CN111025365A - Method for assisting in high-precision positioning of vehicle by two adjacent street lamps - Google Patents
Method for assisting in high-precision positioning of vehicle by two adjacent street lamps Download PDFInfo
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- CN111025365A CN111025365A CN201911345208.6A CN201911345208A CN111025365A CN 111025365 A CN111025365 A CN 111025365A CN 201911345208 A CN201911345208 A CN 201911345208A CN 111025365 A CN111025365 A CN 111025365A
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- vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
Abstract
The invention discloses a method for assisting in high-precision positioning of a vehicle by two adjacent street lamps. The invention assumes that the exact location of each street lamp is known, and the distance between adjacent street lamps is known. Firstly, the vehicle obtains its own position estimation through satellite signals (GPS/GNSS signals); then, determining a street lamp closest to the vehicle in front of the vehicle by combining the vehicle position estimation and the known positions of all street lamps; next, photographing the street lamp by using a vehicle-mounted camera, and assuming that parameters of the camera are known; then, respectively measuring the height of the street lamp in the picture and the distance between the street lamp and the bisector of the picture, wherein the street lamp is close to the vehicle in front of the vehicle, and the street lamp is close to the vehicle in front of the vehicle; and finally, obtaining the accurate position of the vehicle according to the relative distance and the accurate position of the street lamp closest to the front of the vehicle, so as to realize high-precision positioning of the vehicle.
Description
Technical Field
The invention relates to a technology for positioning a vehicle with high precision, which can greatly reduce positioning errors caused by positioning by using satellite signals and belongs to the technical field of positioning of internet of vehicles.
Background
With the arrival of fifth generation mobile communications (5G), the internet of vehicles grew vigorously. The car networking realizes being connected of car and cloud platform, car and car, car and people, car and road etc. realizes intelligent driving, brings safe comfortable experience for the user. The positioning technology is one of key technologies of a vehicle network and is an important guarantee for driving safety in automatic driving.
The current Positioning technology mainly includes a GPS (Global Positioning System) Positioning technology, a Positioning technology of matching a laser point cloud with a high-precision map, a visual Positioning technology, an inertial navigation Positioning technology, and the like. The GPS positioning is easily influenced by multipath effect, and a large positioning error exists in a complex urban environment; the positioning technology of matching the light point cloud with the high-precision map collects point cloud information through a laser radar in advance to manufacture the high-precision map, and when a vehicle enters the environment again, high-precision positioning is realized through analysis and matching of the point cloud information, but the manufacture of the high-precision map needs to collect a large amount of information, and is difficult to manufacture and high in cost; the visual positioning technology is divided into a monocular visual positioning technology and a binocular visual positioning technology, the traditional monocular visual positioning technology needs to be combined with information from other vehicle sensors for accurate positioning, the binocular visual positioning technology needs to acquire double images, and the current visual positioning technology can realize lane-level positioning; the inertial navigation positioning technology predicts the position of an automobile accurately in a short time through a speed sensor, a moving direction and the like of the automobile, but positioning errors are accumulated continuously along with the time.
Disclosure of Invention
The invention aims to solve the problems and provides a method for assisting in positioning a vehicle with high precision by two adjacent street lamps.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for assisting in high-precision positioning of a vehicle by two adjacent street lamps comprises the following steps:
step 1), the vehicle obtains the position estimation of the vehicle through satellite signals (GPS/GNSS signals);
step 2), determining the street lamp closest to the vehicle in front of the vehicle by combining the vehicle position estimation and the known positions of the street lamps;
step 3), photographing the street lamp by using a vehicle-mounted camera, and assuming that all parameters of the camera are known;
step 4), respectively measuring the height of the street lamp which is in front of the vehicle and is close to the first street lamp and the second street lamp of the vehicle in the picture and the distance between the street lamp and the bisector of the picture, and calculating the relative distance between the vehicle and the street lamp which is in front of the vehicle and is closest to the vehicle by combining the street lamp distance, the picture size and the capturing angle of the camera;
and 5) obtaining the accurate position of the vehicle according to the relative distance between the vehicle and the street lamp closest to the vehicle in front of the vehicle and the accurate position of the street lamp closest to the vehicle in front of the vehicle, so as to realize high-precision positioning of the vehicle.
Has the advantages that:
1. the invention combines rough GPS position estimation and visual positioning, and uses two adjacent lamps to assist in high-precision positioning of the vehicle. The GPS position estimation is easy to obtain, the street lamps are widely distributed, the positions are fixed, and the vehicle can be positioned with high precision only by using a single image.
2. The method can greatly reduce the positioning error of positioning the vehicle by using the satellite signal and realize high-precision positioning of the vehicle;
3. according to the invention, the vehicle can be positioned with high precision only by a single picture without the assistance of other sensors, and the method is simple, effective and easy to implement;
4. due to the wide distribution and stability of the street lamps, the method has wide application range and does not need to update the position information of the street lamps frequently.
5. The invention does not consider the actual height of the street lamp, thereby avoiding the influence caused by different street lamp heights in different places.
Drawings
Fig. 1 is a schematic view of finding a relative position between a street lamp and a vehicle in a horizontal direction.
Fig. 2 is a schematic diagram of a street lamp photograph taken by an onboard camera.
Fig. 3 is a schematic diagram of the relative position between the street lamp and the vehicle in the vertical direction.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is important to note that in the following description, some well-known techniques and functions have been omitted so as not to obscure the description of the present invention.
As shown in fig. 1, assuming that the vehicle is traveling in the straight east, the vehicle can obtain a position estimate through satellite signals, since the precise position of each street lamp is known, the vehicle can obtain the position information of the street lamps nearby, and according to the traveling direction of the vehicle, the street lamp numbers and the precise positions thereof which are first and second close to the street lamp are obtained and set as street lamps 1 and 2.
The horizontal relative distance between the vehicle and the street lamp 1 is first obtained, and the east-west direction distance between the vehicle and the street lamp 1 is the horizontal distance therebetween and is set as d _ h. Setting the capture angle of the camera as 2 theta, wherein the capture angle is known; h _ r _ l is the actual height of the street lamp, is unknown, and the heights of two adjacent road lamps are consistent; d _ l2l represents the actual horizontal distance between adjacent street lamps, which can be obtained since the precise location of each street lamp is known; setting h _ r _ c as the actual environment height of the street lamp 1, which is unknown; h _ p is the photo height, known; h _ p _ l1 represents the height of street lamp 1 in the photograph, measurable; h _ p _ l2 represents the height of the street light 2 in the photograph, measurable.
From a simple trigonometric relationship, it can be taken from fig. 1:
since the ratio of the height of the street lamp in the picture to the overall height of the picture is equal to the ratio of the actual height of the street lamp to the actual height of the environment, it can be obtained by combining fig. 2:
therefore, the first and second electrodes are formed on the substrate,
substituting equation three into equation one yields:
if the horizontal distance between the vehicle and the street lamp 1 is d _ h, the horizontal distance between the vehicle and the street lamp 2 is d _ h + d _ l2l, and the following can be obtained:
formula four has two common unknowns with formula five: d _ h and h _ r _ l, and d _ h is obtained by solving the following two formulas:
and obtaining the horizontal relative distance between the vehicle and the street lamp 1, and then solving the vertical relative distance between the vehicle and the street lamp 1, namely the distance between the vehicle and the street lamp 1 in the north-south direction. d _ v represents the vertical relative distance between the vehicle and the street lamp 1; w _ r _ c represents the actual environment width at street lamp 1, unknown; w _ p represents the photo width, known; w _ p _ l1 represents the distance of street lamp 1 from the bisector of the photo, which can be measured; w _ p _ l2 represents the distance of the street lamp 2 from the bisector of the photograph, measurable;
from a simple trigonometric relationship, it can be taken from fig. 3:
w _ r _ c is 2 × d _ h × tan θ [ formula seven ]
Since the ratio of the distance from the street lamp 1 to the bisector in the photograph to the entire width of the photograph is equal to the ratio of the actual horizontal distance between the street lamp 1 and the vehicle to the actual environmental width at the street lamp 1, it can be found in conjunction with fig. 3:
simultaneous formula seven and formula eight can be derived:
the relative horizontal position d _ h and the relative vertical position d _ w of the vehicle and the street lamp 1 are obtained.
And simply adding or subtracting the relative position between the vehicle and the street lamp 1 and the accurate position of the street lamp 1 to obtain the accurate position of the vehicle.
According to the above description, a method for assisting in positioning a vehicle with high precision by two adjacent streetlamps can be obtained by the following steps:
step 1), the vehicle obtains the position estimation of the vehicle through satellite signals (GPS/GNSS signals);
step 2), determining the street lamp closest to the vehicle in front of the vehicle by combining the vehicle position estimation and the position of each street lamp;
step 3), photographing the street lamp by using a vehicle-mounted camera, and assuming that all parameters of the camera are known;
step 4), the heights of the street lamps which are close to the vehicle in front of the vehicle in the pictures are respectively measured, and the relative distance between the vehicle and the street lamp which is close to the vehicle in front of the vehicle is calculated by combining the street lamp distance, the picture size and the capturing angle of the camera;
step 5), obtaining the accurate position of the vehicle according to the relative distance between the vehicle and the street lamp closest to the vehicle in front of the vehicle and the accurate position of the street lamp closest to the vehicle, so as to realize high-precision positioning of the vehicle;
even though the above is the method of carrying out the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (1)
1. A method for assisting in high-precision positioning of a vehicle by two adjacent street lamps is characterized by comprising the following steps:
(1) the vehicle obtains the position estimation of the vehicle through satellite signals;
(2) determining a street lamp closest to the vehicle in front of the vehicle by combining the vehicle position estimation and the known positions of all the street lamps;
(3) using a vehicle-mounted camera with known parameters to photograph the street lamp;
(4) respectively measuring the height of a street lamp which is in front of the vehicle and is close to the first street lamp and the second street lamp of the vehicle in the picture and the distance between the street lamp and a bisector of the picture, and calculating the relative distance between the vehicle and the street lamp which is in front of the vehicle and is closest to the vehicle by combining the street lamp distance, the picture size and the capturing angle of a camera;
(5) and obtaining the accurate position of the vehicle according to the relative distance between the vehicle and the street lamp closest to the vehicle in front of the vehicle and the accurate position of the street lamp closest to the vehicle in front of the vehicle, so as to realize high-precision positioning of the vehicle.
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| CN201911345208.6A CN111025365A (en) | 2019-12-24 | 2019-12-24 | Method for assisting in high-precision positioning of vehicle by two adjacent street lamps |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034423A (en) * | 2020-09-08 | 2020-12-04 | 湖南大学 | High-precision mobile vehicle positioning method based on LED visible light communication |
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| CN110187371A (en) * | 2019-06-03 | 2019-08-30 | 福建工程学院 | A kind of unmanned high-precision locating method and system based on street lamp auxiliary |
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- 2019-12-24 CN CN201911345208.6A patent/CN111025365A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104748736A (en) * | 2013-12-26 | 2015-07-01 | 电信科学技术研究院 | Positioning method and device |
| CN106405601A (en) * | 2016-10-21 | 2017-02-15 | 北京汽车集团有限公司 | Vehicle positioning method and apparatus, and vehicle |
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| CN112034423B (en) * | 2020-09-08 | 2023-12-26 | 湖南大学 | High-precision mobile vehicle positioning method based on LED visible light communication |
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Application publication date: 20200417 |