CN110543173A

CN110543173A - Vehicle positioning system and method, and vehicle control method and device

Info

Publication number: CN110543173A
Application number: CN201910816312.2A
Authority: CN
Inventors: 牛临潇; 陈亦鹏; 李�诚
Original assignee: Shanghai Sensetime Intelligent Technology Co Ltd
Current assignee: Shanghai Sensetime Intelligent Technology Co Ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2019-12-06
Anticipated expiration: 2039-08-30
Also published as: KR20210090255A; SG11202106275RA; CN110543173B; WO2021036408A1; JP2022509986A; TW202125318A

Abstract

the present disclosure relates to a vehicle positioning system and method, a vehicle control method and device, the system includes: the virtual runway display device is used for displaying a virtual runway; the image acquisition device is used for acquiring a target image in the process that a target vehicle runs in the virtual runway; the processor is used for determining first position information of the target vehicle in the virtual runway according to the target image; sending first location information to the target vehicle. According to the vehicle positioning system disclosed by the embodiment of the disclosure, the virtual runway can be displayed through the virtual runway display device, a plurality of runways can be designed for the target vehicle, the cost of the runways is reduced, the time for constructing the runways is not required, and the flexibility of the runway route is improved. Furthermore, the position of the target vehicle in the runway can be determined in real time, so that the target vehicle can accurately run in the virtual runway, the target vehicle does not need to be recorded and adapted to the virtual runway, and the operation of the target vehicle in the running process is simplified.

Description

Vehicle positioning system and method, and vehicle control method and device

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a vehicle positioning system and method, and a vehicle control method and apparatus.

Background

The research results of the vehicle model can be used in a plurality of fields such as automatic driving, vehicle control and the like, but the runway of the vehicle model is usually an entity runway, the route of the runway is usually fixed, the flexibility of the route is not enough, the economic cost of the runway is higher, the replacement of the runway is restricted by factors such as a certain time required for the runway construction, and the research and the popularization of the vehicle model are not facilitated.

Disclosure of Invention

The disclosure provides a vehicle positioning system and method, and a vehicle control method and device.

According to an aspect of the present disclosure, there is provided a vehicle positioning system including:

A virtual runway exhibiting device, an image acquiring device and a processor,

The virtual runway display device is used for displaying a virtual runway;

the image acquisition device is positioned above the virtual runway and used for acquiring a target image in the process that a target vehicle runs in the virtual runway;

The processor is connected with or built in the image acquisition device and is used for:

determining first position information of the target vehicle in the virtual runway according to the target image;

sending the first position information to the target vehicle so that the target vehicle runs in the virtual runway according to the first position information.

According to the vehicle positioning system disclosed by the embodiment of the disclosure, the virtual runway can be displayed through the virtual runway display device, a plurality of runways can be designed for the target vehicle, the cost of the runways is reduced, the time for constructing the runways is not required, and the flexibility of the runway route is improved. Furthermore, the processor can determine the first position information of the target vehicle according to the target image of the target vehicle running in the virtual runway, so that the target vehicle can determine the position of the target vehicle in the runway in real time and then accurately run in the virtual runway, the target vehicle does not need to record and adapt to the virtual runway, and the operation of the target vehicle in the running process is simplified.

in one possible implementation, the processor is further configured to:

acquiring second position information of the obstacle according to the target image;

and sending the second position information to the target vehicle so that the target vehicle runs in the virtual runway according to the first position information and the second position information.

by the method, the target vehicle can have the capability of avoiding obstacles, and the performance of the target vehicle is improved.

in one possible implementation, the virtual runway exhibiting device includes a projection device, and the projection device is used for projecting the pattern of the virtual runway.

In one possible implementation, the projection device includes a projector for projecting the pattern of the virtual runway on a projection plane.

in one possible implementation, the virtual runway exhibiting device includes an augmented reality device for exhibiting the virtual runway in an augmented reality interface.

in one possible implementation, the virtual runway exhibiting device is further used for determining the size of the virtual runway according to the size of the target vehicle,

the size of the target vehicle includes a width of the target vehicle, and the size of the virtual runway includes a runway width.

In one possible implementation, the virtual runway exhibiting device is configured to:

Acquiring a site image of a site for displaying a virtual runway;

Acquiring site information according to the site image, wherein the site information comprises the size of a site;

And determining the size of the virtual runway and the pattern of the virtual runway according to the site information and the size of the target vehicle.

in one possible implementation, the processor is further configured to:

Acquiring site information and the size of a target vehicle;

and determining the size of the virtual runway and the pattern of the virtual runway according to the site information and the size of the target vehicle, and sending the size and the pattern of the virtual runway to the virtual runway display device.

By the method, the size of the virtual runway can be adapted to the size of the target vehicle, if the target vehicle is replaced, the size of the virtual runway can be conveniently adjusted, a new runway does not need to be bought or built, cost is saved, and use convenience of the virtual runway is improved.

in one possible implementation, the processor is further configured to:

generating a vehicle control command at least according to the first position information;

and sending the vehicle control instruction to the target vehicle, so that the target vehicle runs in the virtual runway according to the vehicle control instruction.

In one possible implementation manner, the determining first position information of the target vehicle in the virtual runway according to the target image includes:

Determining the offset of the target vehicle from the lane center line in the virtual runway according to the target image;

and generating the first position information according to the offset.

Determining an image within a preset range in the traveling direction of the target vehicle according to the target image;

and generating the first position information according to the image in the preset range.

In one possible implementation, the system further includes a target vehicle for traveling in a virtual runway according to at least the first location information.

In one possible implementation, the first position information includes an offset amount of the target vehicle from a lane center line in the virtual runway or an image within a preset range in a traveling direction of the target vehicle.

In one possible implementation, the target vehicle is specifically configured to:

Determining a running path of the target vehicle according to the offset;

or determining the running path of the target vehicle according to the image within the preset range in the running direction of the target vehicle.

according to an aspect of the present disclosure, there is provided a vehicle control method including:

Receiving first position information of the target vehicle sent by a vehicle positioning system;

Determining a running path of the target vehicle in a virtual runway according to the first position information;

And controlling the target vehicle to travel according to the travel path.

In one possible implementation, determining a driving path of the target vehicle in the virtual runway according to the first position information includes:

Determining the offset of a target vehicle from the center line of the lane in the virtual runway according to the first position information;

and determining the running path of the target vehicle according to the offset.

determining an image within a preset range in the traveling direction of the target vehicle according to the first position information;

And determining the running path of the target vehicle according to the image in the preset range.

In one possible implementation, the method further includes:

Receiving a vehicle control instruction sent by the vehicle positioning system;

And controlling the target vehicle to run according to the vehicle control command.

in one possible implementation, the method further includes:

Receiving second position information of the obstacle sent by the vehicle positioning system;

Determining a running path of the target vehicle in a virtual runway according to the first position information and the second position information;

and controlling the target vehicle to travel according to the travel path.

According to an aspect of the present disclosure, there is provided a vehicle positioning method including:

determining first position information of a target vehicle in a virtual runway according to a target image, wherein the virtual runway is a runway displayed by a virtual runway display device, and the target image is an image of the target vehicle running in the virtual runway, which is acquired by an image acquisition device;

In one possible implementation, the method further includes:

Transmitting the second location information to the target vehicle such that the target vehicle travels in the runway pattern according to the first location information and the second location information.

In one possible implementation, the method further includes:

acquiring a site image of a site for displaying a virtual runway through the virtual runway displaying device;

in one possible implementation, the method further includes:

Acquiring site information and the size of a target vehicle;

In one possible implementation, the method further includes:

sending the vehicle control instruction to the target vehicle so that the target vehicle travels in the runway pattern according to the vehicle control instruction.

in one possible implementation, determining first position information of the target vehicle in the virtual runway according to the target image includes:

And generating the first position information according to the offset.

according to an aspect of the present disclosure, there is provided a vehicle control apparatus including:

The first receiving module is used for receiving first position information of the target vehicle sent by a vehicle positioning system;

the first determining module is used for determining a running path of the target vehicle in the virtual runway according to the first position information;

And the first running module is used for controlling the target vehicle to run according to the running path.

in one possible implementation, the first determining module is further configured to:

and determining the running path of the target vehicle according to the offset.

in one possible implementation, the apparatus further includes:

The second receiving module is used for receiving the vehicle control instruction sent by the vehicle positioning system;

And the control module is used for controlling the target vehicle to run according to the vehicle control instruction.

in one possible implementation, the apparatus further includes:

The third receiving module is used for receiving second position information of the obstacle sent by the vehicle positioning system;

the second determining module is used for determining a running path of the target vehicle in the virtual runway according to the first position information and the second position information;

And the second running module is used for controlling the target vehicle to run according to the running path.

according to an aspect of the present disclosure, there is provided an electronic device including:

A processor;

a memory for storing processor-executable instructions;

Wherein the processor is configured to: the above method is performed.

according to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 shows a block diagram of a vehicle positioning system according to an embodiment of the present disclosure;

fig. 2 shows a schematic diagram of a virtual runway according to an embodiment of the disclosure;

FIG. 3 shows a flow chart of a vehicle control method according to an embodiment of the disclosure;

FIG. 4 shows a schematic diagram of an application of a vehicle localization system according to an embodiment of the present disclosure;

FIG. 5 shows a flow chart of a vehicle localization method according to an embodiment of the present disclosure;

Fig. 6 shows a block diagram of a vehicle control apparatus according to an embodiment of the present disclosure;

FIG. 7 shows a block diagram of an electronic device according to an embodiment of the disclosure;

fig. 8 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

fig. 1 shows a block diagram of a vehicle positioning system according to an embodiment of the present disclosure, as shown in fig. 1, the system comprising: a virtual runway showing device 11, an image acquisition device 12 and a processor 13,

the virtual runway exhibiting device 11 is used for exhibiting a virtual runway;

the image acquisition device 12 is positioned above the virtual runway and used for acquiring a target image in the process that a target vehicle runs in the virtual runway;

the processor 13 is connected to or built in the image acquisition device, and is configured to:

The first location information is sent to the target vehicle such that the target vehicle travels in the virtual runway according to the first location information.

In a possible implementation manner, the Processor 13 may be a single chip, a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or other operation devices, and the disclosure does not limit the type of the vehicle controller.

In one possible implementation, the virtual runway exhibiting device 11 may exhibit a pattern of a virtual runway. For example, the virtual runway exhibiting device 11 may be a display device that displays a pattern of the virtual runway. For example, the virtual runway exhibiting device 11 includes an augmented reality AR (augmented reality) device for exhibiting the virtual runway in an augmented reality AR interface. As another example, the virtual runway exhibiting device 11 includes a projection device for projecting the pattern of the virtual runway. The projection means may comprise a projector for projecting the pattern of the virtual runway onto the projection plane, or a projector and a projection plane. For example, a virtual runway pattern may be stored in the projector, and the projection plane may be a projection screen or a real field, and may be used to show the projector projected pattern, i.e., to show the virtual runway pattern.

Fig. 2 illustrates a schematic view of a virtual runway according to an embodiment of the present disclosure, and as shown in fig. 2, the virtual runway exhibiting apparatus 11 may exhibit a virtual runway, for example, the runway 20 in fig. 2, on an exhibiting plane, the virtual runway may be a pattern of the virtual runway projected on a projection plane by a projector, and a target vehicle may run on the virtual runway.

in one possible implementation, the virtual runway exhibiting device 11 is further configured to determine a size of the virtual runway according to a size of the target vehicle, the size of the target vehicle including a width of the target vehicle, and the size of the virtual runway including a width of the runway. In an example, the target vehicle is a vehicle model having a width of 20cm, and the virtual runway exhibiting device 11 may adaptively determine the width of the runway according to the width of the target vehicle, for example, the virtual runway may be a two-lane runway, the width of each lane may be greater than the width of the target vehicle, for example, 30cm, and the width of the virtual runway is 60 cm. The present disclosure does not limit the width of the target vehicle and the width of the virtual runway.

In one possible implementation, the size of the target vehicle may further include the length of the target vehicle, and the size of the virtual runway may further include the turning radius of a curve in the virtual runway, for example, if the length of the target vehicle is long and the turning radius of the curve in the virtual runway is small, the target vehicle may not pass through the curve, and therefore the virtual runway exhibiting device 11 may set the turning radius of the curve according to the length of the target vehicle, so that the target vehicle may pass through the curve. The size of the target vehicle may further include a height of the target vehicle, the size of the virtual runway may further include a total length of the virtual runway, and the like, and the size of the target vehicle and the size of the virtual runway are not limited by the present disclosure.

In one possible implementation, the virtual runway exhibiting device 11 is configured to: acquiring a site image of a site for displaying a virtual runway; acquiring field information according to the field image, wherein the field information comprises the size of the field; and determining the size of the virtual runway and the pattern of the virtual runway according to the site information and the size of the target vehicle.

in one possible implementation, the image capturing device 12 may capture a venue image and transmit the venue image to the virtual runway exhibiting device 11, or a user may input the venue image or venue information into the virtual runway exhibiting device 11. After obtaining the venue image or the venue information, the virtual runway exhibiting device 11 may obtain the venue information, such as the size of the venue. The size of the field may be used as a basis for the size of the virtual runway, and if the field size is large, i.e., the field is wide, a larger-scale virtual runway may be used, for example, a virtual runway having a more complex runway route and/or a longer overall route length. Instead, a smaller scale virtual runway may be used.

In one possible implementation, the virtual runway exhibiting device 11 may determine the size and pattern of the virtual runway according to the site information and the size of the target vehicle. For example, the width of the target vehicle may be used as a basis for the track width, and after the track width is determined, the pattern of the virtual track may be selected according to the track size, for example, if the track width is large but the track size is small, only the virtual track with a simpler pattern and a smaller size may be used. The pattern of the virtual runway may be automatically generated by the virtual runway exhibiting device 11 or the processor 13 according to the site information, or may be a template pattern pre-stored in the virtual runway exhibiting device 11, or the virtual runway exhibiting device 11 or the processor 13 may be automatically generated according to the user-defined information (e.g., n curves, k obstacles, etc.) input by the user.

in one possible implementation, the process of determining the size and pattern of the virtual runway may be performed by the processor 13, the processor 13 being further configured to: acquiring site information and the size of a target vehicle; and determining the size of the virtual runway and the pattern of the virtual runway according to the site information and the size of the target vehicle, and sending the size and the pattern of the virtual runway to the virtual runway display device. The processor 13 may determine the size and pattern of the virtual runway in the same manner as the virtual runway showing device 11, and the description thereof is omitted.

in one possible implementation, the image capturing device 12 may include a camera, which may be located above the virtual runway and capture the virtual runway, and when the target vehicle travels in the virtual runway, the camera may capture a target image of the target vehicle traveling in the virtual runway. Wherein, the image acquisition device 12 and the virtual runway exhibiting device 11 will not be shielded from each other. For example, the display plane of the virtual runway display device 11 may be a horizontal plane, and the camera may be located above the display plane to photograph the complete virtual runway. For another example, the virtual runway exhibiting device 11 may include a projector and a projection plane, and a camera may be disposed near the projector to photograph the complete virtual runway projected on the projection plane by the projector. The present disclosure does not limit where the image acquisition device 12 is located.

in one possible implementation, the processor 13 may be connected to the camera 12, or the processor 13 may be built in the camera 12, and when the camera 12 captures a target image, the processor 13 may acquire the target image and process the target image. For example, the processor 13 may detect the target vehicle in the target image by a detection method such as a neural network, and determine first position information of the target vehicle in the virtual runway. In an example, the first location information may be a relative location of the target vehicle to a route of the virtual runway, e.g., the target vehicle is at a start of the virtual runway, the target vehicle is at a 1 st turn of the virtual runway, the target vehicle is at a 2 nd intersection of the virtual runway, the target vehicle is at an end of the virtual runway, etc., and the disclosure is not limited to the first location information. In another example, the first position information may be relative position information such as an offset amount of the target vehicle from a center line of the lane, or image information such as an image (which may include the target vehicle) of a preset range (for example, within 2 meters) in a traveling direction of the target vehicle.

In one possible implementation, the processor 13 may determine first position information of the target vehicle in the virtual runway according to the target image, and this step may include: determining the offset of the target vehicle from the lane center line in the virtual runway according to the target image; and generating the first position information according to the offset.

in one possible implementation, the processor 13 may use the first location information to cause the target vehicle to travel on a lane of the virtual runway. For example, the target vehicle may travel forward, if the virtual runway curves, the target vehicle may be shifted from the lane of the virtual runway, that is, if the target vehicle travels straight ahead, the target vehicle may not be kept in the lane, and the processor 13 may calculate first position information, that is, an offset amount of the center of the target vehicle from the lane center line, based on a positional relationship between the target vehicle and the lane center line in the target image, and transmit the first position information to the target vehicle, so that the target vehicle calculates a traveling direction, a traveling speed, a traveling path, or the like based on the offset amount, and controls the target vehicle to travel, thereby keeping the target vehicle traveling in the lane.

In one possible implementation, the processor 13 may determine first position information of the target vehicle in the virtual runway according to the target image, and this step may include: determining an image within a preset range in the traveling direction of the target vehicle according to the target image; and generating the first position information according to the image in the preset range.

In one possible implementation, the processor 13 may use the first location information to cause the target vehicle to travel along a lane of the virtual runway. The first position information may represent a position image of the target vehicle in the virtual runway, and for example, the processor 13 sends an image (e.g., at least a partial image including the target vehicle) within a preset range (e.g., within 3 meters) in the traveling direction of the target vehicle as the first position information to the target vehicle. After receiving the image in the preset range, the target vehicle can plan a path according to the image and control the target vehicle to run along the planned path, namely, the target vehicle can run along a lane of the virtual runway.

In one possible implementation, the first position information can also be directly a vehicle control command, for example a vehicle control command containing information about the next position of the vehicle. For example, the processor 13 may locate the position of the target vehicle according to the target image acquired in real time, then calculate the relative position offset of the target vehicle on the virtual runway according to the pattern of the virtual runway, directly generate a vehicle control instruction, such as an instruction including at least one of the vehicle traveling direction, speed, route, next position information, and send the instruction to the target vehicle, so that the target vehicle travels in the virtual runway according to the instruction.

in other embodiments, the information transmitted back to the target vehicle by the processor 13 can be freely combined according to the situation of the target vehicle and the actual demand.

in one possible implementation, the system further includes a target vehicle for traveling in the virtual runway based at least on the first location information. For example, the first position information includes an offset amount of the target vehicle from a center line of the lane or an image within a preset range in a traveling direction of the target vehicle, and the target vehicle may generate a control command according to the first position information to control the target vehicle to travel within the lane of the virtual runway.

In one possible implementation, the target vehicle is specifically configured to: determining a running path of the target vehicle according to the offset; or determining the running path of the target vehicle according to the image within the preset range in the running direction of the target vehicle.

in one possible implementation, the target vehicle may determine the travel path of the target vehicle according to the offset of the target vehicle from the center line of the lane, for example, the target vehicle calculates the travel direction, the travel speed, or the travel path according to the offset, that is, the target vehicle is steered or the like, the offset is reduced, and the body of the target vehicle is kept in the lane.

In one possible implementation, the target vehicle may determine a driving path according to an image within a preset range in the traveling direction of the target vehicle, for example, the target vehicle may perform path planning according to a pattern of a virtual runway in the image, so that the path of the target vehicle coincides with the pattern of the virtual runway, that is, the target vehicle is driven in the virtual runway.

in one possible implementation, obstacles may also be provided in the virtual runway, for example, obstacles may be placed on the display plane, or a pattern of obstacles may be provided in the pattern of the virtual runway. The processor 13 may also detect the position of an obstacle and send it to the target vehicle so that the target vehicle may avoid the obstacle.

in one possible implementation, the processor 13 is further configured to: acquiring second position information of the obstacle according to the target image; the second position information is transmitted to the target vehicle 21 so that the target vehicle 21 travels in the virtual runway according to the first position information and the second position information.

In one possible implementation, the second position information may be position coordinates of the obstacle in the virtual runway, the first position information may be position coordinates of the target vehicle in the virtual runway, and the target vehicle, after receiving the first position information and the second position information, may locate a relative position relationship between the target vehicle and the obstacle according to the first position information and the second position information, so that a control instruction may be generated, for example, to generate an avoidance route and control the target vehicle to travel along the avoidance route so that the target vehicle avoids the obstacle and travels within a lane of the virtual runway.

In one possible implementation, the second location information of the obstacle may be a relative location of the obstacle to a route of the virtual runway, e.g., the obstacle is at a 1 st turn of the virtual runway, the obstacle is at a 2 nd crossing of the virtual runway, etc. In addition, the second position information of the obstacle may also include information of a lane in which the obstacle is located and size information of the obstacle, or the second position information of the obstacle may also be directly the relative position of the target vehicle and the obstacle. The target vehicle can position the obstacle using the second position information, thereby controlling the target vehicle to avoid the obstacle.

in one possible implementation, the processor 13 may detect an obstacle in the target image through a detection method such as a neural network, and determine second position information of the obstacle, and further, may transmit the second position information to the target vehicle. The vehicle controller of the target vehicle may receive the second position information, determine a travel path based on the first position information and the second position information, and travel according to the travel path. In an example, the vehicle controller may determine the travel path according to the first position information when the target vehicle is far from the obstacle, for example, may determine the travel path of the target vehicle in the virtual runway according to a route of the virtual runway, and may determine the travel path according to the second position information when the target vehicle is close to the obstacle, for example, the virtual runway has two lanes on one of which the obstacle is located, and then the vehicle controller may determine to cause the target vehicle to travel to the other lane to avoid the obstacle, and after avoiding the obstacle, to cause the target vehicle to travel back to the travel path of the original lane, and the target vehicle travels to the path to avoid the obstacle on the other lane.

in another example, the vehicle controller may determine the travel path based on the first location information and the second location information at the same time, for example, the virtual runway may have a split road therein, the split road may include two or more roads, an obstacle may be disposed on one of the roads, the vehicle controller may determine a road on which the obstacle is located based on the second location information, determine a travel path avoiding the road, and determine a travel path entering the other road based on the first location information, the target vehicle travels along the path, and then the obstacle-free road may be selected for travel while avoiding the obstacle on the road without the obstacle. The present disclosure does not limit the manner of determining the travel path.

In one possible implementation, the process of controlling the target vehicle may be performed by the processor 13, that is, the processor 13 may remotely control the target vehicle to travel according to the first position information, or the first position information and the second position information, and the like. The processor 13 is further configured to: generating a vehicle control command at least according to the first position information; and sending the vehicle control instruction to the target vehicle, so that the target vehicle runs in the virtual runway according to the vehicle control instruction. In an example, the processor 13 may calculate an offset of the target vehicle from a center line of the lane in the virtual runway, determine a traveling direction of the target vehicle according to the offset, and may generate a vehicle control instruction to control the target vehicle to travel in the lane according to the traveling direction. In an example, the processor 13 may plan a route within a preset distance in the traveling direction of the target vehicle according to an image within a preset range in the traveling direction of the target vehicle, and generate a vehicle control instruction for causing the target vehicle to travel along the route to control the target vehicle to travel in a lane along the route. In an example, the processor 13 may also determine second position information of the obstacle and generate a vehicle control instruction according to the first position information and the second position information to control the target vehicle to avoid the obstacle and to travel in a lane without the obstacle. The present disclosure is not limited as to the manner in which the processor 13 controls the target vehicle.

the present disclosure also provides a vehicle control method, where an execution subject of the method may be a vehicle control device, such as a terminal, a remote control device, a server, an intelligent vehicle, and the like, and the method may also be executed by a processor running a computer executable code.

fig. 3 shows a flowchart of a vehicle control method according to an embodiment of the disclosure, and as shown in fig. 3, the method is applied to a vehicle controller, which may be disposed on a target vehicle or remotely connected (e.g., connected by wire or wirelessly) with the target vehicle. The method comprises the following steps:

in step S11, first position information sent by the vehicle positioning system is received;

In step S12, determining a travel path of the target vehicle in a virtual runway according to the first position information;

In step S13, the target vehicle is controlled to travel along the travel route.

The vehicle positioning system may refer to the vehicle positioning system described in the embodiments of the present disclosure, and details thereof are not repeated herein.

in a possible implementation manner, the vehicle controller may be a single chip, a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), a Central Processing Unit (CPU), or other computing devices, and the disclosure does not limit the type of the vehicle controller.

in one possible implementation, in step S11, the target vehicle may receive the first location information sent by the vehicle positioning system.

In one possible implementation, in step S12, the target vehicle may determine the travel path according to the first position information.

in an example, the first position information includes an offset of the target vehicle from a center line of the lane, and the step S12 may include: determining the offset of a target vehicle from the center line of the lane in the virtual runway according to the first position information; and determining the running path of the target vehicle according to the offset. For example, the vehicle controller may acquire the offset amount based on the first position information, determine the magnitude of the left or right turn of the target vehicle based on the lane offset amount, and perform corresponding control, for example, may control the target vehicle to travel in a direction that reduces the offset amount by steering, keep the target vehicle in the lane, or directly determine the travel path of the target vehicle.

in an example, the first position information includes an image within a preset range in the traveling direction of the target vehicle, and the step S12 may include: determining an image within a preset range in the traveling direction of a target vehicle according to the first position information, such as a route of the virtual runway within a preset distance in the traveling direction of the target vehicle; and determining the running path of the target vehicle according to the image in the preset range. For example, the target vehicle may perform path planning according to a pattern of a virtual runway in the image, so that the path of the target vehicle coincides with the pattern of the virtual runway, i.e., the target vehicle is caused to travel in the virtual runway.

in one possible implementation, in step S13, the target vehicle may travel along a travel path, for example, the vehicle controller may control a powertrain and a steering system of the target vehicle to cause the target vehicle to travel along the travel path, for example, to pass through a left-turn curve when traveling along a left-turn travel route.

in one possible implementation, the method further includes: receiving second position information of the obstacle sent by the vehicle positioning system; determining a running path of the target vehicle in a virtual runway according to the first position information and the second position information; and controlling the target vehicle to travel according to the travel path.

In an example, the vehicle controller may determine a travel path of the target vehicle according to the first position information and the second position information of the obstacle, and determine a travel path that may avoid the obstacle and travel in a lane without the obstacle. And controlling a power system and a steering system of the target vehicle to enable the target vehicle to run according to the running path.

in one possible implementation, the method further includes: receiving a vehicle control instruction sent by the vehicle positioning system; and controlling the target vehicle to run according to the vehicle control command. For example, the target vehicle only needs to receive remote control of the processor 13 in the vehicle positioning system to travel along the travel path.

According to the vehicle positioning system disclosed by the embodiment of the disclosure, the virtual runway can be displayed through the virtual runway display device, a plurality of runways can be designed for the target vehicle, the size of the virtual runway is adapted to the size of the target vehicle, if the target vehicle is replaced, the size of the virtual runway can be conveniently adjusted, a new runway does not need to be purchased or built again, the cost of the runway is reduced, and the flexibility of a runway route is improved. Further, the processor can determine first position information of the target vehicle according to a target image of the target vehicle running in the virtual runway, so that the target vehicle can determine the position of the target vehicle in the runway in real time, further accurately run in the virtual runway, and the target vehicle has the capability of avoiding obstacles through the second position information, and the performance of the target vehicle is improved. In addition, the target vehicle does not need to be recorded and adapted to the virtual runway, and the operation of the target vehicle in the running process is simplified.

Fig. 4 is a schematic diagram illustrating an application of a vehicle positioning system according to an embodiment of the present disclosure, and as shown in fig. 4, the vehicle positioning system may include a virtual runway exhibiting device, an image acquiring device, and a processor, wherein the virtual runway exhibiting device includes a projector, a pattern of a virtual runway may be stored in the projector, and the projection plane may be a projection curtain or a real field, and may be used to exhibit the pattern of the virtual runway projected by the projector. Further, the size of the virtual runway can be adjusted by adjusting the distance between the projector and the projection plane, so that the width of the virtual runway is adapted to the width of the target vehicle. For example, the target vehicle may have a width of 20cm, the virtual runway may be a two-lane runway, and the width of each lane may be greater than the width of the target vehicle, for example, the width of each lane is 30cm and the width of the virtual runway is 60 cm.

In a possible implementation manner, the image acquisition device may include a camera, which may be disposed below or adjacent to the projector, and may capture an image of the complete virtual runway at a position that does not obstruct the projector from each other. When the target vehicle runs in the virtual runway, the camera can shoot a target image of the target vehicle running in the virtual runway in real time and can send the target image to the processor, and the processor can determine first position information of the target vehicle in the virtual runway in real time according to the target image, such as the offset of the target vehicle in the virtual runway from the center line of the lane or an image within a preset range in the running direction of the target vehicle, and send the first position information to the target vehicle in real time, so that the target vehicle can determine a running path in real time by using the first position information.

In one possible implementation, the processor may detect the target vehicle in the target image through a detection method such as a neural network, and determine first position information of the target vehicle in the virtual runway, for example, a relative position of the target vehicle and a route of the virtual runway, and the vehicle controller of the target vehicle may determine the route of the virtual runway according to the relative position, and further determine a driving path of the target vehicle, for example, the driving path of the vehicle is determined as a turning path if the target vehicle is at a turn of the virtual runway, that is, if the route of the virtual runway is a turning route. Further, the vehicle controller may control the power system, the steering system, and the like of the target vehicle such that the target vehicle travels in accordance with the travel path, for example, may travel through a curve in accordance with the travel path.

in one possible implementation, obstacles may also be provided in the virtual runway, for example, obstacles may be placed on the display plane, or a pattern of obstacles may be provided in the pattern of the virtual runway. The processor may detect first position information of the target vehicle and second position information of the obstacle in the target image and transmit the first position information and the second position information to a vehicle controller of the target vehicle, and the vehicle controller may determine a travel path that may avoid the obstacle according to the first position information and the second position information.

in an example, the virtual runway may have two lanes, the obstacle may be disposed on one lane of the virtual runway, the vehicle controller may travel along the lane according to the first position information when the vehicle controller determines that the target vehicle is far from the obstacle according to the second position information, the target vehicle may travel onto another lane to avoid the obstacle when the vehicle controller determines that the target vehicle is near the obstacle according to the second position information, and the target vehicle may travel back to the original lane after avoiding the obstacle. In another example, the virtual runway may have a bifurcation in it, the bifurcation may include two or more roads, the obstacle may be disposed on one of the roads, and the vehicle controller may determine the road on which the obstacle is located according to the second location information and drive to the other road to avoid the obstacle according to the first location information.

in a possible implementation mode, the vehicle positioning system can be used in the fields of vehicle model competition or teaching and the like, the time and the cost for building a track can be saved, the target vehicle does not need to be recorded and adapted to a virtual track, and the operation of the target vehicle in the driving process is simplified. The present disclosure is not limited to the field of application of vehicle positioning systems.

fig. 5 shows a flowchart of a vehicle positioning method according to an embodiment of the present disclosure, an execution subject of the vehicle positioning method may be a vehicle positioning apparatus, such as the vehicle positioning system of the present disclosure, or a processor in the vehicle positioning system, or a terminal, a remote control device, a server, or the like, and the method may also be executed by the processor running computer executable codes.

As shown in fig. 5, the method includes:

In step S21, determining first position information of a target vehicle in a virtual runway according to a target image, where the virtual runway is a runway displayed by a virtual runway display device, and the target image is an image of the target vehicle driving in the virtual runway acquired by an image acquisition device;

in step S22, the first position information is transmitted to the target vehicle so that the target vehicle travels in the virtual runway according to the first position information.

in one possible implementation, the method further includes:

Acquiring site information and the size of a target vehicle;

In one possible implementation, the method further includes:

and generating the first position information according to the offset.

fig. 6 shows a block diagram of a vehicle control apparatus according to an embodiment of the present disclosure, which includes, as shown in fig. 6:

The first receiving module 11 is used for receiving first position information of the target vehicle sent by a vehicle positioning system;

A first determining module 12, configured to determine a driving path of the target vehicle in the virtual runway according to the first location information;

and the first running module 13 is used for controlling the target vehicle to run according to the running path.

and determining the running path of the target vehicle according to the offset.

In one possible implementation, the apparatus further includes:

it is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and for specific implementation, reference may be made to the description of the above method embodiments, and for brevity, details are not described here again

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

the embodiments of the present disclosure also provide a computer program product, which includes computer readable code, and when the computer readable code runs on a device, a processor in the device executes instructions for implementing the picture search method provided in any of the above embodiments.

the embodiments of the present disclosure also provide another computer program product for storing computer readable instructions, which when executed, cause a computer to perform the operations of the picture searching method provided in any of the above embodiments.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured as the above method.

The electronic device may be provided as a terminal, server, or other form of device.

Fig. 7 is a block diagram illustrating an electronic device 800 in accordance with an example embodiment. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 7, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

the processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

the multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

fig. 8 is a block diagram illustrating an electronic device 1900 in accordance with an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 8, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.

the electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.

the present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

the computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. a vehicle positioning system, comprising: a virtual runway exhibiting device, an image acquiring device and a processor,

The virtual runway display device is used for displaying a virtual runway;

2. the system of claim 1, wherein the processor is further configured to:

3. the system according to claim 1 or 2, wherein the virtual runway exhibiting device comprises a projection device for projecting the pattern of the virtual runway.

4. The system of claim 3, wherein the projection device comprises a projector and a projection plane, the projector for projecting the pattern of the virtual runway onto the projection plane.

5. the system of any one of claims 1-4, wherein the virtual runway exhibiting device comprises an augmented reality device configured to exhibit a virtual runway in an augmented reality interface.

6. A vehicle control method, characterized by comprising:

and controlling the target vehicle to travel according to the travel path.

7. A vehicle positioning method, characterized by comprising:

8. A vehicle control apparatus, characterized in that the apparatus comprises:

9. an electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

Wherein the processor is configured to: performing the method of any one of claims 6 to 7.

10. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 6 to 7.