CN112584316A - Indoor driving positioning method, device, equipment and storage medium - Google Patents

Indoor driving positioning method, device, equipment and storage medium Download PDF

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Publication number
CN112584316A
CN112584316A CN201910945710.4A CN201910945710A CN112584316A CN 112584316 A CN112584316 A CN 112584316A CN 201910945710 A CN201910945710 A CN 201910945710A CN 112584316 A CN112584316 A CN 112584316A
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vehicle
road
road network
theoretical
data
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CN112584316B (en
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程一博
张尔河
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Shenyang Mxnavi Co Ltd
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Shenyang Mxnavi Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services

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Abstract

The embodiment of the invention discloses an indoor driving positioning method, an indoor driving positioning device, indoor driving positioning equipment and an indoor driving positioning storage medium, wherein the method comprises the following steps: acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor driving positioning is initially carried out; determining and obtaining a theoretical position of the vehicle by using the driving state data based on the initial position of the vehicle; constructing a road network according to the theoretical position of the vehicle and map data, wherein each road in the road network represents a bidirectional passing road; and matching the road network according to the theoretical position of the vehicle to confirm the actual position of the vehicle. The indoor driving positioning method provided by the embodiment of the invention solves the problem of positioning jump confusion caused by vehicle reverse driving in the positioning process, improves the accuracy of indoor driving positioning and improves user experience.

Description

Indoor driving positioning method, device, equipment and storage medium
Technical Field
The invention relates to the field of vehicle navigation, in particular to an indoor driving positioning method, device, equipment and storage medium.
Background
At present, a navigation system is mainly dependent on an inertial derivation technology for positioning and guiding in a map-free road parking lot. The travel distance and the turning angle are respectively calculated by collecting the vehicle speed pulse and the gyro turning angle, and a theoretical position is further deduced by combining a displacement formula. And because hardware information has an error, accumulated errors occur in theoretical positions, and positioning of the indoor parking lot is inaccurate, especially in the process of exiting from the parking lot, and the movement of the car logo on the navigation interface is delayed and not positioned. In an indoor parking lot with a map road, however, the "reverse driving" is not supported well due to the matching algorithm. Since in an indoor parking lot, a user often has to go on a reverse road against a traffic instruction, in this case, a navigation system often has a phenomenon of positioning jump confusion.
Disclosure of Invention
In view of this, the invention provides an indoor driving positioning method, device, equipment and storage medium, which can solve the problem of positioning jump confusion caused by vehicle retrograde motion in the indoor driving positioning process and improve the accuracy of indoor driving positioning.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an indoor driving positioning method, including:
acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor running positioning is initially carried out;
determining and obtaining a theoretical position of the vehicle by using the driving state data based on the initial position of the vehicle;
constructing a road network according to the theoretical position of the vehicle and the map data, wherein each road in the road network represents a bidirectional passing road;
and matching the road network according to the theoretical positions of the vehicles to confirm the actual positions of the vehicles.
In a second aspect, the present invention provides an indoor driving positioning device, including:
the data acquisition module is used for acquiring driving state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor driving positioning is initially carried out;
the theoretical position obtaining module is used for determining and obtaining a theoretical position of the vehicle by utilizing the driving state data based on the initial position of the vehicle;
the road network construction module is used for constructing a road network according to the theoretical positions of the vehicles and the map data, and each road in the road network represents a bidirectional passing road;
and the actual position acquisition module is used for matching the road network according to the theoretical position of the vehicle to confirm the actual position of the vehicle.
In a third aspect, the present invention provides an indoor driving positioning device, which includes a memory and a processor, where the memory stores a computer program executable on the processor, and the processor implements the aforementioned indoor driving positioning method when executing the computer program.
In a fourth aspect, the present invention provides a computer readable storage medium, the storage medium storing a computer program, the computer program comprising program instructions, which when executed, implement the aforementioned indoor driving positioning method.
The indoor driving positioning method provided by the invention determines the theoretical position of the vehicle according to the initial position of the vehicle and the driving state parameters, obtains the road network consisting of the bidirectional traffic roads according to the map data, realizes the indoor driving positioning of the vehicle according to the actual position of the vehicle obtained by matching the theoretical position of the vehicle and the road network, solves the problem of positioning jump confusion caused by the reverse driving of the vehicle in the positioning process by matching the theoretical position of the vehicle with the road network consisting of the bidirectional traffic roads, improves the accuracy of the indoor driving positioning, and improves the user experience.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only part of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an indoor driving positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a map road according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a road network according to an embodiment of the present invention;
fig. 4 is a flowchart of an indoor driving positioning method according to a second embodiment of the present invention;
fig. 5 is a sub-flowchart of an indoor driving positioning method according to a second embodiment of the present invention;
fig. 6 is a schematic diagram of a road network according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a road network according to a second embodiment of the present invention;
fig. 8 is a flowchart of an indoor driving positioning method according to a third embodiment of the present invention;
fig. 9 is a schematic diagram of a specific corresponding relationship between a direction difference and a warehousing state provided by a third embodiment of the present invention;
FIG. 10 is a schematic structural diagram of an indoor driving positioning device provided in the fourth embodiment of the present invention
Fig. 11 is a schematic structural diagram of an indoor traveling positioning device provided in the fifth embodiment of the present invention.
Detailed Description
The technical solution in the implementation of the present application is described clearly and completely below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of some, and not restrictive, of the current application. It should be further noted that, based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first formula may be referred to as a second formula, and similarly, a second formula may be referred to as a first formula, without departing from the scope of the present invention. Both the first and second formulas are formulas, but they are not the same formula. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. It should be noted that when one portion is referred to as being "fixed" to another portion, it may be directly on the other portion or there may be an intermediate portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Example one
Referring to fig. 1, the present embodiment provides an indoor driving positioning method, which may be applied to indoor driving conditions in a scene such as an indoor parking lot, and the method may be implemented by an indoor driving positioning device, specifically, the method includes the following steps:
and S110, acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is the vehicle position when indoor running positioning is initially carried out.
When the vehicle is positioned indoors in a driving mode, because an indoor traditional GPS positioning mode is difficult to acquire accurate GPS signals, the indoor GPS positioning result is inaccurate.
For example, before entering an underground garage, a vehicle can be positioned at any time by a GPS positioning system, when the vehicle enters the underground garage, a GPS signal is weakened and accurate positioning is difficult to achieve, when the GPS signal is weak, a positioning mode is converted into indoor driving positioning, at this time, the vehicle position is an entrance of the underground garage, and along with driving of the vehicle, a sensor arranged on the vehicle continuously collects driving state data, specifically, the driving state data includes: vehicle speed pulse data, gyro rotation angle data and air pressure data; the vehicle speed pulse data is used for determining the traveling displacement; the gyro corner data is used for determining a driving corner angle; and the air pressure data is used for judging the change of the floor where the vehicle is located.
And S120, determining and obtaining a theoretical position of the vehicle by utilizing the driving state data based on the initial position of the vehicle.
Based on the driving state parameters obtained in step S110, the driving state parameters at least include vehicle speed pulse data and gyro angle data, and may specifically be obtained by a sensor connected to a vehicle can (controller Area network) bus, the forward and backward states of the vehicle and corresponding vehicle distance information may be known by the vehicle speed pulse data, the turning angle information in the driving process of the vehicle may be known by the gyro angle data, the relative displacement of the vehicle with respect to the initial position of the vehicle at this time may be derived by using a displacement formula according to the information in combination with the driving time, and the position of the vehicle at this time, that is, the theoretical position of the vehicle, may be determined according to the relative displacement and the initial position of the vehicle. Of course, when the driving state parameters further include air pressure data, the change of the floor where the vehicle is located can be identified according to the air pressure data, the vehicle can be judged to have a "downstairs" during driving when the air pressure is increased, and the vehicle can be judged to have a "upstairs" during driving when the air pressure is decreased.
S130, constructing a road network according to the theoretical positions of the vehicles and the map data, wherein each road in the road network represents a bidirectional passing road.
Through analyzing the actual situation, it can be known that there is a certain error in the data collected by the sensor, that is, there is an error in the data of the driving state, and as the driving time of the vehicle increases, the error will become larger and larger, which will cause the deviation of the theoretical position of the vehicle obtained by calculation, in this embodiment, the map data obtained in step S110 is used to assist in positioning to adjust the theoretical position of the vehicle to obtain the actual position of the vehicle, however, the map data is established according to the actual conditions of the indoor road, so that the phenomenon of positioning jump confusion is easy to occur when the vehicle runs in the reverse direction, therefore, it needs to be adjusted to support the matching positioning in the reverse driving state, in this embodiment, the road in the map data that is one way traveled indoors can be converted into the road in the road network that is two way traveled indoors by constructing the road network, and each road in the road network represents a bidirectional passing road, so that the phenomenon of positioning jump confusion can not occur when the position of the vehicle is positioned based on the road network.
In some embodiments, the specific process of constructing the road network is as follows:
the field next is used for storing the road connected with the road end point, the field pre is used for storing the road connected with the road starting point, and the field data is the current road information.
For example, as shown in fig. 2, in the map road, the roads A, B, C, E, F are all one-way traffic roads, the traffic directions are shown as the directions of arrows on each road in fig. 2, the "opposite direction roads" corresponding to the road A, B, C, E, F are respectively a ', B ', C ', E ', and F ', the road D is a two-way traffic road, and the two-way traffic roads are respectively denoted as D1 and D2.
Then for road a, its next should contain { B, B ', C', D1, D2}, its pre should contain { E, E ', F' }; for road a ' (the inverse of road a), its next should contain { E, E ', F ' }, its pre should contain { B, B ', C ', D1, D2}, and so on.
When the vehicle enters the indoor from the outdoor, namely enters the indoor driving positioning state, a road network is constructed, and the road network is constructed in a rectangular road taking mode: taking the theoretical position of the vehicle as the center, calculating a rectangular range, taking out the roads covered by the rectangle in the map data (taking fig. 2 as an example), forming a logic structure similar to that shown in fig. 3 according to the road network construction process (the arrow in the figure indicates the traffic direction of the roads), and extending the road network in a 'successive taking way' manner along with the driving of the vehicle, namely taking the roads with next and pre being 'empty' in the road network, wherein the taking can be carried out at a certain period, or taking out the roads in all parking lots when the taking is carried out for the first time. Taking fig. 3 as an example, the roads to be expanded are B, B ', C, C ', D1, D2, E, E ', F, F ', where the road B needs to take next, the road B ' needs to take pre, and so on.
And S140, matching the road network according to the theoretical positions of the vehicles to confirm the actual positions of the vehicles.
After the road network composed of two-way traffic roads is established in step S130, the theoretical position of the vehicle can be matched with the road network, it should be understood that the vehicle generally runs on the road, that is, the actual position of the vehicle should not deviate from the road network by a certain range, and the running road, the running direction, and the position on the road, that is, the actual position of the vehicle can be obtained according to the matching result of the theoretical position of the vehicle and the road network.
In this embodiment, in the process of matching the theoretical position of the vehicle with the road network, matching needs to be performed according to a preset matching rule, for example, a road closest to the theoretical position of the vehicle is selected as a matching result.
The embodiment provides an indoor driving positioning method, which comprises the steps of determining a theoretical position of a vehicle according to an initial position of the vehicle and driving state parameters, obtaining a road network consisting of bidirectional traffic roads according to map data, obtaining an actual position of the vehicle according to the theoretical position of the vehicle and the road network matching, achieving indoor driving positioning of the vehicle, and matching the road network consisting of the bidirectional traffic roads through the theoretical position of the vehicle, so that the problem of positioning jump confusion caused by reverse driving of the vehicle in the positioning process is solved, the accuracy of indoor driving positioning is improved, and user experience is improved.
Example two
Fig. 4 is a flowchart of an indoor driving location method provided in the second embodiment of the present invention, which further explains and supplements part of contents of the first embodiment, and the method is suitable for indoor driving situations in scenes such as an indoor parking lot, and the method can be implemented by an indoor driving location device, and specifically includes the following steps:
s210, acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is the vehicle position when indoor running positioning is initially carried out.
The driving state data includes: vehicle speed pulse data, gyro rotation angle data and air pressure data; the vehicle speed pulse data is used for determining the traveling displacement; the gyro corner data is used for determining a driving corner angle; and the air pressure data is used for judging the change of the floor where the vehicle is located.
And S220, determining and obtaining a theoretical position of the vehicle by utilizing the driving state data based on the initial position of the vehicle.
The forward and backward states of the vehicle and corresponding vehicle distance information can be known through vehicle speed pulse data, the turning angle information in the running process of the vehicle can be known through gyro turning angle data, the relative displacement of the vehicle relative to the initial position of the vehicle can be deduced according to the information and the running time by utilizing a displacement formula, and the position of the vehicle at the moment, namely the theoretical position of the vehicle, can be determined according to the relative displacement and the initial position of the vehicle. Of course, when the driving state parameters further include air pressure data, the change of the floor where the vehicle is located can be identified according to the air pressure data, the vehicle can be judged to have a "downstairs" during driving when the air pressure is increased, and the vehicle can be judged to have a "upstairs" during driving when the air pressure is decreased.
S230, constructing a road network according to the theoretical positions of the vehicles and the map data, wherein each road in the road network represents a bidirectional passing road.
In the embodiment, the road network is constructed to convert the indoor one-way traffic road in the map data into the two-way traffic road in the road network, and each road in the road network represents the two-way traffic road, so that the phenomenon of positioning jump confusion can not occur when the position of the vehicle is positioned based on the road network.
And S240, matching the road network according to the theoretical positions of the vehicles to confirm the actual positions of the vehicles.
In some embodiments, as shown in FIG. 5, step S240 includes steps S241-S243:
s241, determining the distance weight and the direction weight of each road in the road network according to the theoretical position of the vehicle.
In the process of matching the theoretical position of the vehicle with the road network, matching needs to be performed according to a preset matching rule, in this embodiment, a weight algorithm is used as a matching basis, specifically, for each road in the road network, distance weights and direction weights corresponding to different roads are calculated by using the theoretical position of the vehicle as a reference, and the process is as follows:
determining a first distance between a road in the road network and the theoretical position of the vehicle, projecting the theoretical position of the vehicle onto the road in the road network to obtain a projected position of the theoretical position of the vehicle, determining a second distance according to the projected position and an end point on the road in the road network, which is closest to the projected position, and determining a distance weight of each road in the road network according to the first distance, the second distance and a preset ratio parameter.
Determining a theoretical position direction corresponding to the theoretical position of the vehicle and a road direction corresponding to a road in the road network, and determining the direction weight of each road in the road network according to the theoretical position direction, the road direction and a preset weight coefficient.
Illustratively, a distance weight W is determined using a first formula based on the theoretical position of the vehicle and the roads in the road networkd：
Wd＝prodist×d1+proextX d2, formula (I), prodistIs a first distance, pro, between a road in said road network and said theoretical position of said vehicleextThe preset proportion parameters d1 and d2 are the second distance between the projection position and the end point of the road in the road network closest to the projection position, and can be set according to different actual conditions and requirements.
Taking fig. 6 as an example (for simplifying the processing, the road is shown as a straight line and the direction is not shown), the point M, N, H, L is on a straight line and represents the road end point, the point P is the theoretical position, and the corresponding projection point is Q. Pro of MN, NH, HL of roaddistIs the length of PQ; pro of road MN, HLextLength of NQ, QH, pro of road NH, respectivelyextIs 0.
Determining direction weight W by using a second formula according to the theoretical position direction corresponding to the theoretical position of the vehicle and the road direction corresponding to the road in the road networka：
Wa＝|dirpos-dirroadI.times.a 1, wherein, dirposIn the direction of the theoretical position, dirroadThe weighting coefficient preset by the a1 for the road direction can be set according to different practical situations and requirements.
And S242, judging the accurate road corresponding to the theoretical position of the vehicle in the road network according to the distance weight and the direction weight and a preset rule.
In step S242, after the distance weight and the direction weight of each road are obtained, the best matching road, called as the accurate road, can be obtained by comparing and judging according to the preset rule. The preset rules include: one of the three rules of the minimum distance weight, the minimum direction weight and the minimum comprehensive result of the distance weight and the direction weight can be set according to different conditions or requirements.
In some embodiments, there are cases where a plurality of accurate roads are determined according to the above predetermined rule due to map data errors and/or driving state data errors and other reasons, as shown in fig. 7 (in order to simplify the processing, the roads are only shown as straight lines and directions are not shown), a line segment in the graph represents a road, and a point in the graph represents a theoretical position track; the point P is the theoretical position at the current time, and the matching results are all HN before the current time. In this case, NH and HL cannot be distinguished by weight, and the matching result is selected by an additional rule, for example, next (next is used to store the link connected to the link end point) is preferred, which indicates that the link connected to the end point of the last matching result is preferred, and NH is selected as the current matching result in the example of fig. 7.
And S243, positioning according to the accurate road and the theoretical position of the vehicle to obtain the actual position of the vehicle.
After the accurate road which is the best matched with the theoretical position of the vehicle in the road network is obtained according to the step S242, the actual position of the vehicle can be located according to the matched accurate road, the actual position of the vehicle can be known to be unable to be separated from the road according to the actual situation, and the actual position of the vehicle can be obtained by locating the vehicle in a certain range of the accurate road according to the theoretical position of the vehicle in consideration of the error of the map data.
And S250, judging the upstairs and downstairs state of the vehicle according to the actual position of the vehicle and the air pressure data.
The situation that the vehicle travels upstairs and downstairs indoors when the vehicle travels indoors is that multiple floors exist in an underground parking lot, and roads corresponding to different floors are also different, so that corresponding map data need to be adjusted according to the floor where the vehicle is located, a judgment process that the vehicle travels upstairs and downstairs is further provided in this embodiment, a height change where the vehicle is located can be judged according to air pressure data, and therefore, in this embodiment, more accurate judgment is performed in combination with the actual position of the vehicle obtained in step S240 in consideration that the air pressure data may be affected by other factors: when the vehicle is positioned on the floor connecting road, the vehicle can be judged to be changed from the upper floor to the lower floor by combining the air pressure change, and when the vehicle is not positioned on the floor connecting road, the vehicle is judged to be not changed from the upper floor to the lower floor by combining the air pressure change.
Of course, in some implementations, it may be determined whether the vehicle has changed from the up-down floor according to only the change of the air pressure data or whether the vehicle is on the floor connecting road.
And S260, correcting and adjusting the map data according to the up-and-down state of the vehicle.
After it is determined that the vehicle has gone upstairs or downstairs according to step S250, it is necessary to perform floor correction according to the floor where the vehicle is located to find accurate map data corresponding to the floor so as to avoid positioning error, for example, if it is determined that the vehicle has gone upstairs in step S250 and the current floor is a floor-2, it may be determined that the number of floors where the vehicle has risen is one floor according to a specific value of a change in the air pressure data and/or an actual position of the vehicle, and the floor is adjusted to a floor-1 and the map data is adjusted to map data corresponding to the floor-1.
In some embodiments, the specific process of floor adjustment may also be changed through matching history, that is, floor changes corresponding to some matching results are recorded, and when the matching results appear again, the floor positions are adjusted accordingly.
The indoor driving positioning method further explains the specific process of obtaining the actual position of the vehicle according to the theoretical position of the vehicle matching the road network, and obtains the matching result meeting the requirement according to the preset rule through the distance weight and the direction weight.
EXAMPLE III
Fig. 8 is a schematic flow chart of an indoor driving positioning method provided on the basis of the second embodiment in the third embodiment of the present invention, in which the present embodiment further adds a positioning process under the condition that a vehicle backs up and enters a garage, specifically as follows:
s310, acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is the vehicle position when indoor running positioning is initially carried out.
Wherein the driving state data includes: vehicle speed pulse data, gyro rotation angle data and air pressure data; the vehicle speed pulse data is used for determining the traveling displacement; the gyro corner data is used for determining a driving corner angle; and the air pressure data is used for judging the change of the floor where the vehicle is located.
And S320, determining and obtaining a theoretical position of the vehicle by utilizing the driving state data based on the initial position of the vehicle.
S330, constructing a road network according to the theoretical positions of the vehicles and the map data, wherein each road in the road network represents a bidirectional passing road.
And S340, matching the road network according to the theoretical positions of the vehicles to confirm the actual positions of the vehicles.
Step S340 specifically includes:
determining the distance weight and the direction weight of each road in the road network according to the theoretical position of the vehicle; judging the accurate road corresponding to the theoretical position of the vehicle in the road network according to the distance weight and the direction weight and a preset rule, wherein the preset rule comprises the following steps: one of three rules of minimum distance weight, minimum direction weight and minimum comprehensive result of the distance weight and the direction weight can be set according to different conditions or requirements; and positioning according to the accurate road and the theoretical position of the vehicle to obtain the actual position of the vehicle.
The distance weight and direction weight calculation process specifically comprises the following steps:
determining a first distance between a road in the road network and the theoretical position of the vehicle, projecting the theoretical position of the vehicle onto the road in the road network to obtain a projected position of the theoretical position of the vehicle, determining a second distance according to the projected position and an end point on the road in the road network, which is closest to the projected position, and determining a distance weight of each road in the road network according to the first distance, the second distance and a preset ratio parameter.
Determining a theoretical position direction corresponding to the theoretical position of the vehicle and a road direction corresponding to a road in the road network, and determining the direction weight of each road in the road network according to the theoretical position direction, the road direction and a preset weight coefficient.
Illustratively, a distance weight W is determined using a first formula based on the theoretical position of the vehicle and the roads in the road networkd：
Wd＝prodist×d1+proextX d2, formula (I), prodistIs a first distance, pro, between a road in said road network and said theoretical position of said vehicleextThe preset proportion parameters d1 and d2 are the second distance between the projection position and the end point of the road in the road network closest to the projection position, and can be set according to different actual conditions and requirements.
Determining direction weight W by using a second formula according to the theoretical position direction corresponding to the theoretical position of the vehicle and the road direction corresponding to the road in the road networka：
Wa＝|dirpos-dirroadI.times.a 1, wherein, dirposIn the direction of the theoretical position, dirroadThe weighting coefficient preset by the a1 for the road direction can be set according to different practical situations and requirements.
And S350, judging the upstairs and downstairs state of the vehicle according to the actual position of the vehicle and the air pressure data.
And S360, correcting and adjusting the map data according to the up-down state of the vehicle.
And S370, judging the warehousing state of the vehicle according to the direction difference between the theoretical position of the vehicle and the accurate road.
The indoor driving condition of the vehicle is usually found in the indoor parking, the indoor parking has the condition that the vehicle enters the garage, and the vehicle can be separated from the matched road when the vehicle enters the garage, so the judgment of the garage entering state of the vehicle is further added in the embodiment, specifically, whether the vehicle is in the garage entering state can be judged by judging the direction difference between the theoretical position of the vehicle and the accurate road, and the specific judgment standard is as follows:
three states are defined: the normal state indicates that the CCP (Current Car Position) is matched on a road without special operation; the warehousing preparation state indicates that the CCP is about to be separated from the matched road, and warehousing is about to be carried out; the warehousing state indicates that the CCP is separated from a matched road, warehousing is performed or warehousing is finished, the specific corresponding relation between the direction difference and the three states is shown in FIG. 9, the current state refers to the state of the vehicle when the triggering condition is detected, the triggering condition comprises the direction difference and a reversing signal and a forward signal which are acquired by vehicle speed pulse data, and the target state indicates the state of the vehicle after the state change of the vehicle is judged according to the triggering condition.
And S380, adjusting the actual position of the vehicle according to the warehousing state of the vehicle.
After the warehousing state of the vehicle is judged, the vehicle can be allowed to deviate from an accurate road according to the warehousing state of the vehicle, namely the actual position of the vehicle is adjusted when the vehicle is in the warehousing state.
The indoor driving positioning method further provides a positioning process when the vehicle enters the garage, the actual position of the vehicle is adjusted according to the garage entering state of the vehicle, the situation that the actual position of the vehicle is not accurately positioned when the vehicle enters the garage is avoided, and user experience is improved.
Example four
Fig. 10 is a schematic structural diagram of an indoor driving positioning device 400 according to a fourth embodiment of the present invention, and as shown in fig. 10, the device includes:
the data acquisition module 410 is configured to acquire driving state data, a vehicle initial position and map data, where the vehicle initial position is a vehicle position when an indoor driving location is initially performed.
Wherein the driving state data includes: vehicle speed pulse data, gyro rotation angle data and air pressure data; the vehicle speed pulse data is used for determining the traveling displacement; the gyro corner data is used for determining a driving corner angle; and the air pressure data is used for judging the change of the floor where the vehicle is located.
And a theoretical position obtaining module 420, which determines a theoretical position of the vehicle based on the initial position of the vehicle by using the driving state data.
A road network constructing module 430, configured to construct a road network according to the theoretical position of the vehicle and the map data, where each road in the road network represents a bidirectional passing road.
And an actual position obtaining module 440, configured to match the road network according to the theoretical position of the vehicle to determine an actual position of the vehicle.
In some embodiments, the actual position obtaining module 440 specifically includes:
and the weight calculation unit is used for determining the distance weight and the direction weight of each road in the road network according to the theoretical position of the vehicle.
An accurate road judging unit, configured to judge, according to the distance weight and the direction weight, an accurate road in the road network corresponding to the theoretical position of the vehicle according to a preset rule, where the preset rule includes: one of the three rules of the minimum distance weight, the minimum direction weight and the minimum comprehensive result of the distance weight and the direction weight can be set according to different conditions or requirements.
And the actual position positioning unit is used for positioning according to the accurate road and the theoretical position of the vehicle to obtain the actual position of the vehicle.
In some embodiments, the distance weight and direction weight calculation process specifically includes:
determining a first distance between a road in the road network and the theoretical position of the vehicle, projecting the theoretical position of the vehicle onto the road in the road network to obtain a projected position of the theoretical position of the vehicle, determining a second distance according to the projected position and an end point on the road in the road network, which is closest to the projected position, and determining a distance weight of each road in the road network according to the first distance, the second distance and a preset ratio parameter;
determining a theoretical position direction corresponding to the theoretical position of the vehicle and a road direction corresponding to a road in the road network, and determining the direction weight of each road in the road network according to the theoretical position direction, the road direction and a preset weight coefficient.
Illustratively, a distance weight W is determined using a first formula based on the theoretical position of the vehicle and the roads in the road networkd：
Wd＝prodist×d1+proextX d2, formula (I), prodistIs a first distance, pro, between a road in said road network and said theoretical position of said vehicleextThe preset proportion parameters d1 and d2 are the second distance between the projection position and the end point of the road in the road network closest to the projection position, and can be set according to different actual conditions and requirements.
Determining direction weight W by using a second formula according to the theoretical position direction corresponding to the theoretical position of the vehicle and the road direction corresponding to the road in the road networka：
Wa＝|dirpos-dirroadI.times.a 1, wherein, dirposIn the direction of the theoretical position, dirroadThe weighting coefficient preset by the a1 for the road direction can be set according to different practical situations and requirements.
Further, in some embodiments, the indoor driving positioning device 400 further comprises:
and the upstairs and downstairs judging module is used for judging the upstairs and downstairs state of the vehicle according to the actual position of the vehicle and the air pressure data.
And the floor correction module is used for correcting and adjusting the map data according to the up-down state of the vehicle.
And the storage state judgment module is used for judging the storage state of the vehicle according to the direction difference between the theoretical position of the vehicle and the accurate road.
And the actual position adjusting module is used for adjusting the actual position of the vehicle according to the warehousing state of the vehicle.
The indoor driving positioning device provided by the embodiment determines the theoretical position of the vehicle according to the initial position of the vehicle and the driving state parameters, obtains the road network consisting of the bidirectional traffic roads according to the map data, realizes the indoor driving positioning of the vehicle according to the actual position of the vehicle obtained by matching the theoretical position of the vehicle and the road network, solves the problem of positioning jump confusion caused by the reverse driving of the vehicle in the positioning process by matching the road network consisting of the bidirectional traffic roads through the theoretical position of the vehicle, improves the accuracy of the indoor driving positioning, and improves the user experience.
EXAMPLE five
Fig. 11 is a schematic structural diagram of an indoor driving positioning device 500 according to a fourth embodiment of the present invention, as shown in fig. 11, the indoor driving positioning device includes a memory 510 and a processor 520, the number of the processors 520 in the indoor driving positioning device may be one or more, and one processor 520 is taken as an example in fig. 11; the memory 510 and the processor 520 in the indoor driving positioning device may be connected by a bus or other means, and fig. 11 illustrates the connection by the bus as an example.
The memory 510 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules (e.g., the data obtaining module 410, the theoretical position obtaining module 420, the road network constructing module 430, and the actual position obtaining module 440) corresponding to the indoor driving positioning method in the embodiment of the present invention. The processor 520 executes various functional applications and data processing of the indoor driving positioning equipment by running software programs, instructions and modules stored in the memory 510, so as to implement the indoor driving positioning method.
Wherein the processor 520 is configured to run the computer executable program stored in the memory 510 to implement the following steps: step S110, acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor driving positioning is initially carried out; step S120, determining and obtaining a theoretical position of the vehicle by utilizing the driving state data based on the initial position of the vehicle; step S130, constructing a road network according to the theoretical positions of the vehicles and the map data, wherein each road in the road network represents a bidirectional passing road; and S140, constructing a road network according to the theoretical positions of the vehicles and the map data, wherein each road in the road network represents a bidirectional passing road.
Of course, the indoor driving positioning device provided in the embodiment of the present invention is not limited to the above-described method operations, and may also perform related operations in the indoor driving positioning method provided in any embodiment of the present invention.
The memory 510 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 510 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 510 may further include memory located remotely from processor 520, which may be connected to an indoor vehicle location device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiment provides an indoor driving positioning device, solves the problem of positioning jumping confusion caused by backward driving of vehicles in the positioning process, improves the accuracy of indoor driving positioning, and improves user experience.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform an indoor driving positioning method, where the indoor driving positioning method includes:
acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor running positioning is initially carried out;
determining and obtaining a theoretical position of the vehicle by using the driving state data based on the initial position of the vehicle;
constructing a road network according to the theoretical position of the vehicle and the map data, wherein each road in the road network represents a bidirectional passing road;
and matching the road network according to the theoretical positions of the vehicles to confirm the actual positions of the vehicles.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the indoor driving positioning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, an indoor vehicle positioning device, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the indoor driving positioning device, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. An indoor driving positioning method is characterized by comprising the following steps:
acquiring running state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor running positioning is initially carried out;
determining and obtaining a theoretical position of the vehicle by using the driving state data based on the initial position of the vehicle;
constructing a road network according to the theoretical position of the vehicle and the map data, wherein each road in the road network represents a bidirectional passing road;
and matching the road network according to the theoretical positions of the vehicles to confirm the actual positions of the vehicles.
2. The method of claim 1, wherein:
the driving state data includes: vehicle speed pulse data, gyro rotation angle data and air pressure data;
the vehicle speed pulse data is used for determining the traveling displacement;
the gyro corner data is used for determining a driving corner angle;
and the air pressure data is used for judging the change of the floor where the vehicle is located.
3. The method of claim 1, wherein said matching said road network verified vehicle actual positions based on said vehicle theoretical positions comprises:
determining the distance weight and the direction weight of each road in the road network according to the theoretical position of the vehicle;
judging the accurate road corresponding to the theoretical position of the vehicle in the road network according to the distance weight and the direction weight and a preset rule;
and positioning according to the accurate road and the theoretical position of the vehicle to obtain the actual position of the vehicle.
4. The method of claim 3, wherein the preset rules comprise:
the distance weight is minimum, the direction weight is minimum, and the comprehensive result of the distance weight and the direction weight is minimum.
5. The method of claim 3, wherein said determining distance and direction weights for each road in said road network based on said theoretical position of said vehicle comprises:
determining a first distance between a road in the road network and the theoretical position of the vehicle, projecting the theoretical position of the vehicle onto the road in the road network to obtain a projected position of the theoretical position of the vehicle, determining a second distance according to the projected position and an end point on the road in the road network, which is closest to the projected position, and determining a distance weight of each road in the road network according to the first distance, the second distance and a preset ratio parameter;
determining a theoretical position direction corresponding to the theoretical position of the vehicle and a road direction corresponding to a road in the road network, and determining the direction weight of each road in the road network according to the theoretical position direction, the road direction and a preset weight coefficient.
6. The method of claim 2, wherein said matching said road network based on said vehicle theoretical position further comprises, after said determining an actual position of said vehicle,:
judging the upstairs and downstairs state of the vehicle according to the actual position of the vehicle and the air pressure data;
and correcting and adjusting the map data according to the up-and-down state of the vehicle.
7. The method of claim 3, wherein said matching said road network based on said vehicle theoretical position further comprises, after said determining an actual position of said vehicle,:
judging the warehousing state of the vehicle according to the direction difference between the theoretical position of the vehicle and the accurate road;
and adjusting the actual position of the vehicle according to the warehousing state of the vehicle.
8. The utility model provides an indoor driving positioner which characterized in that includes:
the data acquisition module is used for acquiring driving state data, a vehicle initial position and map data, wherein the vehicle initial position is a vehicle position when indoor driving positioning is initially carried out;
the theoretical position obtaining module is used for determining and obtaining a theoretical position of the vehicle by utilizing the driving state data based on the initial position of the vehicle;
the road network construction module is used for constructing a road network according to the theoretical positions of the vehicles and the map data, and each road in the road network represents a bidirectional passing road;
and the actual position acquisition module is used for matching the road network according to the theoretical position of the vehicle to confirm the actual position of the vehicle.
9. Indoor driving positioning equipment, characterized by comprising a memory and a processor, wherein the memory stores a computer program which can be run by the processor, and the processor executes the computer program to realize the indoor driving positioning method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program comprising program instructions which, when executed, implement the indoor vehicle localization method of any of claims 1-7.
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