CN113015243A - Vehicle positioning method and device and vehicle - Google Patents
Vehicle positioning method and device and vehicle Download PDFInfo
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- CN113015243A CN113015243A CN202110296637.XA CN202110296637A CN113015243A CN 113015243 A CN113015243 A CN 113015243A CN 202110296637 A CN202110296637 A CN 202110296637A CN 113015243 A CN113015243 A CN 113015243A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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
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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
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The application discloses a vehicle positioning method, a vehicle positioning device and a vehicle, which are used for solving the problems of inaccurate positioning, high positioning cost and the like in the related technology. The method comprises the following steps: acquiring running state information and surrounding road condition information of a vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area; predicting position information of a target time after the vehicle enters the target area based on the historical position information and driving state information corresponding to the historical position information, wherein the target time is a time after the current time; predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map; and after the vehicle enters the target area, determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle positioning method and device and a vehicle.
Background
When a vehicle enters a closed area such as an underground parking lot or an indoor parking lot, due to shielding of buildings and the like, a transmission and reception signal of a conventional Positioning device such as a Global Positioning System (GPS) is poor, and the vehicle cannot be accurately positioned.
In the related art, an inertial navigation system And a visual instantaneous positioning And Mapping (SLAM) are mainly adopted to estimate the pose of a vehicle, or external devices such as a camera And the like installed in an enclosed area are used to position the vehicle in the enclosed area. However, in the former, when the loop cannot be detected, it is difficult to limit the accumulated drift error, which affects the accuracy of vehicle positioning, and in the latter, a large number of cameras and the like need to be installed in a closed area, which increases the positioning cost.
Disclosure of Invention
The embodiment of the application aims to provide a vehicle positioning method, a vehicle positioning device and a vehicle, and aims to solve the problems of inaccurate positioning, high positioning cost and the like in the related technology.
In order to solve the technical problem, the embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a vehicle positioning method, including:
acquiring running state information and surrounding road condition information of a vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area;
predicting position information of a target time after the vehicle enters the target area based on the historical position information and driving state information corresponding to the historical position information, wherein the target time is a time after the current time;
predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map;
and after the vehicle enters the target area, determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
In a second aspect, an embodiment of the present application provides a vehicle positioning apparatus, including:
a driving information acquisition unit for acquiring driving state information of the vehicle during driving
The road condition information acquisition unit is used for acquiring surrounding road condition information of the vehicle during running;
the positioning unit is used for acquiring historical position information of the vehicle before entering a target area and an electronic map of the target area, predicting position information of the vehicle at a target moment after entering the target area based on the historical position information and running state information corresponding to the historical position information, predicting target surrounding road condition information corresponding to the target moment based on the position information of the target moment and the electronic map, and determining the position information of the vehicle at the current moment based on a difference between the acquired surrounding road condition information at the current moment and the target surrounding road condition information corresponding to the target moment after the vehicle enters the target area, wherein the target moment is a moment after the current moment.
In a third aspect, the present application provides a vehicle, including the vehicle positioning device provided in the second aspect.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
the method comprises the steps of predicting position information of a vehicle at a target moment after the vehicle enters a target area based on historical position information of the vehicle before the vehicle enters the target area and driving state information corresponding to the historical position information, predicting target surrounding road condition information corresponding to the target moment based on the position information of the target moment and an electronic map of the target area, and determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information of the vehicle at the current moment and the target surrounding road condition information corresponding to the target moment after the vehicle enters the target area. Therefore, according to the technical scheme, the target surrounding road condition information corresponding to the target time after the current time is used as the reference, and the surrounding road condition information of the vehicle at the current time is compared with the reference, so that the position information of the vehicle at the current time can be accurately positioned, the method and the device can be widely applied to closed areas such as underground parking lots or indoor parking lots and outdoor open areas, and are simple to implement and low in cost without adding too many devices.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart diagram of a vehicle locating method provided in an exemplary embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a vehicle locating method provided in another exemplary embodiment of the present application;
FIG. 3 is a schematic flow chart diagram illustrating a vehicle localization method according to yet another exemplary embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a method for modifying position information of a vehicle at a first time according to an exemplary embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a vehicle locating device according to an exemplary embodiment of the present application;
FIG. 6 is a schematic diagram illustrating interaction between various units in a vehicle locating device according to an exemplary embodiment of the present application;
FIG. 7 is a schematic structural diagram of a vehicle locating device according to another exemplary embodiment of the present application;
fig. 8 is a schematic structural diagram of a vehicle positioning apparatus according to an exemplary embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a vehicle positioning method according to an exemplary embodiment of the present application is schematically shown, and the method can be applied to a positioning module installed in a vehicle. As shown in fig. 1, the method comprises the steps of:
s102, acquiring running state information and surrounding road condition information of the vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area.
The driving state information of the vehicle is information for representing the driving state of the vehicle, and may specifically include, but is not limited to, a steering angle of a steering wheel, a steering wheel torque, a brake pedal position, a master cylinder pressure, an accelerator pedal position, a driving speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, and the like. Specifically, the running state information of the vehicle may be acquired by a running information acquisition unit provided on the vehicle, for example, the running information acquisition unit may include, but is not limited to, a position sensor, a speed sensor, an acceleration sensor, a pressure sensor, and the like, a brake pedal position and an accelerator pedal position may be acquired by the position sensor, a running speed of the vehicle may be acquired by the speed sensor, a lateral acceleration and a longitudinal acceleration of the vehicle may be acquired by the acceleration sensor, and a brake active pressure may be acquired by the pressure sensor, and the like.
The surrounding road condition information of the vehicle refers to information for representing road condition characteristics around the vehicle, and may specifically include, but is not limited to, characteristic information of obstacles around the vehicle (such as guardrails, pillars, speed bumps, walls, indicator lights, signs, isolation strips, and the like), a distance between the vehicle and the obstacle, lane lines on both sides of a lane where the vehicle is located, a distance between the vehicle and the lane lines, and the like. Specifically, the surrounding road condition information of the vehicle can be acquired by a road condition information acquisition unit arranged on the vehicle. For example, the road condition information acquisition unit may include an image acquisition device, a radar detector, and the like, where the image acquisition device may acquire an environment image around the vehicle, and acquire feature information of obstacles around the vehicle, lane lines on both sides of a lane where the vehicle is located, distances between the vehicle and the lane lines, and the like by processing and identifying the environment image; the radar detector may detect whether an obstacle exists around the vehicle and acquire a distance between the vehicle and the obstacle.
The target area may include, for example, but is not limited to, an enclosed area such as a underground parking lot, an indoor parking lot, and the like. The historical location information of the vehicle prior to entering the target area may include a location of the vehicle at one or more historical times prior to entering the target area, a location of the vehicle while traveling to the target area, and the like.
The position of the vehicle before entering the target area may be obtained in any suitable manner. In an alternative embodiment, because the vehicle enters the target area before the vehicle enters the target area, the conventional positioning device preferably receives and transmits signals, and for this reason, before the vehicle enters the target area, the vehicle can be positioned by a GPS arranged on the vehicle, so as to obtain GPS positioning information of the vehicle before entering the target area, and based on the GPS positioning information, historical position information of the vehicle before entering the target area is determined.
In some other alternative embodiments, the position of the vehicle when driving to the target area may be determined by the entrance position of the target area, for example, the entrance position of the target area may be determined based on an electronic map, and the entrance position of the target area may be further determined as the position of the vehicle when driving to the target area. It can be understood that, compared with the method of positioning by using a GPS, the method of positioning by using a GPS is simpler to implement, and can prevent the entrance position of the target area from being interfered by buildings and affecting the signal transmission and reception of the GPS, so that the acquired position information is more accurate.
The electronic map of the target area is used for describing road condition characteristics in the target area, such as characteristics of objects in a lane, a column, an isolation zone, a deceleration strip, a guardrail, a column, a deceleration strip, a wall, a gate, a sign, an indicator light and the like in the target area. Specifically, the electronic map of the target area may be stored in advance in a storage unit of the vehicle, whereby the positioning unit of the vehicle can read the electronic map of the target area from the storage unit. Alternatively, the positioning unit may acquire the electronic map of the target area from a server of the target area through the vehicle-mounted network, for example, the positioning unit may send an acquisition request carrying identification information of the target area to the server of the target area before the vehicle enters the target area, and receive the electronic map of the target area fed back by the server in response to the acquisition request. Of course, it should be understood that, after the positioning unit acquires the electronic map from the server, the positioning unit may also send the electronic map to the storage unit for storage, so that the electronic map may be read and used directly from the storage unit in the following.
And S104, predicting the position information of the vehicle at the target time after the vehicle enters the target area based on the historical position information and the running state information corresponding to the historical position information.
The travel state information corresponding to the historical position information is travel state information of the vehicle at a time corresponding to the historical position information.
The target time is a time after the current time. For example, the target time may be t seconds after the current time, or a plurality of times separated by Δ t after the current time. In practical application, the target time can be set according to actual needs.
In the embodiment of the present application, after the historical position of the vehicle before entering the target area and the driving state information corresponding to the historical position are acquired, the position information of the vehicle at the target time after entering the target area can be predicted by using any existing appropriate algorithm.
For example, the time t before the vehicle enters the target area0Acceleration of a0The vehicle speed is v0Further, the target time t of the vehicle after entering the target area can be calculated based on the kinematics theory1The position of (a).
In practical application, in an optional scheme, the position information of the vehicle at the target time after entering the target area is predicted based on the position information and the running state information of the vehicle at any time before entering the target area. Of course, to further simplify the positioning process and improve the positioning accuracy, in a more preferred embodiment, the position information of the vehicle at the target time after entering the target area may be predicted based on the position of the vehicle when traveling to the target area (i.e., the entrance position of the target area) and the traveling state information of the vehicle at the position.
And S106, predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map of the target area.
The electronic map of the target area records road condition information corresponding to each position in the target area, the electronic map is inquired based on the position information at the target moment, the road condition information corresponding to the position information at the target moment can be obtained, and then the surrounding road condition information can be used as the surrounding road condition information of the target corresponding to the target moment.
And S108, after the vehicle enters the target area, determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
In a time period before the target time, the target surrounding road condition information corresponding to the target time can be used as a reference, the surrounding road condition information of the vehicle at the current time and the target surrounding road condition corresponding to the target time are compared in a consistent manner, and if the surrounding road condition information of the vehicle at the current time and the target surrounding road condition information are not consistent, the position information of the vehicle at the current time can be determined according to the difference between the surrounding road condition information and the target surrounding road condition information and the position information of the vehicle at.
For example, the vehicle may indicate that a position a1 m ahead of the vehicle is a road junction, a right turn indicator 1 is provided at the road junction, a pillar 1 is provided at the right side of the road junction, and the distance between the vehicle and the pillar at the right side is b1 m at the current time t1, the target surrounding road condition information corresponding to the target time t2 includes the position a2 m ahead of the vehicle is the road junction, the right turn indicator 1 is provided at the road junction, the pillar 1 is provided at the right side of the road junction, and the distance between the vehicle and the pillar at the left side is b2 m at the target time t2, and the position of the vehicle at the current time t1 may be further determined according to the above-mentioned distances b1, b.
It should be noted that, in the above embodiment, the vehicle location module may repeatedly perform the step of predicting the location information of the vehicle at the target time to determine the location information of the vehicle at the current time based on the difference between the acquired surrounding road condition information at the current time and the target surrounding road condition information corresponding to the target time, until the vehicle exits the target area or the vehicle stops. Specifically, as shown in fig. 2, the method includes the following steps:
s202, acquiring running state information and surrounding road condition information of the vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area.
And S204, determining the position information of the vehicle at the target time after the current time based on the position information of the current time and the acquired running road condition information from the time before the vehicle enters the target area.
And S206, predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map of the target area.
And S208, determining the position information of the vehicle at the current moment based on the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
And S210, judging whether the vehicle is driven out of the target area or in a stop state.
If the judgment result is yes, stopping positioning the vehicle; if the judgment result is negative, the above steps S204 to S210 are repeatedly executed.
By adopting the technical scheme provided by the embodiment of the application, the position information of the vehicle at the target moment after the vehicle enters the target area is predicted based on the historical position information of the vehicle before the vehicle enters the target area and the driving state information corresponding to the historical position information, the road condition information around the target corresponding to the target moment is predicted based on the position information of the target moment and the electronic map of the target area, and the position information of the vehicle at the current moment is determined based on the difference between the road condition information around the vehicle at the current moment and the road condition information around the target corresponding to the target moment after the vehicle enters the target area. Therefore, according to the technical scheme, the target surrounding road condition information corresponding to the target time after the current time is used as the reference, and the surrounding road condition information of the vehicle at the current time is compared with the reference, so that the position information of the vehicle at the current time can be accurately positioned, the method and the device can be widely applied to closed areas such as underground parking lots or indoor parking lots and outdoor open areas, and are simple to implement and low in cost without adding too many devices.
Referring to fig. 3, a schematic flow chart of a vehicle positioning method according to another exemplary embodiment of the present application is shown, and the present embodiment is further improved based on the embodiment shown in fig. 1, and the specific improvement is as follows: after the position information of the vehicle at the current moment is determined, the vehicle is positioned according to a preset positioning period from the target moment. As shown in fig. 3, the vehicle positioning method provided by the present embodiment includes the following steps:
s302, acquiring running state information and surrounding road condition information of the vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area.
And S304, predicting the position information of the vehicle at the target time after the vehicle enters the target area based on the historical position information and the running state information corresponding to the historical position information.
And S306, predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map of the target area.
S308, after the vehicle enters the target area, the position information of the vehicle at the current moment is determined based on the difference between the surrounding road condition information of the vehicle at the current moment and the surrounding road condition information of the target corresponding to the target moment.
For details of the implementation of steps S302 to S308, refer to the technical details of steps S102 to S108 in the embodiment shown in fig. 1, which are not repeated herein.
And S310, predicting the position information of the vehicle at a second moment according to a preset positioning period and based on the position information and the running state information of the vehicle at a first moment, wherein the first moment is the starting moment of the current positioning period, and the second moment is the ending moment of the current positioning period.
Specifically, the target time may be a start time of the first positioning period, and the position information of the vehicle at the end time of the first positioning period may be predicted based on the position information of the vehicle at the target time and the traveling state information. Then, the position information of the vehicle at the end time of the first positioning cycle is used as the position information of the vehicle at the start time of the second positioning cycle, and the position information of the vehicle at the end time of the second positioning cycle is determined based on the position information of the vehicle at the start time of the second positioning cycle and the traveling state information, and so on, thereby predicting the position information of the vehicle at the end time of each positioning cycle.
In the actual running process, an error may exist between the actual position information of the vehicle at the first moment and the predicted position information of the vehicle at the first moment, so that the predicted position information of the vehicle at the second moment is inaccurate, and the final positioning accuracy is influenced.
In view of this, at the first time, consistency comparison is further performed on the surrounding road condition information acquired at the first time and the target surrounding road condition information corresponding to the first time, and if the surrounding road condition information acquired at the first time is consistent with the target surrounding road condition information corresponding to the first time, it can be determined that the predicted position information at the first time is accurate, and further, the position information of the vehicle at the second time can be predicted based on the predicted position information at the first time and the driving state information of the vehicle at the first time. And if the position information of the vehicle at the first moment is inconsistent with the position information of the vehicle at the first moment, the position information of the vehicle at the first moment is corrected based on the surrounding road condition information and the electronic map acquired at the first moment.
For example, taking the first positioning period as an example, at the target time, if the surrounding road condition information acquired at the target time is consistent with the target surrounding road condition information corresponding to the target time, it indicates that the actual position of the vehicle at the target time is not deviated from the position of the vehicle at the target time predicted before, and further, the position information of the vehicle at the end time of the current positioning period may be predicted based on the position information of the target time predicted before and the driving state information acquired at the target time. If the surrounding road condition information acquired at the target moment is not consistent with the target surrounding road condition information corresponding to the target moment, it is indicated that the actual position of the vehicle at the target moment is different from the position of the target moment predicted in the past, so that the actual position information of the vehicle at the target moment can be determined based on the surrounding road condition information acquired at the target moment and the electronic map of the target area, and the actual position information is used as the position information of the target moment.
In the embodiment of the present application, the position information of the vehicle at the first time may be corrected in any appropriate manner. In an alternative embodiment, the surrounding road condition information may include characteristic information of a reference object and a first distance and a second distance corresponding to the vehicle, where the first distance is a distance between the vehicle and a lane line on both sides of the lane where the vehicle is located, the second distance is a distance between the vehicle and the reference object, and the reference object may include, but is not limited to, a pillar, a sign, an indicator light, a wall, and other landmark objects. Accordingly, the position information of the reference object may be determined based on the feature information of the reference object and the electronic map, the first travel track corresponding to the vehicle may be determined based on the first distance corresponding to the vehicle at the first time and the position information of the reference object, and the second travel track corresponding to the vehicle may be determined based on the second distance corresponding to the vehicle at the first time and the position information of the reference object; then, position information of an intersection of the first travel track and the second travel track is acquired, and the position information at the first time is corrected based on the position information of the intersection. The first travel track is a track where the vehicle travels while keeping the first distance, and the second travel track is a circle having a reference object as a center and a second distance as a radius.
For example, as shown in fig. 4, assuming that the current time is the first time, the surrounding road condition information acquired at the first time indicates that the reference object B is disposed in the front left of the vehicle and the reference object C is disposed in the front right of the vehicle, and the electronic map of the target area is queried based on the feature information of the reference object B and the feature information of the reference object C, it is possible to determine that the position of the reference object B is (X1, Y1) and the position of the reference object C is (X2, Y2). The surrounding road condition information acquired at the first time point further indicates that the distance between the vehicle and the left lane line of the lane where the vehicle is located is d1 (i.e., the first distance), the distance between the vehicle and the right lane line is d2 (i.e., the first distance), the distance between the vehicle and the reference object B (X1, Y1) in the left front of the lane where the vehicle is located is d3 (i.e., the second distance), and the distance between the vehicle and the reference object C (X2, Y2) in the right front of the lane where the vehicle is located is d4 (i.e., the second distance).
In conjunction with the first distances d1 and d2, a first travel path of the vehicle (i.e., a dashed line where Y is Y0 in fig. 2) can be determined, and in conjunction with the second distances d3 and d4, a second travel path of the vehicle can be determined to include a circle Φ 1 having a radius of d3 and a circle Φ 2 having a radius of d3 and having a center of B and a center of C. Further, the intersection a (X0, Y0) of the first travel track and the second travel track may be determined as the actual position of the vehicle at the first time, and further, the intersection a (X0, Y0) may be used as the position of the first time, and the intersection a (X0, Y0) and the travel state information of the vehicle at the first time may be combined to determine the position P (X, Y) of the vehicle at the second time.
It can be understood that, with the above embodiment, the position information of the reference object can be determined by comparing the feature information of the reference object with the electronic map of the target area, the first travel track of the vehicle is determined by further referring to the position information of the reference object according to the first distance between the vehicle and the lane line on both sides of the vehicle at the first time, the second travel track of the vehicle is determined by referring to the second distance between the vehicle and the reference object at the first time and the position information of the reference object, the actual position of the vehicle at the first time can be accurately located by combining the first travel track and the second travel track, and the position information at the first time is corrected according to the actual position, so that the position information of the vehicle at the second time can be accurately predicted, and the accuracy of vehicle location can be improved.
And S312, predicting the road condition information around the target corresponding to the second moment based on the position information of the second moment and the electronic map of the target area.
Specifically, the electronic map of the target area is queried based on the location information at the second moment, so that the traffic information corresponding to the location information at the second moment can be obtained, and the surrounding traffic information can be used as the target surrounding traffic information corresponding to the target moment.
And S314, before the second moment, determining the position information of the vehicle based on the difference between the acquired surrounding road condition information and the target surrounding road condition information corresponding to the second moment.
Specifically, the specific implementation process of step S314 is similar to S108 in the embodiment shown in fig. 1, and specific reference may be made to the technical details of S108 in the embodiment shown in fig. 1, which is not repeated herein.
In this embodiment, the position information of the vehicle at the ending time of the current positioning period can be predicted in time according to the preset positioning period, and then the vehicle is positioned in real time in the current positioning period based on the target surrounding road condition information corresponding to the position information at the ending time of the current positioning period and the surrounding road condition information obtained in real time, so that the continuity and accuracy of vehicle positioning can be ensured.
Further, in each of the above embodiments, after determining the location information of the vehicle, the location information of the vehicle may be further sent to a pre-configured destination, so that the destination performs a corresponding operation on the vehicle based on the location information of the vehicle, where the destination may include, but is not limited to, at least one of a control System of the vehicle, a server of the target area, and a user terminal, and the control System may include, but is not limited to, an Advanced Driver Assistance System (ADAS), an autonomous Parking Assistant (AVP) System, and the like.
For example, after determining the position information of the vehicle, the positioning module of the vehicle may send the position information of the vehicle to an ADAS system of the vehicle, so that the ADAS system performs driving assistance on the vehicle based on the position information of the vehicle. For another example, after the positioning module of the vehicle determines the position information of the vehicle, the positioning module of the vehicle may further send the position information of the vehicle to a server in the target area, so that a supervisor in the target area supervises the vehicle. For another example, after the location module of the vehicle determines the location information of the vehicle, the location information of the vehicle may also be sent to the user terminal of the relevant person, so that the relevant person monitors the location of the vehicle through the user terminal, and so on.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same thought, this application embodiment still provides a vehicle positioner. Referring to fig. 5, a schematic structural diagram of a vehicle positioning apparatus according to an exemplary embodiment of the present disclosure is shown, where the vehicle positioning apparatus 500 includes: a driving information collecting unit 510, a traffic information collecting unit 520, and a positioning unit 530.
As shown in fig. 6, the driving information collecting unit 510 may obtain driving state information of the vehicle while driving and transmit the driving state information to the positioning unit 530. The traffic information collecting unit 520 may obtain the surrounding traffic information of the vehicle during driving and send the information to the positioning unit 530.
A positioning unit 530, configured to obtain historical location information of the vehicle before entering a target area and an electronic map of the target area, predict, based on the historical location information and driving state information corresponding to the historical location information, location information of the vehicle at a target time after entering the target area, predict, based on the location information of the target time and the electronic map, target surrounding road condition information corresponding to the target time, and determine, after the vehicle enters the target area, location information of the vehicle at the current time based on a difference between the surrounding road condition information obtained at the current time and the target surrounding road condition information corresponding to the target time, where the target time is a time after the current time.
In one embodiment, the driving information collecting unit 510 may include, but is not limited to, a position sensor, a speed sensor, an acceleration sensor, a pressure sensor, and the like.
In one embodiment, as shown in fig. 7, the positioning unit 530 may include a camera, a radar detector, and the like.
In one embodiment, as shown in fig. 7, the apparatus 500 further comprises a storage unit 540. The positioning unit 530 may read a preset electronic map of the target area from the storage unit 540 and/or obtain the electronic map of the target area from a server of the target area and store the electronic map in the storage unit 540. For example, the positioning unit 530 may be connected to a network database in a server of the target area through an external wireless network, and read an electronic map of the target area from the network database.
In one embodiment, the positioning unit 530 is further configured to:
predicting the position information of the vehicle at a second moment according to a preset positioning period and based on the position information and the running state information of the vehicle at a first moment from the target moment, wherein the first moment is the starting moment of the current positioning period, and the second moment is the ending moment of the current positioning period;
predicting the road condition around the target corresponding to the second moment based on the position information of the second moment and the electronic map;
and before the second moment, determining the position information of the vehicle based on the difference between the acquired surrounding road condition information and the target surrounding road condition information of the vehicle at the second moment.
In one embodiment, the positioning unit 530 is further configured to:
before predicting the position information of the vehicle at a second moment based on the position information and the running state information of the vehicle at a first moment, carrying out consistency comparison on the surrounding road condition information acquired at the first moment and the target surrounding road condition information corresponding to the first moment at the first moment;
and if the current position information is inconsistent with the position information of the vehicle at the first moment, correcting the position information of the vehicle at the first moment based on the surrounding road condition information acquired at the first moment and the electronic map.
In one embodiment, the surrounding road condition information includes feature information of a reference object and a first distance and a second distance corresponding to the vehicle, the first distance is a distance between the vehicle and a lane line on two sides of a lane where the vehicle is located, and the second distance is a distance between the vehicle and the reference object;
the positioning unit 530 corrects the position information of the vehicle at the first time based on:
determining position information of the reference object based on the feature information of the reference object and the electronic map;
determining a first driving track corresponding to the vehicle based on a first distance corresponding to the vehicle at the first moment and the position information of the reference object, wherein the first driving track is a track which is driven by the vehicle keeping the first distance;
determining a second driving track corresponding to the vehicle based on a second distance corresponding to the vehicle at the first moment and the position information of the reference object, wherein the second driving track is a circle which takes the reference object as a circle center and the second distance as a radius;
updating the information of the first time based on the position information of the intersection of the first travel track and the second travel track.
In one embodiment, the positioning unit 530 obtains the historical position information of the vehicle before entering the target area by:
acquiring GPS positioning information which is acquired by a Global Positioning System (GPS) and is acquired by the vehicle before the vehicle enters the target area;
based on the GPS positioning information, determining historical position information of the vehicle before entering a target area.
In one embodiment, the historical location information includes a location of the vehicle as it travels to the target area;
the positioning unit 530 acquires the historical position information of the vehicle before entering the target area by:
determining an entrance position of the target area based on the electronic map;
and determining the entrance position of the target area as the position of the vehicle when the vehicle runs to the target area.
In one embodiment, the positioning unit 530 is further configured to:
after the position information of the vehicle is determined, the position information of the vehicle is sent to a preset destination, the position information is used for the destination to perform corresponding operation and control on the vehicle, and the destination comprises at least one of a control system of the vehicle, a server of the target area and a user terminal.
By adopting the vehicle positioning device provided by the embodiment of the application, the position information of the vehicle at the target moment after entering the target area is predicted based on the historical position information of the vehicle before entering the target area and the driving state information corresponding to the historical position information, the road condition information around the target corresponding to the target moment is predicted based on the position information of the target moment and the electronic map of the target area, and the position information of the vehicle at the current moment is determined based on the difference between the road condition information around the vehicle at the current moment and the road condition information around the target corresponding to the target moment after the vehicle enters the target area. Therefore, according to the technical scheme, the target surrounding road condition information corresponding to the target time after the current time is used as the reference, and the position information of the vehicle at the current time can be accurately positioned by referring and comparing the surrounding road condition information of the vehicle at the current time, so that the method and the device can be widely applied to closed areas such as underground parking lots or indoor parking lots and outdoor open areas, and are simple to implement and low in cost without adding too many devices.
Based on the same idea, the embodiment of the present application further provides a vehicle, including the vehicle positioning device provided in any of the above embodiments of the present application.
FIG. 8 is a schematic structural diagram of a vehicle locating apparatus according to an embodiment of the present application. Referring to fig. 8, at a hardware level, the vehicle positioning apparatus includes a processor, and optionally an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the vehicle locating device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs the computer program to form the vehicle positioning device on a logical level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring running state information and surrounding road condition information of a vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area;
predicting position information of a target time after the vehicle enters the target area based on the historical position information and driving state information corresponding to the historical position information, wherein the target time is a time after the current time;
predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map;
and after the vehicle enters the target area, determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
The method performed by the vehicle positioning apparatus according to the embodiment shown in fig. 1 of the present application may be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The vehicle positioning apparatus may also perform the method of fig. 1, and implement the functions of the vehicle positioning device in the embodiments shown in fig. 1 to fig. 3, which are not described herein again in this application.
Of course, the vehicle positioning apparatus of the present application does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, besides software implementations, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a portable vehicle positioning device comprising a plurality of application programs, enable the portable vehicle positioning device to perform the method of the embodiment shown in fig. 1, and in particular to perform the following:
acquiring running state information and surrounding road condition information of a vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area;
predicting position information of a target time after the vehicle enters the target area based on the historical position information and driving state information corresponding to the historical position information, wherein the target time is a time after the current time;
predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map;
and after the vehicle enters the target area, determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
In short, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
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 embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (10)
1. A vehicle positioning method, characterized by comprising:
acquiring running state information and surrounding road condition information of a vehicle during running, historical position information of the vehicle before entering a target area and an electronic map of the target area;
predicting position information of a target time after the vehicle enters the target area based on the historical position information and driving state information corresponding to the historical position information, wherein the target time is a time after the current time;
predicting the road condition information around the target corresponding to the target moment based on the position information of the target moment and the electronic map;
and after the vehicle enters the target area, determining the position information of the vehicle at the current moment based on the difference between the surrounding road condition information acquired at the current moment and the target surrounding road condition information corresponding to the target moment.
2. The method according to claim 1, wherein after determining the position information of the vehicle at the current time based on a difference between the ambient traffic information acquired at the current time and the target ambient traffic information corresponding to the target time, the method further comprises:
predicting the position information of the vehicle at a second moment according to a preset positioning period and based on the position information and the running state information of the vehicle at a first moment from the target moment, wherein the first moment is the starting moment of the current positioning period, and the second moment is the ending moment of the current positioning period;
predicting the road condition around the target corresponding to the second moment based on the position information of the second moment and the electronic map;
and before the second moment, determining the position information of the vehicle based on the difference between the acquired surrounding road condition information and the target surrounding road condition information of the vehicle at the second moment.
3. The method of claim 2, wherein prior to predicting the location information of the vehicle at the second time based on the location information of the vehicle at the first time and the driving state information, the method further comprises:
at the first moment, consistency comparison is carried out on the surrounding road condition information acquired at the first moment and the target surrounding road condition information corresponding to the first moment;
and if the current position information is inconsistent with the position information of the vehicle at the first moment, correcting the position information of the vehicle at the first moment based on the surrounding road condition information acquired at the first moment and the electronic map.
4. The method according to claim 3, wherein the surrounding road condition information includes feature information of a reference object and a first distance and a second distance corresponding to the vehicle, the first distance is a distance between the vehicle and a lane line on two sides of a lane where the vehicle is located, and the second distance is a distance between the vehicle and the reference object;
the correcting the position information of the vehicle at the first moment based on the surrounding road condition information acquired at the first moment and the electronic map comprises:
determining position information of the reference object based on the feature information of the reference object and the electronic map;
determining a first driving track corresponding to the vehicle based on a first distance corresponding to the vehicle at the first moment and the position information of the reference object, wherein the first driving track is a track which is driven by the vehicle keeping the first distance;
determining a second driving track corresponding to the vehicle based on a second distance corresponding to the vehicle at the first moment and the position information of the reference object, wherein the second driving track is a circle which takes the reference object as a circle center and the second distance as a radius;
updating the information of the first time based on the position information of the intersection of the first travel track and the second travel track.
5. The method of claim 1, wherein obtaining historical location information of the vehicle prior to entering a target area comprises:
acquiring GPS positioning information which is acquired by a Global Positioning System (GPS) and is acquired by the vehicle before the vehicle enters the target area;
based on the GPS positioning information, determining historical position information of the vehicle before entering a target area.
6. The method of claim 1, wherein the historical location information includes a location of the vehicle as it travels to the target area;
acquiring historical position information of the vehicle before entering a target area, wherein the historical position information comprises:
determining an entrance position of the target area based on the electronic map;
and determining the entrance position of the target area as the position of the vehicle when the vehicle runs to the target area.
7. The method of claim 1, wherein after determining the location information of the vehicle, the method further comprises:
and sending the position information of the vehicle to a preset destination, wherein the position information is used for the destination to correspondingly control the vehicle, and the destination comprises at least one of a control system of the vehicle, a server of the target area and a user terminal.
8. A vehicle positioning device, comprising:
a driving information acquisition unit for acquiring driving state information of the vehicle during driving
The road condition information acquisition unit is used for acquiring surrounding road condition information of the vehicle during running;
the positioning unit is used for acquiring historical position information of the vehicle before entering a target area and an electronic map of the target area, predicting position information of the vehicle at a target moment after entering the target area based on the historical position information and running state information corresponding to the historical position information, predicting target surrounding road condition information corresponding to the target moment based on the position information of the target moment and the electronic map, and determining the position information of the vehicle at the current moment based on a difference between the acquired surrounding road condition information at the current moment and the target surrounding road condition information corresponding to the target moment after the vehicle enters the target area, wherein the target moment is a moment after the current moment.
9. The apparatus of claim 8, further comprising a storage unit;
the positioning unit is used for reading a preset electronic map of the target area from the storage unit, and/or acquiring the electronic map of the target area from a server of the target area and storing the electronic map into the storage unit.
10. A vehicle comprising the vehicle positioning device of claim 8 or 9.
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| CN202110296637.XA CN113015243A (en) | 2021-03-19 | 2021-03-19 | Vehicle positioning method and device and vehicle |
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