en) | 2021-02-18 |
| CN110455298B (en) | 2022-02-08 |
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