CN114397685A - Vehicle navigation method, device, equipment and storage medium for weak GNSS signal area - Google Patents
Vehicle navigation method, device, equipment and storage medium for weak GNSS signal area Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Abstract
The invention relates to a navigation technology, and discloses a vehicle navigation method of a weak GNSS signal area, which comprises the following steps: obtaining the fluctuation amplitude of the signal intensity according to the real-time GNSS signal intensity of the target vehicle; when the fluctuation amplitude is larger than a first threshold value, acquiring a weak GNSS signal regional map nearest to the target vehicle and a corresponding regional image set; when the real-time GNSS signal intensity is detected to be smaller than a second threshold value, an OBD-II is utilized to obtain a real-time driving image from a vehicle-mounted driving recorder of the target vehicle, the real-time driving image is subjected to image matching with the regional image set to obtain positioning data of the target vehicle in the regional map of the weak GNSS signal, and the target vehicle is navigated according to the positioning data. The invention also provides a vehicle navigation device, electronic equipment and a storage medium in the weak GNSS signal area. The invention can provide positioning signals for vehicles in weak GNSS signal areas.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a vehicle navigation method and apparatus in a weak GNSS signal area, an electronic device, and a computer-readable storage medium.
Background
With the development of communication technology, GNSS (Global Navigation Satellite System) is becoming an indispensable configuration in vehicles. The basic travel needs of people can be met through the GNSS, but some places with weak GNSS signals, such as narrow and closed spaces of underground parking lots, tunnels, dense forests and the like, often cause the situations of navigation delay, drift and the like, cause navigation errors and cause great troubles for the travel of people.
Disclosure of Invention
The invention provides a vehicle navigation method, a vehicle navigation device and a computer readable storage medium in a weak GNSS signal area, and mainly aims to provide navigation guidance for a vehicle in the weak GNSS signal area.
In order to achieve the above object, the present invention provides a vehicle navigation method for a weak GNSS signal area, including:
acquiring the real-time GNSS signal intensity of a target vehicle, and calculating the fluctuation amplitude of the GNSS signal intensity according to the real-time GNSS signal intensity;
when the fluctuation amplitude of the GNSS signal intensity is larger than a preset first threshold value, acquiring a weak GNSS signal area map nearest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database;
when the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, a pre-constructed OBD-II is utilized to obtain real-time driving images and driving parameters from a vehicle-mounted driving recorder of the target vehicle, the real-time driving images are subjected to image matching with the regional image set to obtain positioning data of the target vehicle in the weak GNSS signal regional map, and the target vehicle is navigated according to the positioning data.
Optionally, the obtaining, by performing image matching on the real-time driving image and the regional image set, positioning data of the target vehicle in the regional map of the weak GNSS signal, and navigating the target vehicle according to the positioning data includes:
searching an image matched with the real-time driving image in the region image set through an image matching technology to obtain a matched image;
acquiring a position parameter of the matched image in the weak GNSS signal area map, and acquiring positioning data of the target vehicle in the weak GNSS signal area map according to the position parameter;
and performing head-up display navigation on the target vehicle by using a pre-constructed head-up display according to the positioning data and a preset navigation route.
Optionally, the searching, by using an image matching technique, for an image matched with the real-time driving image in the region image set to obtain a matched image includes:
carrying out image recognition on the real-time driving image by using a pre-trained image feature recognition model to obtain image features of the real-time driving image;
similarity matching is carried out on the image characteristics of the real-time driving image and the image characteristics corresponding to each area image in the area image set, and matching scores of the real-time driving image and each area image in the area image set are obtained;
and marking the area image with the highest matching score as the matching image.
Optionally, the calculating the fluctuation amplitude of the GNSS signal strength according to the real-time GNSS signal strength includes:
mapping the real-time GNSS signal intensity to a two-dimensional space to obtain a time-signal intensity coordinate set;
performing curve fitting on the time-signal intensity coordinate set to obtain a signal fluctuation curve;
and obtaining the fluctuation amplitude of the GNSS signal intensity according to the curve slope of the tail point position on the signal fluctuation curve.
Optionally, before the obtaining of the weak GNSS signal area map closest to the target vehicle and the area image set of the weak GNSS signal area map from the pre-constructed cloud map database, the method further includes:
acquiring a panoramic driving record video and a driving parameter record of a preset weak GNSS signal area;
carrying out video frame interception on the panoramic driving recording video according to a preset interception frequency to obtain a regional image set;
and according to the driving parameter record, carrying out space construction on each image in the regional image set to obtain the weak GNSS signal regional map, and importing the weak GNSS signal regional map and the regional image set into a pre-constructed cloud map database.
Optionally, the video frame interception is performed on the panoramic driving recording video according to a preset interception frequency to obtain a regional image set, including:
according to the driving parameter records, carrying out road section division on the panoramic driving record video to obtain various types of road section videos;
and intercepting the videos of the various types of road sections by using the corresponding preset interception frequency of the videos of the various types of road sections to obtain an area image set.
Optionally, after the area map of the weak GNSS signal and the area image set are imported into a pre-constructed cloud map database, the method further includes:
and setting position tags of the regional maps of the weak GNSS signals in the cloud map database.
In order to solve the above problem, the present invention further provides a vehicle navigation device for a weak GNSS signal area, the device comprising:
the signal acquisition module is used for acquiring the real-time GNSS signal intensity of the target vehicle and calculating the fluctuation amplitude of the GNSS signal intensity according to the real-time GNSS signal intensity;
the data acquisition module is used for acquiring a weak GNSS signal area map closest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database when the fluctuation amplitude of the GNSS signal intensity is greater than a preset first threshold;
and the weak signal navigation module is used for acquiring a real-time driving image and driving parameters from a vehicle-mounted driving recorder of the target vehicle by using a pre-constructed OBD-II when the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, and performing image matching on the real-time driving image and the regional image set to obtain positioning data of the target vehicle in the weak GNSS signal regional map, and navigating the target vehicle according to the positioning data.
In order to solve the above problem, the present invention also provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method for vehicle navigation of weak GNSS signal areas as described above.
In order to solve the above problem, the present invention further provides a computer-readable storage medium, in which at least one computer program is stored, and the at least one computer program is executed by a processor in an electronic device to implement the vehicle navigation method of the weak GNSS signal area described above.
According to the method and the device, whether the target vehicle is about to enter a weak GNSS signal area is judged according to the fluctuation amplitude of the signal intensity in a preset time interval, and whether the target vehicle enters the weak GNSS signal area is judged according to the real-time GNSS signal intensity, so that the time for obtaining the weak GNSS signal area map nearest to the target vehicle can be judged, the weak GNSS signal area map can be obtained at the highest speed under the condition that the loss of map storage resources of the target vehicle is not increased, the navigation mode is changed, and the problem that the navigation does not drift due to weak signals is avoided; in addition, in the weak GNSS signal area, the position of the target vehicle is positioned in an image matching mode, so that the target vehicle can still be accurately positioned and navigated in the weak GNSS signal area. Therefore, the vehicle navigation method, the device, the equipment and the storage medium of the weak GNSS signal area in the embodiments of the present invention can implement navigation guidance for a vehicle in the weak GNSS signal area.
Drawings
FIG. 1 is a flowchart illustrating a method for vehicle navigation in a weak GNSS signal area according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a detailed procedure of one step of a method for vehicle navigation in a weak GNSS signal area according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a detailed procedure of one step of a method for vehicle navigation of a weak GNSS signal region according to an embodiment of the present invention;
FIG. 4 is a functional block diagram of a GNSS weak signal area navigation apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device for implementing the vehicle navigation method for the weak GNSS signal area according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the application provides a vehicle navigation method for a weak GNSS signal area. In the embodiment of the present application, the executing body of the vehicle navigation method in the weak GNSS signal area includes, but is not limited to, an ECU (Electronic Control Unit). The ECU is also called a traveling computer, a vehicle-mounted computer and the like, and is composed of a Microcontroller (MCU), memories (ROM and RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), a shaping circuit, a driving circuit and other large-scale integrated circuits like a common computer.
Referring to fig. 1, a flowchart of a vehicle navigation method for a weak GNSS signal area according to an embodiment of the present invention is shown. In this embodiment, the method for vehicle navigation in the weak GNSS signal area includes:
s1, obtaining a signal intensity of a real-time GNSS (Global Navigation Satellite System) of the target vehicle, and calculating a fluctuation range of the GNSS signal intensity according to the signal intensity of the real-time GNSS.
In the embodiment of the present invention, the GNSS is a navigation positioning system that provides a user with positioning signals including three-dimensional coordinates, velocity, time information, and the like, at any location on the earth's surface or in the near-earth space through satellites. However, with the development of the underground space construction technology, underground spaces such as research bases, underground parking lots, tunnels and the like gradually appear, the underground spaces belong to weak GNSS signal areas, positioning signals of GNSS are gradually weakened or even completely absent, and the requirement of accurate navigation cannot be met.
In detail, in the embodiment of the present invention, the calculating a fluctuation range of GNSS signal strength according to the real-time GNSS signal strength includes:
mapping the real-time GNSS signal intensity to a two-dimensional space to obtain a time-signal intensity coordinate set;
performing curve fitting on the time-signal intensity coordinate set to obtain a signal fluctuation curve;
and obtaining the fluctuation amplitude of the GNSS signal intensity according to the curve slope of the tail point position on the signal fluctuation curve.
It should be noted that, when the vehicle normally travels, the signal intensity is kept floating within a range of about 100% to 75%, and the signal decay is usually completed within ten seconds during the process that the vehicle travels into the underground space.
The embodiment of the invention obtains the real-time GNSS signal intensity of the target vehicle, can perform curve fitting by using an oscilloscope pre-constructed in a vehicle-mounted platform to obtain a signal fluctuation curve, and calculates the fluctuation amplitude of the GNSS signal intensity in real time according to the change curvature of the tail point position on the signal fluctuation curve to judge whether the target vehicle is about to enter the underground space.
And S2, judging whether the fluctuation amplitude of the GNSS signal intensity is larger than a preset first threshold value.
In an embodiment of the present invention, the first threshold may be set to T1, and it may be determined whether the fluctuation amplitude of the signal strength is smaller than T1. In one embodiment of the present invention, the T1 may be configured to be-40% (unit: intensity/second).
When the fluctuation amplitude of the GNSS signal intensity is determined to be less than or equal to the first threshold, it represents that the target vehicle is traveling normally, and does not enter a weak GNSS signal area, and there is no need to change the navigation mode, and therefore, the process returns to the above S1 to continue monitoring the fluctuation amplitude of the GNSS signal intensity.
When the fluctuation amplitude of the GNSS signal intensity is greater than the first threshold, it is determined that the target vehicle may be about to enter a weak GNSS signal area, and at this time, S3 is executed to obtain a weak GNSS signal area map closest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database.
In the embodiment of the invention, the cloud map database is a cloud database specially used for storing the map of the weak GNSS signal area in the weak GNSS signal area, and data can be downloaded and uploaded through a mobile network.
Further, the regional image set may be a panoramic picture of each location point in the weak GNSS signal region.
In the embodiment of the present invention, when the fluctuation amplitude of the GNSS signal intensity is greater than the first threshold, it indicates that the signal intensity of the target vehicle is rapidly degraded, and it is highly likely that the target vehicle will enter a weak GNSS signal area.
In detail, referring to fig. 2, in an embodiment of the present invention, before acquiring a weak GNSS signal area map closest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-built cloud map database, the method further includes:
s31, acquiring a panoramic driving record video and a driving parameter record of a preset weak GNSS signal area;
s32, carrying out video frame interception on the panoramic driving recording video according to a preset interception frequency to obtain an area image set;
and S33, according to the driving parameter record, carrying out space construction on each image in the area image set to obtain the weak GNSS signal area map, and importing the weak GNSS signal area map and the area image set into a pre-constructed cloud map database.
The panoramic driving record video and the driving parameter record can be obtained by any vehicle provided with a driving recorder and an OBD-II (On Board Diagnostics-II, namely a II-type vehicle diagnosis system). Wherein, OBD-II is used for monitoring vehicle driving parameter, includes at least: driving distance, speed, gyroscope and other parameter information.
Specifically, in a weak GNSS signal area, such as a large parking lot, the embodiments of the present invention record panoramic driving record videos and driving parameter records of all routes by framing different routes by one inspection vehicle.
Further, in the embodiment of the present invention, the performing video frame capture on the panoramic driving recording video according to a preset capture frequency to obtain a regional image set includes:
according to the driving parameter records, carrying out road section division on the panoramic driving record video to obtain various types of road section videos;
and intercepting the videos of the various types of road sections by using the corresponding preset interception frequency of the videos of the various types of road sections to obtain an area image set.
Specifically, it is known whether the vehicle turns, turns direction and size, and whether information such as up and down slopes exists or not from the gyroscope in the driving parameter record, and therefore, in the embodiment of the present invention, the driving action of the vehicle is determined based on the driving parameter record, and the driving route is segmented, for example, a straight driving stage and a turning stage.
The embodiment of the invention intercepts video frames of various types of road section videos according to a preset intercepting frequency corresponding table, for example: and when the target weak GNSS signal area is driven in a straight line, performing interception once per X meters, and when the target weak GNSS signal area is driven in a turning way, performing interception once per Y meters, wherein the X is set to be 50, and the Y is set to be 2, so that an area image set in the target weak GNSS signal area is obtained.
Then, according to the relation between the positions of the shooting points in the driving parameter record, the embodiment of the invention performs space construction on the regional image set in the weak GNSS signal region, so as to obtain a weak GNSS signal regional map of the target weak GNSS signal region, and stores the weak GNSS signal regional map and the regional image set in the cloud map database.
Further, in another embodiment of the present invention, after the importing the area map of the weak GNSS signal and the set of area images into a pre-constructed cloud map database, the method further includes:
and setting position tags of the regional maps of the weak GNSS signals in the cloud map database.
According to the embodiment of the invention, each position tag can be marked into the pre-constructed cloud navigation map according to the preset position marking rule. The cloud navigation map is a satellite map used by GNSS, and comprises a traffic road information map layer and a position tag of a weak GNSS signal area. The position tag is a data link and can call a weak GNSS signal area map in the cloud map database.
Specifically, in the embodiment of the invention, the entrance of the target weak GNSS signal area is used as the position tag of the target weak GNSS signal area, and the position tag is marked on the cloud navigation map, so that when the signal of the target vehicle is rapidly weakened, the weak GNSS signal area closest to the target vehicle can be rapidly located, and the weak GNSS signal area map and the area image set of the weak GNSS signal area map are obtained.
S4, judging whether the intensity of the real-time GNSS signal is smaller than a preset second threshold value;
when the real-time GNSS signal strength is greater than or equal to the preset second threshold, it is indicated that the real-time GNSS signal strength is still usable, and the navigation mode does not need to be changed, the step of S1 is returned, and the real-time GNSS signal strength of the GNSS is continuously acquired.
When the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, S5 is executed, a real-time driving image and driving parameters are obtained from a vehicle-mounted driving recorder of the target vehicle, positioning data of the target vehicle in the weak GNSS signal area map is obtained by carrying out image matching on the real-time driving image and the area image set, and the target vehicle is navigated according to the positioning data.
When the real-time GNSS signal strength is less than a preset second threshold T2, indicating that the GNSS signal is weak, the navigation by GNSS may be inaccurate, and it is required to change to a local navigation mode, wherein one embodiment of the present invention sets the T2 to 30% (unit: strength).
In detail, referring to fig. 3, in the embodiment of the present invention, the S5 includes:
s51, searching an image matched with the real-time driving image in the area image set through an image matching technology to obtain a matched image;
s52, acquiring the position parameters of the matched image in the weak GNSS signal area map, and acquiring the positioning data of the target vehicle in the weak GNSS signal area map according to the position parameters;
and S53, performing head up display navigation on the target vehicle by using a pre-constructed head up display according to the positioning data and a preset navigation route.
The method comprises the steps that a calculation engine of a vehicle-mounted platform is used for obtaining a real-time driving image from a driving recorder of a target vehicle, and the similarity between the real-time driving image and each image in a regional image set is identified; and then according to the maximum similarity, positioning the image matched with the real-time driving image in the area image set. The vehicle-mounted platform is a central control platform of the target vehicle, and can adjust most functions of the vehicle, such as air conditioning, music, fault detection and the like.
In detail, in the embodiment of the present invention, the searching for the image matched with the real-time driving image in the area image set by using the image matching technology to obtain the matched image includes:
carrying out image recognition on the real-time driving image by using a pre-trained image feature recognition model to obtain image features of the real-time driving image;
similarity matching is carried out on the image characteristics of the real-time driving image and the image characteristics corresponding to each area image in the area image set, and matching scores of the real-time driving image and each area image in the area image set are obtained;
and marking the area image with the highest matching score as the matching image.
In the embodiment of the present application, the similarity matching may be an algorithm capable of determining the similarity between words, such as a cosine similarity algorithm. The cosine similarity calculation method is a method for clustering similar words by calculating the distance between words through a cosine algorithm. According to the embodiment of the invention, the cosine similarity calculation method is loaded by the vehicle-mounted platform, so that the calculation process of the matching score is completed, and the matching image is obtained. The image features may include specific things which can identify positions such as a speed limit sign, a height limit sign, a tunnel entrance sign, a garage guide sign, a billboard, safety protection information, and the like, such as a "road center upper side, a safety driving notice board", "road right side, a 2 × 2 m billboard", and the like, without considering specific text contents.
Further, the position of the target vehicle is updated by inquiring the shooting position of the matching image in the weak GNSS signal area map and then positioning the display position of the target vehicle in the weak GNSS signal area map to the shooting position according to the shooting position.
Further, the navigation route is a route automatically planned by the vehicle-mounted platform.
In an embodiment of the invention, a pre-built Head-Up Display is used for performing Head-Up navigation on the target vehicle according to the positioning data and a preset navigation route, wherein the Head-Up Display (HUD) projects navigation information to a preset position of a front windshield of the target vehicle, so that a user can see the navigation information without lowering his Head.
According to the method and the device, whether the target vehicle is about to enter a weak GNSS signal area is judged according to the fluctuation amplitude of the signal intensity in a preset time interval, and whether the target vehicle enters the weak GNSS signal area is judged according to the real-time GNSS signal intensity, so that the time for obtaining the weak GNSS signal area map nearest to the target vehicle can be judged, the weak GNSS signal area map can be obtained at the highest speed under the condition that the loss of map storage resources of the target vehicle is not increased, the navigation mode is changed, and the problem that the navigation does not drift due to weak signals is avoided; in addition, in the weak GNSS signal area, the position of the target vehicle is positioned in an image matching mode, so that the target vehicle can still be accurately positioned and navigated in the weak GNSS signal area. Therefore, the vehicle navigation method of the weak GNSS signal area can realize navigation guidance of the vehicle in the weak GNSS signal area.
Fig. 4 is a functional block diagram of a car navigation device in a weak GNSS signal area according to an embodiment of the present invention.
The car navigation device 100 of the weak GNSS signal area according to the present invention may be installed in an electronic device. According to the implemented functions, the vehicle navigation apparatus 100 of the weak GNSS signal area may include a signal obtaining module 101, a data obtaining module 102, and a weak signal navigation module 103. The module of the present invention, which may also be referred to as a unit, refers to a series of computer program segments that can be executed by a processor of an electronic device and that can perform a fixed function, and that are stored in a memory of the electronic device.
In the present embodiment, the functions regarding the respective modules/units are as follows:
the signal acquisition module 101 is configured to acquire a real-time GNSS signal intensity of a target vehicle, and calculate a fluctuation range of the GNSS signal intensity according to the real-time GNSS signal intensity;
the data obtaining module 102 is configured to obtain, from a pre-constructed cloud map database, a weak GNSS signal area map closest to the target vehicle and an area image set of the weak GNSS signal area map when the fluctuation amplitude of the GNSS signal intensity is greater than a preset first threshold;
the weak signal navigation module 103 is configured to, when it is detected that the real-time GNSS signal intensity is smaller than a preset second threshold, obtain a real-time driving image and driving parameters from a vehicle-mounted driving recorder of the target vehicle by using a pre-established OBD-II, perform image matching on the real-time driving image and the area image set to obtain positioning data of the target vehicle in the weak GNSS signal area map, and navigate the target vehicle according to the positioning data.
In detail, in the embodiment of the present application, when the modules in the vehicle navigation apparatus 100 of the weak GNSS signal area are used, the same technical means as the vehicle navigation method of the weak GNSS signal area described in fig. 1 to 3 are adopted, and the same technical effects can be produced, which is not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device for implementing a vehicle navigation method in a weak GNSS signal area according to an embodiment of the present invention.
The electronic device 1 may comprise a processor 10, a memory 11, a communication bus 12 and a communication interface 13, and may further comprise a computer program, such as a vehicle navigation program for weak GNSS signal areas, stored in the memory 11 and executable on the processor 10.
In some embodiments, the processor 10 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same function or different functions, and includes one or more Central Processing Units (CPUs), a microprocessor, a digital Processing chip, a graphics processor, a combination of various control chips, and the like. The processor 10 is a Control Unit (Control Unit) of the electronic device, connects various components of the whole electronic device by using various interfaces and lines, and executes various functions and processes data of the electronic device by running or executing programs or modules (e.g., a car navigation program for executing a weak GNSS signal area, etc.) stored in the memory 11 and calling data stored in the memory 11.
The memory 11 includes at least one type of readable storage medium including flash memory, removable hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device, for example a removable hard disk of the electronic device. The memory 11 may also be an external storage device of the electronic device in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device. The memory 11 may be used not only to store application software installed in the electronic device and various types of data, such as codes of vehicle navigation programs for weak GNSS signal areas, etc., but also to temporarily store data that has been output or will be output.
The communication bus 12 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is arranged to enable connection communication between the memory 11 and at least one processor 10 or the like.
The communication interface 13 is used for communication between the electronic device and other devices, and includes a network interface and a user interface. Optionally, the network interface may include a wired interface and/or a wireless interface (e.g., WI-FI interface, bluetooth interface, etc.), which are typically used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a Display (Display), an input unit such as a Keyboard (Keyboard), and optionally a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable, among other things, for displaying information processed in the electronic device and for displaying a visualized user interface.
Fig. 5 only shows an electronic device with components, and it will be understood by a person skilled in the art that the structure shown in fig. 5 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.
For example, although not shown, the electronic device may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 10 through a power management device, so that functions of charge management, discharge management, power consumption management and the like are realized through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The electronic device may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
It is to be understood that the described embodiments are for purposes of illustration only and that the scope of the appended claims is not limited to such structures.
The vehicle navigation program of the weak GNSS signal area stored in the memory 11 of the electronic device 1 is a combination of a plurality of instructions, which when executed in the processor 10, can realize:
acquiring the real-time GNSS signal intensity of a target vehicle, and calculating the fluctuation amplitude of the GNSS signal intensity according to the real-time GNSS signal intensity;
when the fluctuation amplitude of the GNSS signal intensity is larger than a preset first threshold value, acquiring a weak GNSS signal area map nearest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database;
when the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, a pre-constructed OBD-II is utilized to obtain real-time driving images and driving parameters from a vehicle-mounted driving recorder of the target vehicle, the real-time driving images are subjected to image matching with the regional image set to obtain positioning data of the target vehicle in the weak GNSS signal regional map, and the target vehicle is navigated according to the positioning data.
Specifically, the specific implementation method of the instruction by the processor 10 may refer to the description of the relevant steps in the embodiment corresponding to the drawings, which is not described herein again.
Further, the integrated modules/units of the electronic device 1, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. The computer readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM).
The present invention also provides a computer-readable storage medium, storing a computer program which, when executed by a processor of an electronic device, may implement:
acquiring the real-time GNSS signal intensity of a target vehicle, and calculating the fluctuation amplitude of the GNSS signal intensity according to the real-time GNSS signal intensity;
when the fluctuation amplitude of the GNSS signal intensity is larger than a preset first threshold value, acquiring a weak GNSS signal area map nearest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database;
when the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, a pre-constructed OBD-II is utilized to obtain real-time driving images and driving parameters from a vehicle-mounted driving recorder of the target vehicle, the real-time driving images are subjected to image matching with the regional image set to obtain positioning data of the target vehicle in the weak GNSS signal regional map, and the target vehicle is navigated according to the positioning data.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
The block chain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a series of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, so as to verify the validity (anti-counterfeiting) of the information and generate a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.
The embodiment of the application can acquire and process related data based on an artificial intelligence technology. Among them, Artificial Intelligence (AI) is a theory, method, technique and application system that simulates, extends and expands human Intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, acquires knowledge and uses the knowledge to obtain the best result.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A method for vehicle navigation in a weak GNSS signal region, the method comprising:
acquiring the real-time GNSS signal intensity of a target vehicle, and calculating the fluctuation amplitude of the GNSS signal intensity according to the real-time GNSS signal intensity;
when the fluctuation amplitude of the GNSS signal intensity is larger than a preset first threshold value, acquiring a weak GNSS signal area map nearest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database;
when the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, a pre-constructed OBD-II is utilized to obtain real-time driving images and driving parameters from a vehicle-mounted driving recorder of the target vehicle, the real-time driving images are subjected to image matching with the regional image set to obtain positioning data of the target vehicle in the weak GNSS signal regional map, and the target vehicle is navigated according to the positioning data.
2. The method as claimed in claim 1, wherein the step of obtaining the positioning data of the target vehicle in the map of the area of weak GNSS signals by image matching the real-time driving image with the set of area images, and navigating the target vehicle according to the positioning data comprises:
searching an image matched with the real-time driving image in the region image set through an image matching technology to obtain a matched image;
acquiring a position parameter of the matched image in the weak GNSS signal area map, and acquiring positioning data of the target vehicle in the weak GNSS signal area map according to the position parameter;
and performing head-up display navigation on the target vehicle by using a pre-constructed head-up display according to the positioning data and a preset navigation route.
3. The method for vehicle navigation in a weak GNSS signal area according to claim 2, wherein the finding an image matching the real-time driving image in the area image set by an image matching technique to obtain a matching image comprises:
carrying out image recognition on the real-time driving image by using a pre-trained image feature recognition model to obtain image features of the real-time driving image;
similarity matching is carried out on the image characteristics of the real-time driving image and the image characteristics corresponding to each area image in the area image set, and matching scores of the real-time driving image and each area image in the area image set are obtained;
and marking the area image with the highest matching score as the matching image.
4. The method as claimed in claim 1, wherein the step of calculating the fluctuation range of GNSS signal strength according to the real-time GNSS signal strength comprises:
mapping the real-time GNSS signal intensity to a two-dimensional space to obtain a time-signal intensity coordinate set;
performing curve fitting on the time-signal intensity coordinate set to obtain a signal fluctuation curve;
and obtaining the fluctuation amplitude of the GNSS signal intensity according to the curve slope of the tail point position on the signal fluctuation curve.
5. The method for vehicular navigation of a weak GNSS signal area according to claim 1, wherein before the obtaining of the weak GNSS signal area map closest to the target vehicle and the set of area images of the weak GNSS signal area map from the pre-built cloud map database, the method further comprises:
acquiring a panoramic driving record video and a driving parameter record of a preset weak GNSS signal area;
carrying out video frame interception on the panoramic driving recording video according to a preset interception frequency to obtain a regional image set;
and according to the driving parameter record, carrying out space construction on each image in the regional image set to obtain the weak GNSS signal regional map, and importing the weak GNSS signal regional map and the regional image set into a pre-constructed cloud map database.
6. The method as claimed in claim 5, wherein the step of performing video frame clipping on the panoramic driving recording video according to a preset clipping frequency to obtain a regional image set comprises:
according to the driving parameter records, carrying out road section division on the panoramic driving record video to obtain various types of road section videos;
and intercepting the videos of the various types of road sections by using the corresponding preset interception frequency of the videos of the various types of road sections to obtain an area image set.
7. The method for vehicle navigation of a weak GNSS signal area according to claim 5, wherein after importing the weak GNSS signal area map and the set of area images into a pre-constructed cloud map database, the method further comprises:
and setting position tags of the regional maps of the weak GNSS signals in the cloud map database.
8. A vehicle navigation device for a weak GNSS signal area, the device comprising:
the signal acquisition module is used for acquiring the real-time GNSS signal intensity of the target vehicle and calculating the fluctuation amplitude of the GNSS signal intensity according to the real-time GNSS signal intensity;
the data acquisition module is used for acquiring a weak GNSS signal area map closest to the target vehicle and an area image set of the weak GNSS signal area map from a pre-constructed cloud map database when the fluctuation amplitude of the GNSS signal intensity is greater than a preset first threshold;
and the weak signal navigation module is used for acquiring a real-time driving image and driving parameters from a vehicle-mounted driving recorder of the target vehicle by using a pre-constructed OBD-II when the real-time GNSS signal intensity is detected to be smaller than a preset second threshold value, and performing image matching on the real-time driving image and the regional image set to obtain positioning data of the target vehicle in the weak GNSS signal regional map, and navigating the target vehicle according to the positioning data.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of vehicle navigation of a weak GNSS signal area according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for vehicle navigation of a weak GNSS signal area according to any one of claims 1 to 7.
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| CN202111611958.0A CN114397685A (en) | 2021-12-27 | 2021-12-27 | Vehicle navigation method, device, equipment and storage medium for weak GNSS signal area |
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| CN202111611958.0A CN114397685A (en) | 2021-12-27 | 2021-12-27 | Vehicle navigation method, device, equipment and storage medium for weak GNSS signal area |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824231A (en) * | 2023-02-22 | 2023-03-21 | 安徽阿瑞特汽车电子科技有限公司 | Intelligent positioning management system for automobile running |
| CN116794702A (en) * | 2023-05-30 | 2023-09-22 | 名商科技有限公司 | GPS blind zone navigation method, system and readable storage medium |
| CN116972870A (en) * | 2023-09-21 | 2023-10-31 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
-
2021
- 2021-12-27 CN CN202111611958.0A patent/CN114397685A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824231A (en) * | 2023-02-22 | 2023-03-21 | 安徽阿瑞特汽车电子科技有限公司 | Intelligent positioning management system for automobile running |
| CN116794702A (en) * | 2023-05-30 | 2023-09-22 | 名商科技有限公司 | GPS blind zone navigation method, system and readable storage medium |
| CN116794702B (en) * | 2023-05-30 | 2023-12-22 | 名商科技有限公司 | GPS blind zone navigation method, system and readable storage medium |
| CN116972870A (en) * | 2023-09-21 | 2023-10-31 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
| CN116972870B (en) * | 2023-09-21 | 2023-12-15 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
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Application publication date: 20220426 |