CN110736475A - Positioning optimization method and system based on vehicle-mounted camera device, storage medium and vehicle-mounted terminal - Google Patents
Positioning optimization method and system based on vehicle-mounted camera device, storage medium and vehicle-mounted terminal Download PDFInfo
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- CN110736475A CN110736475A CN201810795854.1A CN201810795854A CN110736475A CN 110736475 A CN110736475 A CN 110736475A CN 201810795854 A CN201810795854 A CN 201810795854A CN 110736475 A CN110736475 A CN 110736475A
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01C21/265—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network constructional aspects of navigation devices, e.g. housings, mountings, displays
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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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
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
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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
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
Abstract
The invention provides positioning optimization methods, systems, storage media and vehicle-mounted terminals based on a vehicle-mounted camera device, which comprise the following steps of obtaining real-time road condition images obtained by the vehicle-mounted camera device, obtaining road information of a current driving road according to the real-time road condition images, and obtaining vehicle real-time position information according to the road information, the vehicle positioning information and electronic map data.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to positioning optimization methods and systems based on a vehicle-mounted camera device, a storage medium and a vehicle-mounted terminal.
Background
Electronic maps (digital maps) are maps that are stored and referred to digitally using computer technology methods for storing information, , typically using vector-based image storage, where the map scale can be enlarged, reduced or rotated without affecting the display.
In the prior art, vehicle-mounted navigation equipment utilizes a vehicle-mounted GPS (global positioning system) to cooperate with an electronic map for positioning and navigation, can know the exact position of a vehicle at any time and any place when the vehicle is driven, and can conveniently and accurately tell a driver the shortest or fastest route to a destination.
However, the following problems are common to the existing car navigation:
(1) the situation of inaccurate positioning often occurs due to GPS drift, Measurement misalignment of an Inertial Measurement Unit (IMU) and the like, so that matching errors of parallel roads are caused;
(2) the actual driving track and the planned path are not due to map data loss, map data error or map data error, so that the vehicle can not be accurately positioned;
(3) when a road is closed due to maintenance and other reasons, road state change information cannot be acquired in real time, so that the route is not timely reminded, and inconvenience is brought to a driver.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide positioning optimization methods, systems, storage media and vehicle terminals based on a vehicle-mounted camera device, which further optimize the positioning information of the vehicle steps according to the real-time traffic information acquired by the vehicle-mounted camera device, thereby achieving more accurate vehicle positioning.
In order to achieve the above objects and other related objects, the present invention provides positioning optimization methods based on a vehicle-mounted camera device, comprising the steps of obtaining a real-time traffic image obtained by the vehicle-mounted camera device, obtaining road information of a current driving road according to the real-time traffic image, and obtaining real-time position information of a vehicle according to the road information, vehicle positioning information and electronic map data.
In the embodiment of the invention, the road information includes or more combinations of the number of lanes on the current driving road, the current lane on which the vehicle is located, whether the current driving road is an elevated road or a ground road, and the number of vehicles in the field of view.
In the embodiment of the present invention, the method further includes obtaining traffic information of a current driving road according to the real-time traffic image, screening the traffic information to generate traffic notification information, and sending the traffic notification information.
Correspondingly, the invention provides positioning optimization systems based on vehicle-mounted camera devices, which comprise a acquisition module, a second acquisition module and a third acquisition module;
the th acquisition module is used for acquiring a real-time road condition image acquired by the vehicle-mounted camera device;
the second acquisition module is used for acquiring the road information of the current driving road according to the real-time road condition image;
the third acquisition module is used for acquiring the real-time position information of the vehicle according to the road information, the vehicle positioning information and the electronic map data.
In the embodiment of the invention, the road information includes or more combinations of the number of lanes on the current driving road, the current lane on which the vehicle is located, whether the current driving road is an elevated road or a ground road, and the number of vehicles in the field of view.
In the embodiment of the present invention, the system further includes an obtaining processing module, configured to obtain road condition information of a current driving road according to the real-time road condition image, filter the road condition information to generate road condition notification information, and send the road condition notification information.
The present invention provides storage media having stored thereon a computer program that, when executed by a processor, implements the above-described method for positioning optimization based on an in-vehicle imaging apparatus.
In addition, the invention provides kinds of vehicle terminals, including communicator, processor and memorizer;
the communicator is used for acquiring a real-time road condition image obtained by the vehicle-mounted camera device;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory so as to enable the vehicle-mounted terminal to execute the positioning optimization method based on the vehicle-mounted camera device.
Finally, the invention provides positioning optimization systems based on vehicle-mounted camera devices, which comprise the vehicle-mounted terminal and the vehicle-mounted camera devices;
the vehicle-mounted camera device is connected with the vehicle-mounted terminal and used for acquiring real-time road condition images and sending the real-time road condition images to the vehicle-mounted terminal.
In the embodiment of the present invention, the vehicle-mounted camera device is a car recorder or a camera.
As described above, the positioning optimization method, system, storage medium and vehicle-mounted terminal based on the vehicle-mounted camera device of the present invention have the following beneficial effects:
(1) , optimizing the positioning information of the vehicle according to the real-time road condition information acquired by the vehicle-mounted camera device;
(2) the vehicle positioning system realizes more accurate vehicle positioning and avoids the problems of wrong parallel road matching, untimely road state reminding and the like;
(3) user experience is greatly improved.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for optimizing positioning based on a vehicle-mounted camera device according to the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the positioning optimization system based on an onboard camera device according to the present invention;
FIG. 3 is a block diagram of an embodiment of the vehicle terminal according to the invention;
fig. 4 is a schematic structural diagram of another embodiment of the positioning optimization system based on the vehicle-mounted camera device according to the present invention.
Description of the element reference numerals
21 st acquisition module
22 second acquisition module
23 third acquisition module
31 communicator
32 processor
33 memory
41 vehicle-mounted terminal
42 vehicle-mounted image pickup device
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation can be random changes, and the layout of the components may be more complicated.
According to the positioning optimization method, the positioning optimization system, the storage medium and the vehicle-mounted terminal based on the vehicle-mounted camera device, the positioning information of the vehicle is further optimized steps through the real-time road condition information acquired by the vehicle-mounted camera device, so that more accurate vehicle positioning is realized, and the problems of matching errors of parallel roads, untimely road state reminding and the like are solved.
As shown in fig. 1, in an embodiment, a positioning optimization method based on a vehicle-mounted camera device of the present invention includes the following steps:
and step S1, acquiring a real-time road condition image obtained by the vehicle-mounted camera device.
Specifically, vehicle-mounted camera devices such as a driving recorder or a vehicle-mounted camera acquire real-time road condition images and send the real-time road condition images to the vehicle-mounted terminal. Preferably, the in-vehicle terminal and the in-vehicle imaging device communicate image data by wire or wirelessly.
And step S2, acquiring road information of the current driving road according to the real-time road condition image.
Specifically, the vehicle-mounted terminal performs image recognition on the real-time road condition image to acquire road information of a current driving road, wherein the image recognition refers to a technology of processing, analyzing and understanding the image by using a computer to recognize targets and objects in various different modes, and in -like industrial use, an industrial camera is adopted to shoot a picture, and then software is used for -step recognition processing according to a picture gray level difference.
In the embodiment of the invention, the road information comprises or more combinations of the number of lanes of the current driving road, the current lane of the vehicle, whether the current driving road is an elevated road or a ground road, and the number of vehicles in the visual field, therefore, the vehicle positioning can be more accurately realized by acquiring the road information of the current driving road of the vehicle.
And step S3, acquiring real-time vehicle position information according to the road information, the vehicle positioning information and the electronic map data.
For example, when the vehicle runs on an elevated road section, the vehicle can be accurately known to be on the elevated road or the ground road according to the road information, and the advancing direction of the vehicle can be accurately known.
In the embodiment of the present invention, the positioning optimization method based on the vehicle-mounted camera further includes obtaining road condition information of a current driving road according to the real-time road condition image, and screening the road condition information to generate road condition notification information, and sending the road condition notification information.
As shown in fig. 2, in , the positioning optimization system based on the vehicle-mounted camera device of the present invention includes a acquisition module 21, a second acquisition module 22, and a third acquisition module 23.
The th acquisition module 21 is used for acquiring the real-time road condition image obtained by the vehicle-mounted camera device.
Specifically, vehicle-mounted camera devices such as a driving recorder or a vehicle-mounted camera acquire real-time road condition images and send the real-time road condition images to the vehicle-mounted terminal. Preferably, the in-vehicle terminal and the in-vehicle imaging device communicate image data by wire or wirelessly.
The second obtaining module 22 is connected to the th obtaining module 21, and is configured to obtain road information of a current driving road according to the real-time road condition image.
Specifically, the vehicle-mounted terminal performs image recognition on the real-time road condition image to acquire road information of a current driving road, wherein the image recognition refers to a technology of processing, analyzing and understanding the image by using a computer to recognize targets and objects in various different modes, and in -like industrial use, an industrial camera is adopted to shoot a picture, and then software is used for -step recognition processing according to a picture gray level difference.
In the embodiment of the invention, the road information comprises or more combinations of the number of lanes of the current driving road, the current lane of the vehicle, whether the current driving road is an elevated road or a ground road, and the number of vehicles in the visual field, therefore, the vehicle positioning can be more accurately realized by acquiring the road information of the current driving road of the vehicle.
The third obtaining module 23 is connected to the second obtaining module 22, and is configured to obtain real-time location information of the vehicle according to the road information, the vehicle positioning information, and the electronic map data.
For example, when the vehicle runs on an elevated road section, the vehicle can be accurately known to be on the elevated road or the ground road according to the road information, and the advancing direction of the vehicle can be accurately known.
In the embodiment of the present invention, the positioning optimization system based on the vehicle-mounted camera further includes an obtaining processing module, configured to obtain road condition information of a current driving road according to the real-time road condition image, filter the road condition information to generate road condition notification information, and send the road condition notification information.
It should be noted that the division of each module of the above system is merely a division of logic functions, and all or part of the modules may be integrated into physical entities or physically separated when actually implemented, and all the modules may be implemented in the form of software called by a processing element, or all the modules may be implemented in the form of hardware, or part of the modules may be implemented in the form of software called by a processing element, and part of the modules may be implemented in the form of hardware.
For example, these modules may be or more integrated circuits configured to implement the above method, such as or more specific integrated circuits (ASIC), or or more microprocessors (DSP), or or more Field Programmable Gate Arrays (FPGA), etc. further, when the above modules are implemented in the form of a processing element scheduler code, the processing element may be a general purpose processor, such as a Central Processing Unit (CPU) or other processor that can call up the program code.
The storage medium of the present invention stores thereon a computer program that, when executed by a processor, implements the above-described positioning optimization method based on an in-vehicle imaging apparatus. Preferably, the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
As shown in fig. 3, in the embodiment, the vehicle-mounted terminal of the invention includes a communicator 31, a processor 32 and a memory 33.
The communicator 31 is configured to acquire a real-time road condition image obtained by the vehicle-mounted camera device.
Specifically, the quick search communicator 31 acquires the real-time road condition image obtained by the vehicle-mounted camera device in a wired or wireless manner.
The memory 33 is used for storing a computer program.
Preferably, the memory 33 comprises: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The processor 32 is connected to the communicator 31 and the memory 33, and is configured to execute the computer program stored in the memory 33, so that the vehicle-mounted terminal executes the positioning optimization method based on the vehicle-mounted camera device.
Preferably, the processor 32 may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), etc., a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field programmable array (FPGA), or other programmable logic device, discrete , or a transistor logic device, discrete hardware components.
As shown in fig. 4, in an embodiment, the positioning optimization system based on the vehicle-mounted camera device of the present invention includes the vehicle-mounted terminal 41 and the vehicle-mounted camera device 42.
The vehicle-mounted camera 42 is connected with the vehicle-mounted terminal 41, and is used for acquiring a real-time road condition image and sending the real-time road condition image to the vehicle-mounted terminal.
In the embodiment of the present invention, the vehicle-mounted camera 42 is a car recorder or a camera.
In conclusion, the positioning optimization method, the positioning optimization system, the storage medium and the vehicle-mounted terminal based on the vehicle-mounted camera device further -step optimize the positioning information of the vehicle through the real-time road condition information acquired by the vehicle-mounted camera device, realize more accurate vehicle positioning, avoid the problems of parallel road matching errors, untimely road state reminding and the like, and greatly improve the user experience.
It will be appreciated by those skilled in the art that modifications and variations can be made to the disclosed embodiments without departing from the spirit and scope of the invention, and therefore, is equivalent to modifications and variations that would be apparent to those skilled in the art without departing from the spirit and scope of the invention as disclosed in the appended claims.
Claims (10)
1, positioning optimization method based on vehicle-mounted camera device, characterized by comprising the following steps:
acquiring a real-time road condition image obtained by a vehicle-mounted camera device;
acquiring road information of a current driving road according to the real-time road condition image;
and acquiring real-time position information of the vehicle according to the road information, the vehicle positioning information and the electronic map data.
2. The positioning optimization method based on the vehicle-mounted camera device is characterized in that the road information comprises or more combinations of the number of lanes of the current driving road, the current lane of the vehicle, whether the current driving road is an elevated road or a ground road, and the number of vehicles in the visual field.
3. The positioning optimization method based on the vehicle-mounted camera device according to claim 1, characterized in that: the method further comprises the steps of obtaining road condition information of a current driving road according to the real-time road condition image, screening the road condition information to generate road condition notification information, and sending the road condition notification information.
4, positioning optimization system based on vehicle-mounted camera device, which is characterized in that the system comprises a acquisition module, a second acquisition module and a third acquisition module;
the th acquisition module is used for acquiring a real-time road condition image acquired by the vehicle-mounted camera device;
the second acquisition module is used for acquiring the road information of the current driving road according to the real-time road condition image;
the third acquisition module is used for acquiring the real-time position information of the vehicle according to the road information, the vehicle positioning information and the electronic map data.
5. The vehicle-mounted camera device-based positioning optimization system according to claim 4, wherein the road information comprises or more combinations of the number of lanes of the current driving road, the current lane of the vehicle, whether the current driving road is an elevated road or a ground road, and the number of vehicles in the visual field.
6. The on-vehicle camera device-based positioning optimization system according to claim 4, wherein: the system further comprises an acquisition processing module, which is used for acquiring the road condition information of the current driving road according to the real-time road condition image, screening the road condition information to generate road condition notification information, and sending the road condition notification information.
Storage medium having stored thereon a computer program, characterized in that the program, when being executed by a processor, is adapted to carry out the method for optimizing a position based on an on-board camera device of any of claims 1 to 3.
8, kinds of vehicle terminals, which is characterized in that it includes a communicator, a processor and a memory;
the communicator is used for acquiring a real-time road condition image obtained by the vehicle-mounted camera device;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to enable the vehicle-mounted terminal to execute the vehicle-mounted camera device-based positioning optimization method according to any of claims 1 to 3.
9, positioning optimization system based on vehicle-mounted camera device, which is characterized in that it comprises the vehicle-mounted terminal and the vehicle-mounted camera device of claim 8;
the vehicle-mounted camera device is connected with the vehicle-mounted terminal and used for acquiring real-time road condition images and sending the real-time road condition images to the vehicle-mounted terminal.
10. The on-vehicle camera device-based positioning optimization system according to claim 9, wherein: the vehicle-mounted camera device adopts a vehicle event data recorder or a camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810795854.1A CN110736475A (en) | 2018-07-19 | 2018-07-19 | Positioning optimization method and system based on vehicle-mounted camera device, storage medium and vehicle-mounted terminal |
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| CN201810795854.1A CN110736475A (en) | 2018-07-19 | 2018-07-19 | Positioning optimization method and system based on vehicle-mounted camera device, storage medium and vehicle-mounted terminal |
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