CN113124752A - System and method for positioning automobile based on roadside visual tag - Google Patents
System and method for positioning automobile based on roadside visual tag Download PDFInfo
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- CN113124752A CN113124752A CN202110223415.5A CN202110223415A CN113124752A CN 113124752 A CN113124752 A CN 113124752A CN 202110223415 A CN202110223415 A CN 202110223415A CN 113124752 A CN113124752 A CN 113124752A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
Abstract
The invention discloses an automobile positioning system and method based on a roadside visual label, wherein the system comprises the following components: the roadside visual tag is arranged on a preset road section and is provided with first position coordinate data; the camera module is arranged in front of the vehicle and used for acquiring an environment image in the running process of the vehicle, and the environment image comprises an image corresponding to the roadside visual tag; the vehicle-mounted computing module is arranged on a vehicle, connected with the camera module and used for extracting an image corresponding to the roadside visual label on the environment image and extracting second position coordinate data on the image corresponding to the roadside visual label; and calculating a first distance between the vehicle and the roadside visual tag, and determining the current position of the automobile according to the first distance and the second position coordinate data. The invention can avoid the situation that the vehicle cannot be positioned due to the loss of the GPS position information and ensure the accurate positioning of the intelligent vehicle. The invention can be widely applied to the technical field of intelligent traffic.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to an automobile positioning system and method based on a roadside visual label.
Background
The intelligent traffic system is an important technical means for relieving traffic jam, improving traffic safety and improving traffic pollution; among them, the intelligent automobile technology is one of the key technologies of the intelligent transportation system. The environment perception, intelligent decision and control execution technology is three key technologies of an intelligent automobile. One of the main tasks of intelligent automobile sensing is to determine the position information of the automobile, and currently, the positioning is mainly carried out through GPS signals. In practical situations, due to the constraint of communication technology and scene characteristics, the intelligent automobile often encounters some situations of GPS signal loss, and particularly GPS information is easily lost at positions such as viaducts, tunnels and underground parking lots, so that traffic safety accidents are easily caused.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the system and the method for positioning the automobile based on the roadside visual tag, which can ensure that the intelligent automobile is accurately positioned under the condition that a GPS signal is lost.
According to an embodiment of the first aspect of the invention, the vehicle positioning system based on the roadside visual tag comprises:
the road side visual tag is arranged on a preset road section, and first position coordinate data are distributed on the road side visual tag;
the camera module is arranged in front of the vehicle and used for acquiring an environment image in the running process of the vehicle, and the environment image comprises an image corresponding to the roadside visual tag;
the vehicle-mounted computing module is arranged on a vehicle, connected with the camera module and used for extracting an image corresponding to the roadside visual label on the environment image and extracting second position coordinate data on the image corresponding to the roadside visual label; and calculating a first distance between the vehicle and the roadside visual tag, and determining the current position of the automobile according to the first distance and the second position coordinate data.
The roadside visual tag-based automobile positioning system provided by the embodiment of the invention at least has the following beneficial effects:
the roadside visual label with the first position coordinate data is arranged on the preset road section, the environment image containing the image corresponding to the roadside visual label in the driving process of the vehicle is collected through the camera module, the position coordinate data on the image corresponding to the roadside visual label is extracted through the vehicle-mounted calculating unit, the first distance between the vehicle and the roadside visual label is calculated, the current position of the vehicle is determined according to the first distance and the extracted position coordinate data, the situation that the vehicle cannot be positioned due to GPS position information loss is avoided, and the intelligent vehicle is ensured to be accurately positioned.
According to some embodiments of the invention, the system further comprises a storage module; the storage module is arranged on the vehicle and used for storing the first position coordinate data on all the roadside visual tags.
According to some embodiments of the invention, the preset road section includes an overpass, a tunnel, and an underground parking lot.
According to some embodiments of the invention, the first position coordinate data is position data of a world coordinate system.
According to some embodiments of the invention, the camera module is a binocular camera.
According to some embodiments of the invention, the calculating a first distance of the vehicle from the roadside visual tag comprises:
calculating a first pixel value of the environment image;
determining a second pixel value of the roadside visual tag on the environment image according to the first pixel value;
and calculating a first distance between the vehicle and the roadside visual tag according to the second pixel value.
According to some embodiments of the invention, the determining the current location of the vehicle from the first distance and the second location coordinate data comprises:
converting the first distance into a distance on a world coordinate system to obtain a second distance;
and determining the current position of the automobile according to the second distance and the second position coordinate data.
According to a second aspect of the invention, the method for positioning the automobile based on the roadside visual tag comprises the following steps:
acquiring an environment image acquired by a camera module in the running process of a vehicle;
extracting an image corresponding to the roadside visual tag in the environment image;
extracting position coordinate data on the image corresponding to the roadside visual tag;
calculating a first distance of a vehicle from the roadside visual tag;
and determining the current position of the automobile according to the first distance and the position coordinate data.
According to some embodiments of the invention, the calculating a first distance of the vehicle from the roadside visual tag comprises:
calculating a first pixel value of the environment image;
determining a second pixel value of the roadside visual tag on the environment image according to the first pixel value;
and calculating a first distance between the vehicle and the roadside visual tag according to the second pixel value.
According to some embodiments of the invention, the determining a current location of the vehicle from the first distance and the location coordinate data comprises:
converting the first distance into a distance on a world coordinate system to obtain a second distance;
and determining the current position of the automobile according to the second distance and the position coordinate data.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a block diagram of a roadside visual tag-based vehicle positioning system according to an embodiment of the invention;
FIG. 2 is a schematic view of a vehicle according to an embodiment;
fig. 3 is a flowchart of an automobile positioning method based on a roadside visual tag according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, an embodiment of the present invention provides an automobile positioning system based on a roadside visual tag, including the roadside visual tag, a camera module and a vehicle-mounted computing module, where the roadside visual tag is arranged on a preset road segment and first position coordinate data is pre-distributed on the roadside visual tag, and the first position coordinate data is position data in a world coordinate system, so as to facilitate positioning of a rear automobile; the camera module is arranged in front of the vehicle so as to collect an environment image in the running process of the vehicle, wherein the collected environment image needs to comprise an image corresponding to the roadside visual tag, if the collected environment image does not comprise the image corresponding to the roadside visual tag, the image is deleted, namely only the environment image comprising the image corresponding to the side visual tag module is reserved, and the rest environment images are deleted or marked as abnormal images; the vehicle-mounted computing module is arranged on the vehicle and connected with the camera module, and is used for extracting an image corresponding to the roadside visual tag on the environment image and extracting second position coordinate data on the image corresponding to the roadside visual tag, wherein the second position coordinate data is first position coordinate data extracted from the image corresponding to the current roadside visual tag, namely the second position coordinate data is also data on a world coordinate system; and meanwhile, calculating a first distance between the vehicle and the roadside visual tag, wherein the first distance comprises a numerical value and a direction, and then determining the current position of the vehicle according to the first distance and the second position coordinate data, so that the position of the vehicle can be determined by the position information of the vehicle and the current roadside visual tag under the condition that the GPS position information is lost, and the intelligent vehicle is ensured to be accurately positioned.
In some embodiments, the system shown in fig. 1 further includes a storage module, which is disposed on the vehicle and is configured to store the first position coordinate data on all the roadside visual tags, so that when the vehicle is in a driving process, the current position of the vehicle can be determined by acquiring the position coordinate data on the nearest roadside visual tag in the case that the GPS signal is lost.
In some embodiments, the predetermined road segments include road segments where GPS signals are easily lost, such as viaducts, tunnels, and underground parking lots.
In some embodiments, in order to enable the automobile to more effectively acquire the image containing the roadside visual tag during driving, the camera module may be set as a binocular camera.
In some embodiments, calculating the first distance between the vehicle and the roadside visual tag may be accomplished by:
a first pixel value of an image of an environment is computed. The first pixel value includes all pixel values on the environment image, that is, pixel values including the roadside visual tag, and pixel values of the environment around the roadside visual tag, for example, pixel values corresponding to a driving road segment, a fence around the driving road segment, or a sidewalk, a tree, and the like.
And determining a second pixel value of the roadside visual tag on the environment image according to the first pixel value, namely determining the pixel value of the roadside visual tag from all the pixel values in the environment image.
And calculating a first distance between the vehicle and the roadside visual tag according to the second pixel value. In this step, the second pixel value is converted into coordinate information, and then a first distance between the roadside visual tag and the current road is calculated according to the converted coordinate information, wherein the first distance includes a distance size and a direction, and the direction includes front, rear, left, right, front left, rear left, front right, rear right and other directions.
The embodiment is convenient for subsequent position determination by calculating the distance between the vehicle and the roadside visual tag.
In some embodiments, the process of determining the current location of the vehicle based on the first distance and the second location coordinate data may be implemented by:
the first distance is converted into a distance on a world coordinate system to obtain a second distance. Wherein the second distance includes a magnitude and a direction. And then determining the current position of the automobile according to the second distance and the second position coordinate data. And then, by taking the position as an origin, determining the position of the vehicle relative to the roadside visual tag according to the size and the direction of the second distance, wherein the determined position is the position of the current vehicle on the world coordinate system.
When the above embodiment is applied to a real-time driving process of a vehicle, as shown in fig. 2, the roadside visual tags 210 are firstly disposed on two sides of a preset road section, such as two sides of a viaduct or a tunnel, and the camera 230 is installed at a position in front of the top of the vehicle 220. In order to improve the efficiency and accuracy of data processing, a storage module which stores the position coordinate information on each roadside visual tag in advance can be added on the vehicle.
When the vehicle detects that the GPS signal cannot be acquired during the running process of the vehicle, the vehicle automatically starts the camera and the vehicle-mounted computing module, so that the camera acquires the environment images at two sides in front of the vehicle in real time and sends the acquired environment images to the vehicle-mounted computing module, the vehicle-mounted computing module processes the received environment images in time, for example, extracts the image corresponding to the roadside visual tag in the environment images and the position coordinate data on the image corresponding to the roadside visual tag, converts the environment images into pixel data, determines the corresponding target data of the roadside visual tag in all the pixel data, calculates the distance between the vehicle and the roadside visual tag according to the target data, determines the current position of the vehicle according to the distance and the position coordinate data on the image corresponding to the roadside visual tag, and accordingly under the condition that the GPS signal is lost, the vehicle is ensured to complete positioning timely and accurately.
Referring to fig. 3, an embodiment of the present invention provides an automobile positioning method based on a roadside visual tag, and the embodiment may be applied to a vehicle processor, and may also be applied to a vehicle-mounted computing module of the system shown in fig. 1.
In the embodiment process, the embodiment includes the following steps:
and S31, acquiring an environment image acquired by the camera module in the running process of the vehicle. The acquired environment image needs to include an image corresponding to the roadside visual tag, if the acquired environment image does not include the image corresponding to the roadside visual tag, the image is deleted, that is, only the environment image including the image corresponding to the roadside visual tag module is reserved, and the rest environment images are deleted or marked as abnormal images
And S32, extracting the image corresponding to the roadside visual tag in the environment image.
And S33, extracting the position coordinate data on the image corresponding to the roadside visual label. Before a vehicle runs, a plurality of roadside visual tags need to be preset around a road section, position coordinate data are distributed on each roadside visual tag in advance, and the position coordinate data can be stored in a vehicle-mounted storage module in advance. The road sections of this step include road sections where GPS signals are easily lost, such as viaducts, tunnels, and underground parking lots.
And S34, calculating a first distance between the vehicle and the roadside visual tag. The first distance includes a magnitude and a direction.
And S35, determining the current position of the automobile according to the first distance and the position coordinate data.
In some embodiments, the step of calculating a first distance of the vehicle from the roadside visual tag may be accomplished by:
a first pixel value of an image of an environment is computed. The first pixel value includes all pixel values on the environment image, that is, pixel values including the roadside visual tag, and pixel values of the environment around the roadside visual tag, for example, pixel values corresponding to a driving road segment, a fence around the driving road segment, or a sidewalk, a tree, and the like.
And determining a second pixel value of the roadside visual tag on the environment image according to the first pixel value, namely determining the pixel value of the roadside visual tag from all the pixel values in the environment image.
And calculating a first distance between the vehicle and the roadside visual tag according to the second pixel value. In this step, the second pixel value is converted into coordinate information, and then a first distance between the roadside visual tag and the current road is calculated according to the converted coordinate information, wherein the first distance includes a distance size and a direction, and the direction includes front, rear, left, right, front left, rear left, front right, rear right and other directions.
The embodiment is convenient for subsequent position determination by calculating the distance between the vehicle and the roadside visual tag.
In some embodiments, the step of determining the current location of the vehicle based on the first distance and the location coordinate data may be accomplished by:
the first distance is converted into a distance on a world coordinate system to obtain a second distance. Wherein the second distance includes a magnitude and a direction. And then determining the current position of the automobile according to the second distance and the second position coordinate data. And then, by taking the position as an origin, determining the position of the vehicle relative to the roadside visual tag according to the size and the direction of the second distance, wherein the determined position is the position of the current vehicle on the world coordinate system.
The contents of the system embodiment of the present invention are all applicable to the method embodiment, the functions specifically realized by the method embodiment are the same as those of the system embodiment, and the beneficial effects achieved by the method embodiment are also the same as those achieved by the system.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the method illustrated in fig. 3.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. An automobile positioning system based on roadside visual tags, comprising:
the road side visual tag is arranged on a preset road section, and first position coordinate data are distributed on the road side visual tag;
the camera module is arranged in front of the vehicle and used for acquiring an environment image in the running process of the vehicle, and the environment image comprises an image corresponding to the roadside visual tag;
the vehicle-mounted computing module is arranged on a vehicle, connected with the camera module and used for extracting an image corresponding to the roadside visual label on the environment image and extracting second position coordinate data on the image corresponding to the roadside visual label; and calculating a first distance between the vehicle and the roadside visual tag, and determining the current position of the automobile according to the first distance and the second position coordinate data.
2. The roadside visual tag-based vehicle positioning system of claim 1, further comprising a memory module; the storage module is arranged on the vehicle and used for storing the first position coordinate data on all the roadside visual tags.
3. The roadside visual tag-based vehicle positioning system of claim 1, wherein the preset road sections include viaducts, tunnels and underground parking lots.
4. The system of claim 1, wherein the first location coordinate data is location data in a world coordinate system.
5. The roadside vision tag-based automobile positioning system of claim 1, wherein the camera module is a binocular camera.
6. The system of claim 4, wherein calculating the first distance between the vehicle and the roadside visual tag comprises:
calculating a first pixel value of the environment image;
determining a second pixel value of the roadside visual tag on the environment image according to the first pixel value;
and calculating a first distance between the vehicle and the roadside visual tag according to the second pixel value.
7. The system of claim 4, wherein determining the current location of the vehicle based on the first distance and the second location coordinate data comprises:
converting the first distance into a distance on a world coordinate system to obtain a second distance;
and determining the current position of the automobile according to the second distance and the second position coordinate data.
8. A method for positioning an automobile based on a roadside visual tag is characterized by comprising the following steps:
acquiring an environment image acquired by a camera module in the running process of a vehicle;
extracting an image corresponding to the roadside visual tag in the environment image;
extracting position coordinate data on the image corresponding to the roadside visual tag;
calculating a first distance of a vehicle from the roadside visual tag;
and determining the current position of the automobile according to the first distance and the position coordinate data.
9. The method of claim 8, wherein calculating the first distance between the vehicle and the roadside visual tag comprises:
calculating a first pixel value of the environment image;
determining a second pixel value of the roadside visual tag on the environment image according to the first pixel value;
and calculating a first distance between the vehicle and the roadside visual tag according to the second pixel value.
10. The method of claim 9, wherein determining the current position of the vehicle according to the first distance and the position coordinate data comprises:
converting the first distance into a distance on a world coordinate system to obtain a second distance;
and determining the current position of the automobile according to the second distance and the position coordinate data.
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| CN202110223415.5A CN113124752B (en) | 2021-03-01 | 2021-03-01 | System and method for positioning automobile based on roadside visual tag |
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| CN202110223415.5A CN113124752B (en) | 2021-03-01 | 2021-03-01 | System and method for positioning automobile based on roadside visual tag |
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| CN111065043A (en) * | 2019-10-25 | 2020-04-24 | 重庆邮电大学 | System and method for fusion positioning of vehicles in tunnel based on vehicle-road communication |
| CN111191645A (en) * | 2020-01-07 | 2020-05-22 | 东南大学 | Vehicle tunnel positioning method based on automobile data recorder image |
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2021
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| CN103150560A (en) * | 2013-03-15 | 2013-06-12 | 福州龙吟信息技术有限公司 | Method for realizing intelligent safe driving of automobile |
| US20170197544A1 (en) * | 2016-01-13 | 2017-07-13 | Boe Technology Group Co., Ltd. | Vehicle Communication Device, Vehicle Communication Method, and Vehicle |
| CN105718860A (en) * | 2016-01-15 | 2016-06-29 | 武汉光庭科技有限公司 | Positioning method and system based on safe driving map and binocular recognition of traffic signs |
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