CN111739295B - Positioning method and device - Google Patents
Positioning method and device Download PDFInfo
- Publication number
- CN111739295B CN111739295B CN202010553826.6A CN202010553826A CN111739295B CN 111739295 B CN111739295 B CN 111739295B CN 202010553826 A CN202010553826 A CN 202010553826A CN 111739295 B CN111739295 B CN 111739295B
- Authority
- CN
- China
- Prior art keywords
- track section
- target
- calibration track
- calibration
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The application provides a positioning method and a positioning device, which are applied to vehicle-mounted positioning equipment, wherein the method comprises the following steps: determining a current positioning point of a target vehicle where the vehicle-mounted positioning equipment is located according to a currently received satellite positioning signal; selecting a target calibration track section matched with the current positioning point from a pre-fitted calibration track section set according to the current positioning point; the calibration track section in the calibration track section set is positioned in the appointed lane; determining the distance and the orientation relation between the current positioning point and the target calibration track section; and determining whether the target vehicle runs on the specified lane currently according to the distance and the orientation relation between the current positioning point and the target calibration track section. By applying the method, whether the bus runs on the bus lane or not can be accurately detected.
Description
Technical Field
The present application relates to the field of satellite positioning technologies, and in particular, to a positioning method and apparatus.
Background
The bus lane is an independent right-of-way lane specially arranged for buses, and the bus lane has the main function of facilitating a bus network to deal with the problem of road congestion caused by various peak periods and emergency situations. In order to make public transport lanes functional, other vehicles are prohibited from traveling on public transport lanes in the relevant traffic regulations.
In order to effectively avoid other vehicles occupying the bus lane, the cameras mounted on the buses can be used for capturing other vehicles running on the bus lane, and evidence that the other vehicles occupy the bus lane and run in violation is obtained so as to correspondingly punish the vehicle owners. Based on this, it is a very important task to determine that a bus is traveling on a bus lane.
In the prior art, whether a bus runs on a bus lane can be detected through a sign line, such as a yellow line, of the bus lane. However, the detection result of this detection method is easily affected by weather and field environment, for example, the marker line cannot be accurately identified in a cloudy or nighttime scene, and for example, the marker line cannot be accurately identified even by the interference of roadside yellow objects, such as double yellow lines.
Disclosure of Invention
In view of this, the present application provides a positioning method and apparatus to solve the problem that it is impossible to accurately detect whether a bus is traveling on a bus lane in the prior art.
According to a first aspect of the embodiments of the present application, there is provided a positioning method applied to a vehicle-mounted positioning device, the method including:
determining a current positioning point of a target vehicle where the vehicle-mounted positioning equipment is located according to a currently received satellite positioning signal;
selecting a target calibration track section matched with the current positioning point from a pre-fitted calibration track section set according to the current positioning point; the calibration track section in the calibration track section set is positioned in the appointed lane;
determining the distance and the orientation relation between the current positioning point and the target calibration track section;
and determining whether the target vehicle runs on the specified lane currently according to the distance and the orientation relation between the current positioning point and the target calibration track section.
According to a second aspect of the embodiments of the present application, there is provided a positioning apparatus applied to a vehicle-mounted positioning device, the apparatus including:
the first determination module is used for determining the current positioning point of the target vehicle where the vehicle-mounted positioning equipment is located according to the currently received satellite positioning signal;
the track section selection module is used for selecting a target calibration track section matched with the current positioning point from a pre-fitted calibration track section set according to the current positioning point; the calibration track section in the calibration track section set is positioned in the appointed lane;
the second determination module is used for determining the distance and the orientation relation between the current positioning point and the target calibration track section;
and the third determining module is used for determining whether the target vehicle runs on the specified lane currently according to the distance and the azimuth relation between the current positioning point and the target calibration track section.
According to a third aspect of embodiments of the present application, there is provided an in-vehicle positioning apparatus, the apparatus comprising a readable storage medium and a processor;
wherein the readable storage medium is configured to store machine executable instructions;
the processor is configured to read the machine executable instructions on the readable storage medium and execute the instructions to implement the steps of the positioning method provided by the embodiment of the present application.
According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the positioning method provided by the embodiments of the present application.
By applying the embodiment of the application, the current positioning point of the target vehicle where the vehicle-mounted positioning equipment is located is determined according to the currently received satellite positioning signal, the target calibration track section matched with the current positioning point is selected from the pre-fitted calibration track section set according to the current positioning point, the distance and the azimuth relation between the current positioning point and the target calibration track section are determined, whether the target vehicle runs on the specified lane currently is determined according to the distance and the azimuth relation between the current positioning point and the target calibration track section, and whether the bus runs on the bus lane can be accurately detected.
Drawings
Fig. 1 is a schematic view of an application scenario in which a positioning method according to an embodiment of the present application is applied;
fig. 2 is a flowchart of an embodiment of a positioning method according to an exemplary embodiment of the present application;
FIG. 3 is a schematic illustration of a calibration trajectory segment;
FIG. 4 is a flowchart of an embodiment of a step 202 provided by an exemplary embodiment of the present application;
FIG. 5 is a flowchart of an embodiment of a step 203 provided by an exemplary embodiment of the present application;
FIG. 6 is a schematic view of an orientation coordinate system;
FIG. 7 is a flowchart of an embodiment of fitting a set of calibration trajectory segments according to an exemplary embodiment of the present application;
FIG. 8 is a block diagram of an embodiment of a positioning device according to an exemplary embodiment of the present application;
FIG. 9 is a block diagram illustrating hardware components of an in-vehicle positioning device according to an exemplary embodiment of the present application.
Detailed Description
For the convenience of understanding of the present application, an application scenario in which the embodiments of the present application are applied is first described:
please refer to fig. 1, which is a schematic view of an application scenario in which the positioning method provided in the embodiment of the present application is applied. Fig. 1 includes: motorway (the lane marked with an arrow in fig. 1), transit lane (the lane marked with a dedicated lane in fig. 1), and non-motorway. Wherein, according to the relevant traffic regulations, the bus lane is only limited to the bus running.
In application, a bus may carry an onboard positioning device (not shown in fig. 1), which may then perform the positioning method proposed herein to determine whether the bus is traveling on a bus lane.
As one example, the in-vehicle positioning device may be a GPS positioning device. It should be understood that, after the GPS positioning device captures the satellite positioning signal, the change rate of the pseudo distance and the distance from the receiving antenna to the satellite may be measured based on the captured satellite positioning signal, and data such as satellite orbit parameters may be demodulated, so as to determine the current positioning point of the bus where the GPS positioning device is located according to the data. In practice, the current location point is usually represented by longitude and dimension under a geodetic coordinate system (also called a geographical coordinate system).
Specific embodiments are shown below based on the application scenario illustrated in fig. 1 to describe the positioning method proposed in the present application in detail:
referring to fig. 2, a flowchart of an embodiment of a positioning method according to an exemplary embodiment of the present application is shown, where in one example, the method is applicable to a vehicle-mounted positioning device installed on a bus shown in fig. 1, and includes the following steps:
step 201: and determining the current positioning point of the target vehicle where the vehicle-mounted positioning equipment is located according to the currently received satellite positioning signal.
In application, the vehicle-mounted positioning device tracks satellites selected according to a certain satellite cut-off angle, acquires satellite positioning signals of the satellites, and determines the current positioning point of a target vehicle where the vehicle is located according to the acquired satellite positioning signals, such as a bus shown in fig. 1.
As an embodiment, in order to improve the accuracy of the current location point of the target vehicle determined by the vehicle-mounted positioning device, the number of satellites tracked by the vehicle-mounted positioning device may be limited, for example, more than 3 satellites. Based on this, in this step, the vehicle-mounted positioning device, after receiving the satellite positioning signals, first checks the number (denoted as M) of currently received satellite positioning signals, and if the number M is greater than or equal to a set number threshold, for example, 3, determines the current positioning point of the target vehicle according to each currently received satellite positioning signal; otherwise, if the number M is smaller than the set number threshold, each satellite positioning signal received this time may be discarded, and the next satellite positioning signal reception is waited.
Step 202: and selecting a target calibration track section matched with the current positioning point from the pre-fitted calibration track section set according to the current positioning point.
First, in the embodiment of the present application, for convenience of calculation, a specified lane, for example, a bus lane illustrated in fig. 1, may be fitted first, and then it is determined whether the target vehicle is traveling on the specified lane according to a fitting result and the current positioning point determined in step 201.
As an embodiment, since the specified lane in practical application is not necessarily a straight line, and the lane route is usually long, for convenience of calculation, the specified lane may be divided into a plurality of road segments, and for each road segment, the road segment is fitted through each calibration acquisition point acquired on the road segment to obtain a calibration track segment, and the calibration track segment is recorded into the calibration track segment set, for example, as shown in fig. 3, 4 calibration track segments are fitted in total (each line segment with an arrow represents one calibration track segment). In other words, the set of calibrated trajectory segments referred to in step 202 is obtained by fitting calibrated acquisition points acquired on a specified lane (e.g., the bus lane illustrated in FIG. 1). How to obtain the calibration acquisition points and fit to obtain the set of calibration trajectory segments will be described below, and will not be described in detail here.
In this step, a calibration trajectory segment (hereinafter referred to as a target calibration trajectory segment) matching the current positioning point is selected from a set of pre-fitted calibration trajectory segments according to the current positioning point. How to select the target calibration trajectory segment from the set of calibration trajectory segments will be described below, and will not be described in detail here.
Step 203: and determining the distance and the orientation relation between the current positioning point and the target calibration track section.
As an embodiment, since the driving range of the vehicle is limited, a vertical distance from the current positioning point to the target calibration track segment may be calculated in a planar coordinate system, and the vertical distance may be determined as a distance from the current positioning point to the target calibration track segment, for example, L in fig. 3. In one example, the X-axis and Y-axis of the planar coordinate system correspond to longitude and latitude, respectively.
In the embodiment of the present application, the orientation relationship may be: the current positioning point is located on the target calibration track section, or the current positioning point is located on the right side of the target calibration track section, or the current positioning point is located on the left side of the target calibration track section. For example, as shown in fig. 3, assuming that the current positioning point is a point B, it can be seen that the current positioning point is on the left side of the target calibration track segment; assuming that the current positioning point is the point A, and then, the current positioning point is seen to be on the right side of the target calibration track segment; and then, assuming that the current positioning point is positioned at the point C, the current positioning point is positioned on the target calibration track segment. How to determine the orientation relationship between the current positioning point and the target calibration track segment will be described below, and will not be described in detail here.
It should be understood that the left and right in this application are defined in terms of the direction of travel of a given lane.
Step 204: and determining whether the target vehicle runs on the specified lane currently according to the distance and the azimuth relation between the current positioning point and the target calibration track section.
In application, because the GPS positioning accuracy of the civilian satellite is lower than that of the military satellite due to factors such as satellite orbit error, signal reflection error, human error and the like, it is likely that the current positioning point determined in the step 201 is not very accurate, and the width of the bus lane is usually between 2.4 meters and 4.2 meters, which is a very small range relative to the GPS positioning range of the satellite, taking the bus lane as an example, so an allowable error range can be preset, and if the distance between the current positioning point determined in the step 203 and the target calibration track segment is within the error range, the target vehicle can be considered to be driven on the specified lane; on the contrary, if the distance between the current positioning point and the target calibration track segment determined in step 203 is not within the error range, it may be determined that the target vehicle does not travel on the specified lane.
Accordingly, as an embodiment, in this step 204, when the orientation relationship between the current positioning point and the target calibration track segment indicates that the current positioning point is located on the target calibration track segment, it is determined that the target vehicle is currently running on the specified lane; when the orientation relation between the current positioning point and the target calibration track section indicates that the current positioning point is on the right side and the left side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is greater than a preset distance threshold value, and if so, determining that the target vehicle does not run on a specified lane currently; if not, determining that the target vehicle is currently running on the specified lane.
In addition, in an application scenario where a camera mounted on a bus captures other vehicles traveling on a bus lane to obtain evidence that the other vehicles occupy the bus lane for illegal traveling, a common method is to determine that the vehicles captured by the camera mounted on the bus do not occupy the bus lane when it is determined that the bus does not travel on the bus lane. At this time, if the same distance threshold is used for both right and left sides of the target calibration trajectory segment, the target vehicle is judged to be currently traveling on the specified lane, and thus an erroneous judgment result may be obtained.
For example, referring to fig. 3, if it is determined that the bus is located at point a, and the distance h2 between the point a and the target calibration track segment is greater than the set distance threshold, it may be determined that the bus is not driven on the bus lane, and it may be further determined that the bus shot by the camera mounted on the bus does not occupy the bus lane. However, in practical applications, if the bus is located at point a, the vehicle captured by the camera mounted on the bus may occupy the bus lane, for example, when the bus is located at point a, the vehicle captured by the camera mounted on the bus at point D occupies the bus lane.
Based on this, in the embodiment of the application, a special application scene that other vehicles running on the bus lane are captured by a camera installed on the bus to obtain the evidence that the other vehicles occupy the bus lane and run illegally is provided: and when the current positioning point is positioned on the right side and the left side of the target calibration track section, different distance thresholds are adopted to judge that the target vehicle runs on the specified lane currently. That is, in this step 204, when the orientation relationship between the current positioning point and the target calibration track segment indicates that the current positioning point is located above the target calibration track segment, it is determined that the target vehicle is currently running on the specified lane; when the orientation relation between the current positioning point and the target calibration track section indicates that the current positioning point is on the right side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is larger than a preset first distance threshold value or not; if so, determining that the target vehicle does not run on the specified lane currently; if not, determining that the target vehicle is currently running on the specified lane; when the orientation relation between the current positioning point and the target calibration track section indicates that the current positioning point is on the left side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is larger than a preset second distance threshold value; if so, determining that the target vehicle does not run on the specified lane currently; if not, determining that the target vehicle is currently running on the specified lane. It should be noted that the first distance threshold is different from the second distance threshold, and the second distance threshold is smaller than the first distance threshold.
By so setting, it can realize: if the bus is located at the point A, when the distance h2 between the point A and the target calibration track section is larger than the set second distance threshold but smaller than the set first distance threshold, the bus is determined to be driven on the bus lane, and the bus shot by the camera installed on the bus occupies the bus lane, so that the bus calibration track is in line with practical application.
So far, the description about the flow shown in fig. 2 is completed.
It can be seen from the above embodiments that, by determining a current positioning point of a target vehicle where a vehicle-mounted positioning device is located according to a currently received satellite positioning signal, selecting a target calibration track segment matched with the current positioning point from a pre-fitted calibration track segment set according to the current positioning point, determining a distance and an orientation relationship between the current positioning point and the target calibration track segment, and determining whether the target vehicle is currently running on the designated lane according to the distance and the orientation relationship between the current positioning point and the target calibration track segment, it can be achieved that whether a bus is running on a bus-only lane is accurately detected.
Referring now to FIG. 4, a flowchart illustrating an exemplary implementation of step 202 is provided in an exemplary embodiment of the present application.
As shown in fig. 4, the method comprises the following steps:
step 401: and determining the distance between each calibration acquisition point on the calibration track section and the current positioning point aiming at each calibration track section in the calibration track section set.
In the embodiment of the application, the distance between the current positioning point and the calibrated acquisition point can be determined according to the longitude and latitude of the current positioning point and the calibrated acquisition point under the geodetic coordinate system.
Step 402: searching a target calibration acquisition point from the calibration acquisition points on all the calibration track sections; the distance between the target calibration acquisition point and the current positioning point is minimum and meets the set error condition.
As an embodiment, in consideration of the positioning error, in this step 402, when selecting the target calibration acquisition point from the calibration acquisition points on all the calibration track segments, not only the calibration acquisition point with the smallest distance to the current positioning point but also the calibration acquisition point with the distance to the current positioning point satisfying the set error condition are searched. In other words, the distance between the target calibration acquisition point and the current positioning point is minimum and meets the set error condition.
Step 403: and determining the calibration track section where the target calibration acquisition point is located as a target calibration track section.
In addition, as an embodiment, the distance between the current positioning point and the target calibration acquisition point on the target calibration trajectory segment may be determined as the distance between the current positioning point and the target calibration trajectory segment. Since the vertical distance between the point and the line is the shortest on the plane, and the target calibration acquisition point is the calibration acquisition point with the smallest distance to the current positioning point in the target calibration track segment, the distance between the current positioning point and the target calibration acquisition point is determined as the distance between the current positioning point and the target calibration track segment, and the vertical distance from the current positioning point to the target calibration track segment is calculated as described in the above step 203, and is determined as the distance between the current positioning point and the target calibration track segment.
So far, the description about the flow shown in fig. 4 is completed.
Through the process shown in fig. 4, the target calibration trajectory segment matched with the current positioning point is finally selected from the pre-fitted calibration trajectory segment set according to the current positioning point.
Please refer to fig. 5, which is a flowchart illustrating an exemplary step 203 according to an embodiment of the present application.
As shown in fig. 5, the method comprises the following steps:
step 501: an orientation coordinate system is determined.
Step 502: and obtaining a positioning vector taking the coordinate origin of the azimuth coordinate system as a starting point and the current positioning point as an end point under the azimuth coordinate system.
Step 503: and determining the orientation relation between the current positioning point and the target calibration track section according to the positioning vector and the corresponding normal vector of the target calibration track section in the orientation coordinate system.
As an embodiment, the positioning vector and the normal vector may be set according to a set direction calculation manner, and a direction relationship between the current positioning point and the target calibration track segment may be determined according to a calculation result.
The flow illustrated in fig. 5 is described below in conjunction with fig. 6 in a unified manner:
first, the coordinate system in fig. 6 is an azimuth coordinate system, in which the start point of the calibration track segment is taken as the origin of coordinates, the longitude direction of the calibration track segment is taken as the Y-axis direction, and the latitude direction of the calibration track segment is taken as the Y-axis direction. In step 501, an orientation coordinate system corresponding to the target calibration track segment may be determined accordingly.
In FIG. 6, the vectors
Calibrating the corresponding unit direction vector of the track segment under the azimuth coordinate system for the target
The normal vector of the target calibration track segment corresponding to the target calibration track segment in the azimuth coordinate system, and x1＝-y2，y1The unit direction vector of the target calibration track segment in the azimuth coordinate system is perpendicular to the normal vector, which is x 2.
In fig. 6, points B and C are two positioning points determined by the vehicle-mounted positioning device during the driving process of the target vehicle, where point B is on the left side of the calibration track segment and point C is on the right side of the calibration track segment. In step 502, two positioning vectors are obtained with the origin of coordinates of the coordinate system as a starting point and the positioning point as an end point:
and
in step 503, the method is performed according to a set azimuth calculation method, for example, a vector inner product calculation method
And
and
the following operation results can be obtained by performing the operations respectively:
therefore, if the positioning point is positioned on the right side of the target calibration track section, the operation result obtained by operating the positioning vector and the normal vector according to the set direction calculation mode is greater than 0; if the positioning point is positioned at the left side of the target calibration track section, the calculation result obtained by calculating the positioning vector and the normal vector according to the set direction calculation mode is less than 0. In addition, it should be understood that if the positioning point is located on the target calibration track segment, the positioning vector corresponding to the positioning point is perpendicular to the normal vector corresponding to the target calibration track segment, that is, the operation result obtained by operating the positioning vector and the normal vector according to the set direction calculation manner is equal to 0.
Accordingly, in step 503, when the operation result obtained by operating the positioning vector and the normal vector according to the set direction calculation manner is equal to 0, it may be determined that the current positioning point is located on the target calibration track segment; when the operation result obtained by operating the positioning vector and the normal vector according to the set direction calculation mode is greater than 0, the current positioning point can be determined to be positioned on the right side of the target calibration track section; when the operation result obtained by operating the positioning vector and the normal vector according to the set direction calculation mode is less than 0, the current positioning point can be determined to be on the left side of the target calibration track section.
So far, the description about the flow shown in fig. 5 is completed.
Through the process shown in fig. 5, the determination of the orientation relationship between the current positioning point and the target calibration track segment is finally realized.
How to fit the set of calibration trajectory segments is described below:
referring to fig. 7, an embodiment flow for fitting to obtain a calibration trajectory segment set is provided in an exemplary embodiment of the present application.
As shown in fig. 7, the method comprises the following steps:
step 701: and acquiring a plurality of calibration acquisition points determined by the vehicle-mounted positioning equipment in the process that the target vehicle runs on the appointed lane.
As an example, taking fitting a bus lane as an example, the vehicle-mounted positioning device may be placed on a target vehicle, and the target vehicle is specified to travel from a starting point to an end point of the bus lane to be fitted, and strictly travel on the bus lane during traveling.
It should be understood that, during the driving process of the target vehicle, the on-board positioning device may receive the satellite positioning signal according to a certain frequency, and each time the satellite positioning signal is received, a calibration acquisition point may be determined.
Step 702: and sequencing the determined multiple calibration acquisition points according to the sequence of the acquisition time, and dividing sequencing results according to the set number N to obtain at least one group.
As can be seen from the above description, the specified lane may be divided into a plurality of road segments, and for each road segment, the road segment is fitted through each calibration acquisition point acquired on the road segment to obtain a calibration track segment and recorded in the calibration track segment set.
Accordingly, in this step 702, the plurality of calibrated acquisition points determined in step 701 are sorted according to the order of acquisition time, and then the sorting result is divided according to the set number N to obtain at least one group, where N is a natural number greater than 1.
As one embodiment, if the number of nominal acquisition points in the last packet is less than N, the last packet is merged with its previous packet into one packet. Through the processing, the situation that the fitted calibration track section has larger actual lane deviation due to the fact that the number of the calibration acquisition points in the grouping is small can be avoided.
For example, assuming that 1000 nominal acquisition points are determined in step 701 and N is 64, 15 packets (104 nominal acquisition points are included in the last packet) can be obtained according to the grouping manner in step 702.
Step 703: and aiming at each group, fitting the calibration acquisition points in the group by using a set track fitting algorithm to obtain a calibration track section and recording the calibration track section to a calibration track section set.
In this step 703, for each group, a set trajectory fitting algorithm may be used to fit the calibration acquisition points in the group, so as to obtain a calibration trajectory segment. Therefore, the calibration track section can be formed by fitting N calibration acquisition points, the calibration acquisition points on different calibration track sections are different, and N is a natural number greater than 1.
As an embodiment, in consideration of the positioning error, the calibrated acquisition points with larger errors may be removed from each group, and then the remaining calibrated acquisition points in the group are fitted to obtain a calibrated trajectory segment. Specifically, a set algorithm can be used to fit the calibration acquisition points in the group to obtain an initial calibration track segment; then, aiming at each calibration acquisition point in the group, determining the distance between the calibration acquisition point and the initial calibration track segment; then, for each calibrated acquisition point in the group, if the distance between the calibrated acquisition point and the initial calibrated trajectory segment is greater than a set distance threshold, the error of the calibrated acquisition point can be considered to be larger, and the calibrated acquisition point is removed from the group. And finally, fitting the calibration acquisition points reserved in the packets by using the set algorithm again to obtain a final calibration track section.
So far, the description about the flow shown in fig. 7 is completed.
Through the process shown in fig. 7, the fitting is finally realized to obtain the calibration trajectory segment set.
Corresponding to the embodiment of the positioning method, the application also provides an embodiment of the positioning device.
Referring to fig. 8, a block diagram of an embodiment of a positioning apparatus according to an exemplary embodiment of the present application is provided, including: the device comprises a first determination module, a track segment selection module, a second determination module and a third determination module.
The first determining module is used for determining a current positioning point of a target vehicle where the vehicle-mounted positioning equipment is located according to a currently received satellite positioning signal;
the track section selection module is used for selecting a target calibration track section matched with the current positioning point from a pre-fitted calibration track section set according to the current positioning point; the calibration track section in the calibration track section set is positioned in the appointed lane;
the second determination module is used for determining the distance and the orientation relation between the current positioning point and the target calibration track section;
and the third determining module is used for determining whether the target vehicle runs on the specified lane currently according to the distance and the azimuth relation between the current positioning point and the target calibration track section.
In one embodiment, the determining the current location point of the target vehicle where the vehicle-mounted positioning device is located according to the currently received satellite positioning signal by the first determining module includes:
checking the number M of currently received satellite positioning signals;
and when the number M is larger than or equal to the set number threshold, determining the current positioning point of the target vehicle where the vehicle-mounted positioning equipment is located according to the currently received satellite positioning signals.
In an embodiment, the track segment selecting module selects a target calibration track segment matched with the current positioning point from a set of pre-fitted calibration track segments according to the current positioning point, including:
determining the distance between each calibration acquisition point on the calibration track section and the current positioning point aiming at each calibration track section in the calibration track section set; each calibration track section in the calibration track section set is formed by fitting N calibration acquisition points, the calibration acquisition points on different calibration track sections are different, and N is a natural number greater than 1;
searching a target calibration acquisition point from the calibration acquisition points on all the calibration track sections; the distance between the target calibration acquisition point and the current positioning point is minimum and meets a set error condition;
and determining the calibration track section where the target calibration acquisition point is located as the target calibration track section.
In an embodiment, the determining the distance between the current positioning point and the target calibration track segment by the second determining module includes:
and determining the distance between the current positioning point and the target calibration acquisition point on the target calibration track segment as the distance between the current positioning point and the target calibration track segment.
In an embodiment, the determining the orientation relationship between the current positioning point and the target calibration track segment by the second determining module includes:
determining an orientation coordinate system; the coordinate origin of the azimuth coordinate system is the starting point of the target calibration track section, the X-axis direction of the azimuth coordinate system is the longitude direction of the target calibration track section, and the Y-axis direction is the latitude direction of the target calibration track section;
obtaining a positioning vector which takes the coordinate origin of the orientation coordinate system as a starting point and the current positioning point as an end point under the orientation coordinate system;
and determining the orientation relation between the current positioning point and the target calibration track section according to the positioning vector and the corresponding normal vector of the target calibration track section in the orientation coordinate system.
In an embodiment, the determining, by the second determining module, an orientation relationship between the current positioning point and the target calibration track segment according to a positioning vector and a normal vector corresponding to the target calibration track segment in the orientation coordinate system includes:
calculating the positioning vector and the normal vector according to a set direction calculation mode;
determining the orientation relation between the current positioning point and the target calibration track section according to the operation result; the orientation relation is as follows: the current positioning point is located on the target calibration track segment, or the current positioning point is located on the right side of the target calibration track segment, or the current positioning point is located on the left side of the target calibration track segment.
In an embodiment, the normal vector takes the coordinate origin of the orientation coordinate system as a starting point, and takes a designated point as an end point, and the normal vector and the unit direction vector (x) corresponding to the target calibration track segment in the orientation coordinate system are the same as each other2，y2) Vertically; the coordinates of the designated point are (x1, y 1); said x1＝-y2，y1＝x2。
In one embodiment, the third determining module determines whether the target vehicle is currently driving on the designated lane according to the distance and the orientation relationship between the current positioning point and the target calibration track section, and includes:
when the orientation relation indicates that the current positioning point is located on the target calibration track section, determining that the target vehicle currently runs on the specified lane;
when the orientation relation indicates that the current positioning point is on the right side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is larger than a preset first distance threshold value; if so, determining that the target vehicle is not currently driven on the specified lane; if not, determining that the target vehicle is currently running on the specified lane;
when the orientation relation indicates that the current positioning point is on the left side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is larger than a preset second distance threshold value; if so, determining that the target vehicle is not currently driven on the specified lane; if not, determining that the target vehicle is currently running on the specified lane; the first distance threshold is different from the second distance threshold.
With continued reference to fig. 9, the present application further provides an onboard positioning device, which includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904.
The processor 901, the communication interface 902 and the memory 903 communicate with each other through a communication bus 904;
a memory 903 for storing computer programs;
the processor 901 is configured to execute the computer program stored in the memory 903, and when the processor 901 executes the computer program, the steps of the positioning method provided in the embodiment of the present application are implemented.
The present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the positioning method provided in the embodiments of the present application.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (10)
1. A positioning method is applied to vehicle-mounted positioning equipment, and is characterized by comprising the following steps:
determining a current positioning point of a target vehicle where the vehicle-mounted positioning equipment is located according to a currently received satellite positioning signal;
selecting a target calibration track section matched with the current positioning point from a pre-fitted calibration track section set according to the current positioning point; the calibration track section in the calibration track section set is positioned in the appointed lane;
determining the distance and the orientation relation between the current positioning point and the target calibration track section;
and determining whether the target vehicle runs on the specified lane currently according to the distance and the orientation relation between the current positioning point and the target calibration track section.
2. The method according to claim 1, wherein said selecting a target calibration trajectory segment matching the current positioning point from a set of pre-fitted calibration trajectory segments according to the current positioning point comprises:
determining the distance between each calibration acquisition point on the calibration track section and the current positioning point aiming at each calibration track section in the calibration track section set; each calibration track section in the calibration track section set is formed by fitting N calibration acquisition points, the calibration acquisition points on different calibration track sections are different, and N is a natural number greater than 1;
searching a target calibration acquisition point from the calibration acquisition points on all the calibration track sections; the distance between the target calibration acquisition point and the current positioning point is minimum and meets a set error condition;
and determining the calibration track section where the target calibration acquisition point is located as the target calibration track section.
3. The method of claim 2, wherein said determining the distance between the current location point and the target calibration trajectory segment comprises:
and determining the distance between the current positioning point and the target calibration acquisition point on the target calibration track segment as the distance between the current positioning point and the target calibration track segment.
4. The method according to claim 2, wherein the determining the orientation relationship between the current positioning point and the target calibration trajectory segment comprises:
determining an orientation coordinate system; the coordinate origin of the azimuth coordinate system is the starting point of the target calibration track section, the X-axis direction of the azimuth coordinate system is the longitude direction of the target calibration track section, and the Y-axis direction is the latitude direction of the target calibration track section;
obtaining a positioning vector which takes the coordinate origin of the orientation coordinate system as a starting point and the current positioning point as an end point under the orientation coordinate system;
and determining the orientation relation between the current positioning point and the target calibration track section according to the positioning vector and the corresponding normal vector of the target calibration track section in the orientation coordinate system.
5. The method according to claim 4, wherein the determining the orientation relationship between the current positioning point and the target calibration track segment according to the positioning vector and the corresponding normal vector of the target calibration track segment in the orientation coordinate system comprises:
calculating the positioning vector and the normal vector according to a set direction calculation mode;
determining the orientation relation between the current positioning point and the target calibration track section according to the operation result; the orientation relation is as follows: the current positioning point is located on the target calibration track segment, or the current positioning point is located on the right side of the target calibration track segment, or the current positioning point is located on the left side of the target calibration track segment.
6. The method as claimed in claim 5, wherein said determining whether the target vehicle is currently driving on the designated lane according to the distance and orientation relationship between the current positioning point and the target calibration track segment comprises:
when the orientation relation indicates that the current positioning point is located on the target calibration track section, determining that the target vehicle currently runs on the specified lane;
when the orientation relation indicates that the current positioning point is on the right side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is larger than a preset first distance threshold value; if so, determining that the target vehicle is not currently driven on the specified lane; if not, determining that the target vehicle is currently running on the specified lane;
when the orientation relation indicates that the current positioning point is on the left side of the target calibration track section, judging whether the distance between the current positioning point and the target calibration track section is larger than a preset second distance threshold value; if so, determining that the target vehicle is not currently driven on the specified lane; and if not, determining that the target vehicle is currently running on the specified lane.
7. A positioning device is applied to vehicle-mounted positioning equipment, and is characterized by comprising:
the first determination module is used for determining the current positioning point of the target vehicle where the vehicle-mounted positioning equipment is located according to the currently received satellite positioning signal;
the track section selection module is used for selecting a target calibration track section matched with the current positioning point from a pre-fitted calibration track section set according to the current positioning point; the calibration track section in the calibration track section set is positioned in the appointed lane;
the second determination module is used for determining the distance and the orientation relation between the current positioning point and the target calibration track section;
and the third determining module is used for determining whether the target vehicle runs on the specified lane currently according to the distance and the azimuth relation between the current positioning point and the target calibration track section.
8. The apparatus of claim 7, wherein the trajectory segment selection module selects a target calibration trajectory segment matching the current positioning point from a set of pre-fitted calibration trajectory segments according to the current positioning point, comprising:
determining the distance between each calibration acquisition point on the calibration track section and the current positioning point aiming at each calibration track section in the calibration track section set; each calibration track section in the calibration track section set is formed by fitting N calibration acquisition points, the calibration acquisition points on different calibration track sections are different, and N is a natural number greater than 1;
searching a target calibration acquisition point from the calibration acquisition points on all the calibration track sections; the distance between the target calibration acquisition point and the current positioning point is minimum and meets a set error condition;
and determining the calibration track section where the target calibration acquisition point is located as the target calibration track section.
9. An on-board positioning device, the device comprising a readable storage medium and a processor;
wherein the readable storage medium is configured to store machine executable instructions;
the processor configured to read the machine executable instructions on the readable storage medium and execute the instructions to implement the steps of the method of any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010553826.6A CN111739295B (en) | 2020-06-17 | 2020-06-17 | Positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010553826.6A CN111739295B (en) | 2020-06-17 | 2020-06-17 | Positioning method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111739295A CN111739295A (en) | 2020-10-02 |
| CN111739295B true CN111739295B (en) | 2021-05-25 |
Family
ID=72649543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010553826.6A Active CN111739295B (en) | 2020-06-17 | 2020-06-17 | Positioning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111739295B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112632450A (en) * | 2020-12-30 | 2021-04-09 | 中国电子科技集团公司电子科学研究院 | Wide-area space abnormal track identification method and device and readable storage medium |
| CN113178025B (en) * | 2021-05-14 | 2023-02-03 | 南京领行科技股份有限公司 | Vehicle lane change detection method and device, electronic equipment and storage medium |
| CN113990105A (en) * | 2021-10-22 | 2022-01-28 | 数字广东网络建设有限公司 | Vehicle track processing method and device, computer equipment and storage medium |
| CN114038209A (en) * | 2021-12-21 | 2022-02-11 | 杭州海康威视数字技术股份有限公司 | Bus lane occupation processing method, device and equipment |
| CN115050161B (en) * | 2022-03-30 | 2023-10-13 | 兰州乐智教育科技有限责任公司 | Position monitoring alarm method and device, electronic equipment and storage medium |
| CN115096328B (en) * | 2022-06-30 | 2023-07-11 | 阿波罗智联(北京)科技有限公司 | Positioning method and device of vehicle, electronic equipment and storage medium |
| CN116689328B (en) * | 2023-08-09 | 2023-10-31 | 成都新西旺自动化科技有限公司 | Clamping control material distributing device and clamping control material distributing method for mobile phone rear cover product |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100961095B1 (en) * | 2009-12-24 | 2010-06-07 | (주)나인정보시스템 | Bus only lane violation enforcement system |
| ES2441293B2 (en) * | 2012-07-12 | 2014-11-12 | Universidad Rey Juan Carlos | Vehicle identification system that obstructs the bus lane |
| CN104680794A (en) * | 2015-02-13 | 2015-06-03 | 深圳市图敏实业有限公司 | Vehicle-mounted monitoring terminal as well as bus lane monitoring method and system based on terminal |
| CN204833703U (en) * | 2015-07-07 | 2015-12-02 | 江苏智运科技发展有限公司 | Bus special lane monitoring device based on automobile -mounted terminal |
| CN205609018U (en) * | 2016-04-06 | 2016-09-28 | 厦门易华录信息技术有限公司 | Public transportation lane vehicular accounts for intelligent snapshot system |
| CN208077403U (en) * | 2017-12-31 | 2018-11-09 | 徐韬 | A kind of intelligent bus special lane information management system |
| CN108876857B (en) * | 2018-07-02 | 2020-09-29 | 上海西井信息科技有限公司 | Method, system, device and storage medium for positioning unmanned vehicle |
-
2020
- 2020-06-17 CN CN202010553826.6A patent/CN111739295B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111739295A (en) | 2020-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111739295B (en) | Positioning method and device | |
| EP3032221B1 (en) | Method and system for improving accuracy of digital map data utilized by a vehicle | |
| US10677597B2 (en) | Method and system for creating a digital map | |
| JP5422111B2 (en) | On-board device for travel route detection | |
| US8989915B2 (en) | Vehicular wireless communication apparatus and communication system | |
| US9109907B2 (en) | Vehicle position recognition apparatus and method using image recognition information | |
| CN109752741A (en) | Vehicle Positioning Equipment | |
| US8892331B2 (en) | Drive assist system and wireless communication device for vehicle | |
| US11125575B2 (en) | Method and apparatus for estimating a location of a vehicle | |
| CN106441354A (en) | Methods and apparatus for evaluating operation of a vehicle onboard navigation system using lateral offset data | |
| KR20180048985A (en) | METHOD, DEVICE, MAP MANAGEMENT APPARATUS AND SYSTEM FOR DETERMINATING AUTOMATIC POSITIONING IN AUTOMATIC ENVIRONMENT | |
| US20190360820A1 (en) | Method and device for executing at least one measure for increasing the safety of a vehicle | |
| US11928871B2 (en) | Vehicle position estimation device and traveling position estimation method | |
| US20220355818A1 (en) | Method for a scene interpretation of an environment of a vehicle | |
| US20190212747A1 (en) | Lane Marker Signal Improvement through Mapped Geo-Referenced Lane Boundaries | |
| JP2007248321A (en) | System and method for estimating traveling position of vehicle | |
| KR101544854B1 (en) | Method for providing real time traffic information around vehicle and traffic information system using the same | |
| CN108827325B (en) | Method, apparatus and computer readable storage medium for locating data | |
| CN110869864A (en) | Method for locating a vehicle with a high degree of automation, and corresponding driver assistance system and computer program | |
| AU2019210682B2 (en) | Probe information processing apparatus | |
| CN117168471A (en) | Vehicle positioning judgment method and device, vehicle-mounted terminal and vehicle | |
| JP2010139478A (en) | Navigation device | |
| CN115335887A (en) | Map updating device and map updating program | |
| US20210009120A1 (en) | Driving assistance device and driving assistance method | |
| US20230090861A1 (en) | Vehicle position estimation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |