CN111380542B - Vehicle positioning and navigation method and device and related system - Google Patents
Vehicle positioning and navigation method and device and related system Download PDFInfo
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- CN111380542B CN111380542B CN201811652756.9A CN201811652756A CN111380542B CN 111380542 B CN111380542 B CN 111380542B CN 201811652756 A CN201811652756 A CN 201811652756A CN 111380542 B CN111380542 B CN 111380542B
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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
- G01C21/3407—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
- G01C21/34—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
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The invention provides a vehicle positioning and navigation method, a device and a related system, wherein the method comprises the steps of firstly obtaining absolute position information of a vehicle based on satellite positioning information of the vehicle and driving information of the vehicle, and determining an initial positioning position of the vehicle according to the absolute position information; further acquiring image information in front of the vehicle, and when a road marker is identified in the acquired image information, matching the information of the identified road marker with the information of the road marker stored in the road map data; and finally, deducing and positioning the vehicle positioning position based on the matched information of the stored road markers. According to the invention, high-precision road positioning can be realized by matching the identified road marker information with the data in the road map, so that road-level navigation is realized, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a vehicle positioning and navigation method, a vehicle positioning and navigation device and a related system.
Background
At present, a high-precision positioning technology is mature and perfect day by day, but the current high-precision positioning still has a great error in positioning precision, the current high-precision positioning is only positioning by matching map data with lane information identified by a camera, but the lane information identified by the camera is not necessarily correct under some road conditions, and at the moment, errors or errors may exist in positioning matching. How to better utilize the data information identified by the camera and the road map data to realize higher-precision positioning is a technical problem to be solved urgently in the navigation field.
Disclosure of Invention
In view of the technical shortcomings and drawbacks of the prior art, embodiments of the present invention provide a vehicle positioning and navigation method and apparatus, and related system, that overcome or at least partially solve the above problems.
As an aspect of an embodiment of the present invention, there is provided a vehicle positioning method including the steps of:
obtaining absolute position information of the vehicle based on the satellite positioning information of the vehicle and the running information of the vehicle, and determining the initial positioning position of the vehicle according to the absolute position information;
acquiring image information in front of a vehicle, and when a road marker is identified in the acquired image information, matching the information of the identified road marker with the information of the road marker stored in road map data;
and deducing and positioning the vehicle positioning position based on the matched information of the stored road markers.
Optionally, the information of the identified road marker includes: the type of the road marker, the offset information of the road marker from the vehicle, and the tangent angle formed by the direction of the head of the vehicle and the road marker.
The information of the road markers stored in the road map data includes: the type of road marker, the absolute position of the road marker.
Optionally, the matching according to the identified information of the road marker and the information of the road marker stored in the road map data specifically includes:
and according to the type of the identified road marker, matching the type of the road marker with the types of the road markers of all roads stored in the road map data within the identification range threshold of the vehicle sensor in front of the vehicle at the last positioning position, and matching the type of the road marker with the same type of the identified road marker.
Optionally, the offset information of the road marker from the vehicle includes a lateral offset and a longitudinal offset of the road marker from the vehicle.
Optionally, the step of deriving and locating a vehicle locating position based on the matched stored information of the road marker specifically includes:
obtaining a positioning road of the vehicle based on the matched road where the stored road marker is located;
and deducing to obtain the positioning position of the positioning road of the vehicle according to the transverse offset and the longitudinal offset of the identified road marker from the vehicle and the matched absolute position of the stored road marker.
Optionally, the method further comprises: if the identified road marker is not matched among the road markers stored in the road map data, then:
determining the bending degree of the road where the vehicle is located according to the tangent angle formed by the direction of the vehicle head and the road marker;
matching the bending degree of the road where the vehicle is located with the bending degrees of all roads stored in the road map data within the rectangular distance threshold range taking the current initial positioning position of the vehicle as the center, and matching a road with the highest bending degree similarity with the road where the vehicle is located to obtain a positioning road of the vehicle;
and deducing and obtaining the positioning position of the positioning road where the vehicle is positioned according to the transverse offset and the longitudinal offset of the identified road marker from the vehicle and the matched absolute position of the stored road marker.
As a second aspect of the embodiment of the present invention, there is provided a vehicle positioning device including:
the initial positioning module is used for obtaining absolute position information of the vehicle based on the satellite positioning information of the vehicle and the running information of the vehicle, and determining the initial positioning position of the vehicle according to the absolute position information;
the image information acquisition module is used for acquiring image information in front of the vehicle;
the road marker matching module is used for matching the information of the identified road marker with the information of the road marker stored in the road map data when the road marker is identified in the acquired image information;
and the precise positioning module is used for deducing and positioning the vehicle positioning position based on the matched and stored information of the road marker.
As a third aspect of the embodiments of the present invention, there is provided a vehicle positioning system including a positioning server and the vehicle positioning device according to claim 7.
As a fourth aspect of the embodiment of the present invention, a vehicle navigation method is related to, including the vehicle positioning method described above, further including:
updating the vehicle logo display position in real time according to the obtained vehicle positioning position;
adjusting the positioning head direction of the car logo according to a tangential angle formed by the head direction of the car and the road sign;
and guiding the vehicle according to the vehicle positioning position.
As another aspect of the embodiment of the present invention, a vehicle navigation device is provided, which includes the vehicle positioning device described above, and further includes:
the vehicle navigation display module is used for updating the vehicle logo display position in real time according to the obtained vehicle positioning position; adjusting the positioning head direction of the car logo according to a tangential angle formed by the head direction of the car and the road sign;
and the vehicle navigation module is used for guiding the vehicle according to the vehicle positioning position.
As still another aspect of the embodiment of the present invention, a vehicle navigation system includes a navigation server and the above vehicle navigation apparatus.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in some optional embodiments, the method obtains absolute position information of the vehicle based on satellite positioning information of the vehicle and driving information of the vehicle, and determines an initial positioning position of the vehicle according to the absolute position information; further acquiring image information in front of the vehicle, and when a road marker is identified in the acquired image information, matching the information of the identified road marker with the information of the road marker stored in the road map data; and finally, deducing and positioning the vehicle positioning position based on the matched information of the stored road markers. According to the invention, high-precision road positioning can be realized by matching the identified road marker information with the data in the road map, so that the accuracy of road-level navigation is improved, and the user experience is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart of a vehicle positioning method according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of a positioning road of a vehicle obtained based on the matched road where the stored road marker is located in the first embodiment of the present invention;
fig. 3 is a schematic diagram of deriving a positioning location of a road on which a vehicle is located according to the identified offset information of the road marker from the vehicle and the matched absolute location of the stored road marker in the first embodiment of the present invention;
FIG. 4 is a flowchart of a vehicle positioning method according to a second embodiment of the present invention;
FIG. 5 is a schematic structural view of a vehicle positioning apparatus according to a third embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a vehicle positioning system according to a fourth embodiment of the present invention;
FIG. 7 is a flowchart of a vehicle navigation method according to a fifth embodiment of the present invention;
fig. 8 is a schematic view illustrating the positioning heading direction of the emblem adjusted according to the tangential angle formed by the heading direction of the vehicle and the road sign in the fifth embodiment of the invention;
fig. 9 is a schematic structural view of a vehicular navigation apparatus according to a sixth embodiment of the present invention;
fig. 10 is a schematic structural diagram of a vehicle navigation system according to a seventh embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The existing high-precision positioning is only to perform positioning by matching map data with lane information recognized by a camera, but the lane information recognized by the camera is not necessarily correct under some road conditions, and errors or mistakes may exist in positioning and matching at the moment. Meanwhile, the same characteristic information also exists in the map data, so that the positioning accuracy can be well improved and the problem of positioning error can be solved by utilizing the map characteristics.
Based on the above, the embodiments of the present invention provide a vehicle positioning and navigation method, device and related system, which can well improve positioning accuracy and solve the problem of positioning error.
The first embodiment is as follows:
a vehicle positioning method can be achieved through vehicle-mounted equipment, a mobile terminal or other electronic equipment. As shown in fig. 1, the method comprises the following steps S101-S103:
s101: obtaining absolute position information of the vehicle based on the satellite positioning information of the vehicle and the running information of the vehicle, and determining the initial positioning position of the vehicle according to the absolute position information;
the Satellite Positioning information of the vehicle may be obtained by using a Satellite Positioning System in the prior art, such as a Global Positioning System (GPS), a BeiDou Satellite Navigation System (BDS), or a Global Satellite Navigation System (GLONASS); the driving information of the vehicle may include driving speed information of the vehicle and steering information of the vehicle, which may be acquired by a speed sensor and a direction sensor installed in the vehicle through a method in the related art. The absolute position information of the vehicle is determined according to the satellite positioning information of the vehicle and the running information of the vehicle, and the specific process can be realized by referring to the existing inertial navigation positioning technology. And positioning the determined absolute position information of the vehicle on the road of the road map according to the road data in the pre-stored road map, namely determining the initial positioning position of the vehicle, namely the initial road.
S102, acquiring image information in front of the vehicle, and matching according to the information of the identified road marker and the information of the road marker stored in the road map data when the road marker is identified in the acquired image information.
In this embodiment, the acquisition of the image information in front of the vehicle may be realized by an image acquisition device mounted on the vehicle, for example, an in-vehicle device having a distance monitoring function or a camera system specific to the vehicle.
In this embodiment, the information of the identified road marker includes: the type of the road marker, the offset information of the road marker from the vehicle, and the tangent angle formed by the direction of the head of the vehicle and the road marker.
In this embodiment, the direction of the road marker defined in the identified road marker information is parallel to the direction of the road, and then the tangential angle formed by the vehicle head direction and the road marker and the tangential angle formed by the vehicle head direction and the road marker are determined.
Types of road markers, including but not limited to: signs, signboards, trees, buildings and lampposts.
The offset information of the road marker from the vehicle comprises a lateral offset and a longitudinal offset of the road marker from the vehicle, specifically, the vehicle is taken as a coordinate origin, a lateral offset DX of the road marker from the vehicle, and a longitudinal offset DY of the road marker from the vehicle.
The information of the road markers stored in the road map data includes: the type of road marker, the absolute position of the road marker.
In this embodiment, the absolute position of the road marker stored in the road map data is a coordinate position of a central point of the road marker, such as a circle center coordinate of a column of a signboard, a tree, a building, or a lamp post.
In this embodiment, the types of the identified road markers are matched with the types of the road markers of all roads stored in the road map data within the threshold of the sensor identification range of the vehicle ahead of the vehicle at the last positioning position, and the road markers with the same types as the identified road markers are matched.
In this embodiment, as shown in fig. 2, when the vehicle is located at position B according to GPS positioning or inertial navigation positioning during the traveling of the vehicle, the type of the road sign identified at this time is a speed limit sign (speed limit 60), and the type of the road sign is matched with the types of all road signs stored in the road map data in the vehicle sensor identification range D in front of the vehicle at the last positioning position a, and it is identified that the speed limit sign (speed limit 60) identical to the identified speed limit sign exists in the left road in the road map data in front of the last positioning position of the vehicle.
And S103, deducing and positioning the vehicle positioning position based on the matched information of the stored road markers.
In the embodiment, the positioning road of the vehicle is obtained based on the matched road where the stored road marker is located; specifically, as shown in fig. 2, if the same speed limit sign as the identified speed limit sign exists in the left road in the road map data within the identification range D, the vehicle is positioned on the left road, as at the position C in fig. 2.
And deducing and obtaining the positioning position of the positioning road where the vehicle is located according to the identified transverse offset and longitudinal offset of the road marker from the vehicle and the matched and stored absolute position of the road marker, specifically, as shown in fig. 3, deducing and determining the positioning position C' of the road where the vehicle is located according to the transverse offset DX of the road marker from the vehicle, the longitudinal offset DY of the road marker from the vehicle and the absolute position coordinate of the central point of the speed limit board, thereby realizing high-precision positioning.
The second embodiment:
as shown in fig. 4, a vehicle positioning method according to an embodiment of the present invention includes the following steps S201 to S206:
s201: obtaining absolute position information of the vehicle based on the satellite positioning information of the vehicle and the running information of the vehicle, and determining the initial positioning position of the vehicle according to the absolute position information.
S202, acquiring image information in front of the vehicle, matching the information of the identified road marker with the information of the road marker stored in the road map data according to the information of the identified road marker when the road marker is identified in the acquired image information, executing S203 if the identified road marker is matched in the road marker stored in the road map data, otherwise executing S204.
In this embodiment, the types of the identified road markers are matched with the types of the road markers of all roads stored in the road map data in the sensor identification range D of the vehicle ahead of the vehicle at the last positioning position, and the road markers with the same types as the identified road markers are matched. Due to the fact that updating of the road map data is not timely or storage is not accurate, when the road markers identified by the camera cannot be matched in the road map data, the road needs to be further positioned according to the bending degree of the road.
And S203, deducing and positioning the vehicle positioning position based on the matched information of the stored road markers.
In the embodiment, a positioning road of the vehicle is obtained based on the matched road where the stored road marker is located; and deducing and obtaining the positioning position of the positioning road of the vehicle according to the transverse offset and the longitudinal offset of the identified road marker from the vehicle and the matched absolute position of the stored road marker.
And S204, determining the bending degree of the road where the vehicle is located according to the tangent angle formed by the direction of the head of the vehicle and the road sign.
In this embodiment, the curvature of the road on which the vehicle is located, that is, the degree of curvature of the road, may be determined according to the tangential angle α formed by the direction of the vehicle head and the road marker.
S205, matching the bending degree of the road where the vehicle is located with the bending degrees of all roads stored in the road map data within the rectangular distance threshold range taking the current initial positioning position of the vehicle as the center, and matching the road with the highest bending degree similarity with the road where the vehicle is located to obtain the positioning road of the vehicle.
In this embodiment, a rectangular distance threshold range (for example, rectangular distance threshold ranges formed by 50 meters on each of the front side, the rear side, the left side, and the right side of the vehicle, which are centered around the current initial positioning position of the vehicle) can be obtained from the road map data, the curvature of the road on which the vehicle is located and the curvatures of all the stored roads are calculated, the curvature weights of the roads are calculated, and the road with the smallest curvature weight, that is, the road with the highest similarity is used as the positioning road of the vehicle.
And S206, deducing and obtaining the positioning position of the positioning road of the vehicle according to the transverse offset and the longitudinal offset of the identified road marker from the vehicle and the matched absolute position of the stored road marker.
Example three:
based on the same inventive concept, the embodiment of the invention also provides a vehicle positioning device and system, and as the principle of the problem solved by the vehicle positioning device and system is similar to that of the vehicle positioning method, the device and system can be implemented by referring to the implementation of the method, and repeated parts are not described again.
An embodiment of the present invention provides a vehicle positioning apparatus 30, as shown in fig. 5, including:
the initial positioning module 31 is configured to obtain absolute position information of the vehicle based on the satellite positioning information of the vehicle and the driving information of the vehicle, and determine an initial positioning position of the vehicle according to the absolute position information.
And an image information obtaining module 32, configured to obtain image information in front of the vehicle.
A road marker matching module 33, configured to, when a road marker is identified in the acquired image information, perform matching according to information of the identified road marker and information of a road marker stored in road map data;
and the precise positioning module 34 is used for deducing and positioning the vehicle positioning position based on the matched information of the stored road markers.
Example four:
based on the same inventive concept, the embodiment of the present invention further provides a vehicle positioning system, as shown in fig. 6, including a positioning server 35 and a vehicle positioning device 30.
In this embodiment, the positioning server 35 may be a cloud server, and is connected to the vehicle positioning device 30 through a wireless link.
Example five:
based on the same inventive concept, an embodiment of the present invention further provides a vehicle navigation method, as shown in fig. 7, including the following steps S401 to S406:
s401: the method comprises the steps of obtaining absolute position information of a vehicle based on satellite positioning information of the vehicle and driving information of the vehicle, and determining an initial positioning position of the vehicle according to the absolute position information.
S402, acquiring image information in front of the vehicle, and matching according to the information of the identified road marker and the information of the road marker stored in the road map data when the road marker is identified in the acquired image information.
And S403, deducing and positioning the vehicle positioning position based on the matched information of the stored road markers.
And S404, updating the vehicle logo display position in real time according to the obtained vehicle positioning position.
And S405, adjusting the positioning head direction of the car logo according to the tangential angle formed by the head direction of the car and the road sign.
In the present embodiment, as shown in fig. 8, when there is a curve on the road being traveled (a curved road) or the vehicle performs a lane change, a turning around, or the like on a straight road, and the tangential angle formed by the vehicle head direction and the road sign in the information of the road sign recognized by the vehicle camera is greater than a preset angle (the preset angle in the present embodiment is 0 degrees), the traveling direction of the vehicle in the navigation display is as shown in position D in fig. 7, and when the tangential angle formed by the vehicle head direction recognized by the camera and the road sign is α, the traveling direction of the vehicle is shifted to the right by α, so that the traveling direction of the vehicle is corrected to position D'.
And S406, guiding the vehicle according to the vehicle positioning position.
In this embodiment, navigation is performed according to the accurate positioning position obtained in S403 and the accurate positioning direction determined in S405, and lane-level accurate navigation can be achieved.
Example six:
based on the same inventive concept, the embodiment of the invention also provides a vehicle navigation device and a vehicle navigation system, and as the principle of the problem solved by the vehicle navigation device and the vehicle navigation system is similar to the vehicle navigation method, the implementation of the device and the system can be referred to the implementation of the method, and repeated details are omitted.
An embodiment of the present invention provides a vehicle navigation apparatus 50, as shown in fig. 9, including an initial positioning module 51, an image information obtaining module 52, a road marker matching module 53, a precise positioning module 54, and a vehicle navigation display module 55.
The vehicle navigation display module 55 is used for updating the vehicle logo display position in real time according to the obtained vehicle positioning position; adjusting the positioning head direction of the car logo according to a tangential angle formed by the head direction of the car and the road sign;
and a vehicle navigation module 56 for navigating the vehicle according to the vehicle positioning position.
Example seven:
based on the same inventive concept, the embodiment of the present invention further provides a vehicle navigation system, as shown in fig. 10, including a navigation server 57 and a vehicle navigation device 50.
In this embodiment, the navigation server 57 may be a cloud server, and is connected to the vehicle navigation device 50 through a wireless link.
Example eight:
based on the same inventive concept, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to perform the above vehicle positioning method and vehicle navigation method.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. The present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A vehicle positioning method, characterized by comprising:
obtaining absolute position information of the vehicle based on the satellite positioning information of the vehicle and the running information of the vehicle, and determining the initial positioning position of the vehicle according to the absolute position information;
when a vehicle runs, positioning the vehicle according to GPS positioning or inertial navigation positioning based on the initial positioning position of the vehicle, acquiring image information in front of the vehicle, and when a road marker is identified in the acquired image information, matching the type of the identified road marker with the types of road markers of all roads stored in road map data within the identification range threshold of a vehicle sensor in front of the vehicle at the last positioning position to obtain the road marker with the same type as the identified road marker;
and deducing and positioning a vehicle positioning position based on the matched information of the stored road markers.
2. The method of claim 1, wherein the information of the identified road markers further comprises: the offset information of the road marker from the vehicle, the direction of the head of the vehicle and the tangent angle formed by the road marker;
the information of the road markers stored in the road map data includes: the type of road marker, the absolute position of the road marker.
3. The method of claim 2, wherein the information about the offset of the road marker from the vehicle includes a lateral offset and a longitudinal offset of the road marker from the vehicle.
4. A method according to claim 3, wherein the vehicle locating position is derived and located based on the matched information of the stored road markers by:
obtaining a positioning road of the vehicle based on the matched road where the stored road marker is located;
and deducing and obtaining the positioning position of the positioning road where the vehicle is positioned according to the transverse offset and the longitudinal offset of the identified road marker from the vehicle and the matched absolute position of the stored road marker.
5. The method of any of claims 2-4, further comprising: if the identified road marker is not matched among the road markers stored in the road map data, then:
determining the bending degree of the road where the vehicle is located according to the tangent angle formed by the direction of the vehicle head and the road marker;
matching the bending degree of the road where the vehicle is located with the bending degrees of all roads stored in the road map data within the rectangular distance threshold range taking the current initial positioning position of the vehicle as the center, and matching the road with the highest bending degree similarity with the road where the vehicle is located to obtain the positioning road of the vehicle;
and deducing and obtaining the positioning position of the positioning road where the vehicle is positioned according to the transverse offset and the longitudinal offset of the identified road marker from the vehicle and the matched absolute position of the stored road marker.
6. A vehicle positioning device, comprising:
the initial positioning module is used for obtaining absolute position information of the vehicle based on the satellite positioning information of the vehicle and the running information of the vehicle, and determining the initial positioning position of the vehicle according to the absolute position information;
the image information acquisition module is used for positioning the vehicle according to GPS positioning or inertial navigation positioning based on the initial positioning position of the vehicle in the driving process of the vehicle and acquiring the image information in front of the vehicle;
the road marker matching module is used for matching the types of the road markers of all roads stored in the road map data within the threshold value of the sensor identification range of the vehicle in front of the last positioning position vehicle according to the types of the identified road markers when the road markers are identified in the acquired image information, and matching the road markers with the same types of the identified road markers;
and the precise positioning module is used for deducing and positioning the vehicle positioning position based on the matched and stored information of the road marker.
7. A vehicle positioning system comprising a positioning server and the vehicle positioning device of claim 6.
8. A vehicle navigation method, characterized by comprising the vehicle positioning method according to any one of claims 1 to 5, further comprising:
updating the vehicle logo display position in real time according to the obtained vehicle positioning position;
adjusting the positioning head direction of the car logo according to a tangential angle formed by the head direction of the car and the road sign;
and guiding the vehicle according to the vehicle positioning position.
9. A vehicular navigation apparatus, characterized by comprising the vehicular positioning apparatus according to claim 6, further comprising:
the vehicle navigation display module is used for updating the vehicle logo display position in real time according to the obtained vehicle positioning position; adjusting the positioning vehicle head direction of the vehicle logo according to a tangent angle formed by the vehicle head direction and the road sign;
and the vehicle navigation module is used for guiding the vehicle according to the vehicle positioning position.
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| CN112731498B (en) * | 2020-12-11 | 2022-12-30 | 大陆投资(中国)有限公司 | Method for positioning vehicle and cloud device |
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