CN115240400A - Vehicle position recognition method and device, and vehicle position output method and device - Google Patents
Vehicle position recognition method and device, and vehicle position output method and device Download PDFInfo
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Abstract
The application relates to a vehicle position identification method and device and a vehicle position output method and device. The vehicle position identification method comprises the steps of obtaining a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle; analyzing the graphic code image to obtain the target position information of the second vehicle; and controlling the first vehicle to follow the second vehicle to run according to the target position information. The vehicle position output method includes acquiring vehicle position information of a second vehicle; generating a graphic code based on the vehicle position information; and displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain the target position information of the second vehicle. The vehicle position recognition method can accurately recognize the position of the front vehicle, and the vehicle position output method can accurately output the position of the front vehicle.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a vehicle position identification method and device and a vehicle position output method and device.
Background
Currently, when an unmanned vehicle travels with a following vehicle in the field, a method for identifying the position of a preceding vehicle is to perform vehicle-to-vehicle communication by a radio station and transmit GPS (Global Positioning System) information of the vehicle to the unmanned vehicle.
However, the current front vehicle position identification method relies on workshop communication, is easily interfered under the electromagnetic interference environment, leads to lower accuracy of identifying the front vehicle position, and can also fail under extreme conditions, leading to the incapability of identifying the front vehicle position.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle position identification method, apparatus, first vehicle, computer-readable storage medium, and computer program product, and a vehicle position output method, apparatus, second vehicle, computer-readable storage medium, and computer program product, which are capable of accurately identifying a position of a preceding vehicle, in view of the above technical problems.
The application provides a vehicle position identification method. The method comprises the following steps:
acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
analyzing the graphic code image to obtain target position information of the second vehicle;
and controlling the first vehicle to follow the second vehicle to run according to the target position information.
In one embodiment, analyzing the graphic code image to obtain target position information of the second vehicle comprises analyzing the graphic code image to obtain first position information corresponding to the second vehicle at the last moment; filtering the first position information to obtain second position information; and determining target position information of the second vehicle according to the first position information and the second position information.
In one embodiment, the analyzing of the graphic code image to obtain the first position information corresponding to the second vehicle at the previous moment comprises the analyzing of the graphic code image to obtain the second scale information corresponding to the second vehicle at the previous moment; acquiring position information of a first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information; the first position information is determined based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
In one embodiment, determining the target location information of the second vehicle based on the first location information and the second location information includes calculating a location separation based on the first location information and the second location information; and when the position distance is smaller than a preset distance threshold, determining that the correlation judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle.
In one embodiment, the method further includes when the distance between the positions is greater than or equal to a preset distance threshold, determining that the association judgment is not passed, and directly using the second position information as the target position information of the second vehicle.
The application also provides a vehicle position identification device. The device comprises:
the acquisition module is used for acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
the analysis module is used for analyzing the graphic code image to obtain target position information of the second vehicle;
and the control module is used for controlling the first vehicle to run along with the second vehicle according to the target position information.
The application also provides a vehicle-mounted terminal. The vehicle-mounted terminal comprises a memory and a processor, the memory stores a computer program, and the processor realizes the following steps when executing the computer program:
acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed on a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
analyzing the graphic code image to obtain target position information of the second vehicle;
and controlling the first vehicle to follow the second vehicle to run according to the target position information.
The present application also provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed on a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
analyzing the graphic code image to obtain the target position information of the second vehicle;
and controlling the first vehicle to follow the second vehicle to run according to the target position information.
The present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
analyzing the graphic code image to obtain the target position information of the second vehicle;
and controlling the first vehicle to follow the second vehicle to run according to the target position information.
According to the vehicle position identification method, the vehicle position identification device, the vehicle-mounted terminal, the storage medium and the computer program product, the second vehicle is a vehicle which runs in front of the first vehicle, the graphic code image is obtained by shooting the graphic code displayed by the display panel of the second vehicle by the first vehicle, the target position information of the second vehicle is obtained by obtaining the graphic code and analyzing the graphic code image, the first vehicle is controlled to run according to the target position information, the first vehicle is controlled to run along with the second vehicle, and the purpose of accurately identifying the position of the front vehicle can be achieved.
The application also provides a vehicle position output method. The method comprises the following steps:
collecting the position information of the vehicle of a second vehicle;
generating a graphic code based on the vehicle position information;
displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
In one embodiment, generating the graphic code based on the host vehicle position information includes extracting second scale information in the host vehicle position information, and generating the graphic code based on the extracted second scale information.
The present application further provides a vehicle position output device. The device comprises:
the acquisition module is used for acquiring the position information of the vehicle of the second vehicle;
the generating module is used for generating a graphic code based on the vehicle position information;
the display module is used for displaying the graphic code on a display panel of the second vehicle, the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and the graphic code image is analyzed to obtain target position information of the second vehicle so as to drive along with the second vehicle according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
The application also provides a vehicle-mounted terminal. The vehicle-mounted terminal comprises a memory and a processor, the memory stores a computer program, and the processor realizes the following steps when executing the computer program:
collecting the position information of the vehicle of a second vehicle;
generating a graphic code based on the vehicle position information;
displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
The present application further provides a computer-readable storage medium. The computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
collecting the position information of the vehicle of a second vehicle;
generating a graphic code based on the vehicle position information;
displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
The present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
collecting the position information of the vehicle of a second vehicle;
generating a graphic code based on the vehicle position information;
displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
According to the vehicle position output method, the vehicle position output device, the vehicle-mounted terminal, the storage medium and the computer program product, the vehicle position information of the second vehicle is acquired, the vehicle position information is converted into the graphic code, the graphic code is displayed on the display panel of the second vehicle, the first vehicle is indicated to shoot the displayed graphic code to obtain the graphic code image, the graphic code image is analyzed to obtain the target position information of the second vehicle, and the second vehicle is driven according to the target position information; the first vehicle is a vehicle which runs behind the second vehicle, and the purpose of accurately outputting the position of the front vehicle can be achieved.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a vehicle location identification method;
FIG. 2 is a schematic flow chart diagram of a vehicle location identification method in one embodiment;
FIG. 3 is a schematic flow chart illustrating the steps of parsing a graphic code image according to one embodiment;
FIG. 4 is a schematic flow chart diagram of a vehicle position output method according to one embodiment;
FIG. 5 is a schematic flow chart diagram of a vehicle position identifying method in another embodiment;
FIG. 6 is a block diagram showing the construction of a vehicle position identifying apparatus according to an embodiment;
FIG. 7 is a block diagram showing the construction of a vehicle position output device in one embodiment;
fig. 8 is an internal configuration diagram of the in-vehicle terminal in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle position identification method and/or the vehicle position output method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The application environment includes a first vehicle 102 and a second vehicle 104, and the second vehicle 104 is a vehicle traveling in front of the first vehicle 102. A first vehicle-mounted terminal and camera are deployed in the first vehicle 102 and a second vehicle 104 includes a display panel and a second vehicle-mounted terminal. The second on-board terminal of the second vehicle 104 acquires the own vehicle position information of the second vehicle 104, generates a graphic code based on the own vehicle position information, and displays the graphic code on the display panel of the second vehicle 104. After the graphic code is displayed on the display panel of the second vehicle 104, the camera shoots the graphic code displayed on the display panel of the second vehicle 104 to obtain a graphic code image; the first vehicle-mounted terminal acquires the graphic code image, analyzes the graphic code image to obtain the target position information of the second vehicle 104, and controls the first vehicle 102 to follow the second vehicle 104 to run according to the target position information.
The first vehicle 102 may be an unmanned vehicle, and the second vehicle may be an unmanned vehicle or a vehicle driven by a driver.
In one embodiment, as shown in fig. 2, a vehicle position identification method is provided, which is described by taking the method as an example of being applied to a first vehicle-mounted terminal in a first vehicle in fig. 1, and includes the following steps:
step 202, acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed on a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle.
Wherein the second vehicle is a vehicle traveling ahead of the first vehicle, the first vehicle traveling following the second vehicle, the first vehicle being within a distance of 100 meters from the second vehicle. The graphic code image is obtained by shooting the graphic code through a camera of the first vehicle, and comprises the graphic code and an image of the environment where the graphic code is located. The graphic code may be a two-dimensional code or a bar code or the like displayed on a display panel of the second vehicle, including real-time location information of the second vehicle. The display panel may be an LED (Light-Emitting Diode) display panel, which can be viewed by a vehicle traveling behind the display panel, and may be disposed on a roof, a tail, or other position of the second vehicle, which is not limited in this embodiment.
Specifically, the first vehicle-mounted terminal obtains a graphic code image, the graphic code image is obtained by shooting a graphic code displayed on a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle.
And step 204, analyzing the graphic code image to obtain the target position information of the second vehicle.
Wherein the target position information of the second vehicle is estimated position information of the second vehicle at the present time.
Specifically, the first vehicle-mounted terminal identifies the image code image to obtain the target position information of the second vehicle.
And step 206, controlling the first vehicle to follow the second vehicle to run according to the target position information.
Specifically, the first vehicle-mounted terminal controls the first vehicle to run according to the target position information so as to enable the first vehicle to run along with the second vehicle.
In the vehicle position identification method, the second vehicle is a vehicle running in front of the first vehicle, the graphic code image is obtained by shooting the graphic code displayed on the display panel of the second vehicle by the first vehicle, the target position information of the second vehicle is obtained by acquiring the graphic code and analyzing the graphic code image, and the first vehicle is controlled to run according to the target position information, so that the first vehicle runs along with the second vehicle, and the purpose of accurately identifying the position of the front vehicle can be achieved.
In one embodiment, as shown in fig. 3, parsing the graphic code image to obtain the target location information of the second vehicle includes:
step 302, the graphic code image is analyzed to obtain first position information corresponding to a second vehicle at the previous time.
The first position information is the position information of the second vehicle at the previous moment, and is measured by a high-precision inertial navigation system deployed on the second vehicle. The high-precision Inertial Navigation System is a high-precision Inertial Navigation System, and the Inertial Navigation System (INS for short) is an autonomous reckoning Navigation technology, does not depend on external information, does not radiate energy to the outside, and has the unique advantages of good concealment, no influence by external electromagnetic interference and the like.
Specifically, the first vehicle-mounted terminal identifies the image code image to obtain the position information of the second vehicle at the previous moment.
And step 304, filtering the first position information to obtain second position information.
Wherein the filtering process includes kalman filtering. Kalman filtering (KF for short) is an algorithm that can perform optimal estimation on the system state by using a linear system state equation and inputting and outputting observation data through the system under the condition that noise and interference exist in the system. The second position information is predicted position information of the second vehicle at the present time. Of course, the first vehicle-mounted terminal may also use other filtering algorithms, such as a limiting filtering method, a recursive average filtering method, and the like, which is not limited in this embodiment of the present application.
Specifically, the first vehicle-mounted terminal predicts the position information of the second vehicle at the current moment through Kalman filtering based on the first position information to obtain the second position information of the second vehicle.
And step 306, determining target position information of the second vehicle according to the first position information and the second position information.
The target position information of the second vehicle is the second position information, or a value obtained by weighting the first position information and the second position information.
Specifically, the first vehicle-mounted terminal determines target position information of the second vehicle according to first position information and second position information of the second vehicle; when the first position information and the second position information of the second vehicle are judged to be passed through correlation, a value obtained by weighting the first position information and the second position information is used as target position information of the second vehicle; and when the first position information and the second position information of the second vehicle are not related and judged to be passed, taking the second position information as the target position information of the second vehicle.
In this embodiment, the kalman filter is used to predict the position information of the second vehicle at the current time and determine whether the correlation passes, and when the correlation determination passes, target position information is obtained based on the first position information and the second position information, and when the correlation determination fails, the second position information is used as the target position information. Compared with the first position information obtained by directly analyzing the graphic code image, the target position information can more accurately reflect the position information of the second vehicle at the current moment, and the error of the identified position information of the second vehicle at the current moment is reduced, so that the aim of improving the accuracy of the front-vehicle position identification can be fulfilled.
In one embodiment, analyzing the graphic code image to obtain first position information corresponding to a second vehicle at a previous time comprises analyzing the graphic code image to obtain second scale information corresponding to the second vehicle at the previous time; acquiring position information of a first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information; the first position information is determined based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
Wherein the position information of the vehicle includes time, minute and second scale information. The graphic code is a two-dimensional code displayed on a display panel of the second vehicle, including second scale information in the position information of the second vehicle, excluding time scale information and minute scale information in the position information of the second vehicle.
Because the first vehicle and the second vehicle are close in position and the distance between the first vehicle and the second vehicle is generally within 100 meters, the time scale information and the scale division information in the position information of the first vehicle and the second vehicle are the same. Under the premise that the time scale information and the minute scale information in the position information of the first vehicle and the second vehicle are the same and the first vehicle can measure and obtain the position information of the vehicle, in order to determine the target position of the second vehicle, the second scale information of the second vehicle is only required to be obtained, and then the target position of the second vehicle can be obtained.
Specifically, the first vehicle-mounted terminal analyzes the graphic code image to obtain second scale information of the second vehicle at the last moment; acquiring position information of a first vehicle at the previous moment, wherein the position information of the first vehicle at the previous moment can be obtained by measuring a high-precision inertial navigation system deployed on the first vehicle, and extracting time scale information and sub-scale information from the acquired position information; when the position information of the first vehicle at the previous moment is the same as the time scale information and the minute scale information in the position information of the second vehicle at the previous moment, the second scale information of the second vehicle at the previous moment is obtained from the analytic graphic code image and is used as the second scale information of the first position information, and the time scale information and the minute scale information extracted from the position information of the first vehicle at the previous moment are used as the degree scale information and the minute scale information of the first position information, so that the first position information is obtained.
In the present embodiment, when the positions of the first vehicle and the second vehicle are close to each other, the second scale information of the second vehicle at the previous time is obtained as the second scale information of the first position information by analyzing the graphic code image, and the time scale information and the scale division information extracted from the position information of the first vehicle at the previous time are used as the scale information and the scale division information of the first position information, so that the purpose of obtaining the first position information corresponding to the second vehicle at the previous time by analyzing the graphic code image can be achieved. Compared with the method for obtaining the second scale information, the minute scale information and the time scale information of the second vehicle at the last moment by analyzing the image code image, the second scale information of the second vehicle at the last moment is obtained by analyzing the image code image, the workload of identifying the image code image is reduced, and the purpose of improving the accuracy of front-end position identification can be achieved.
In one embodiment, determining target location information for the second vehicle based on the first location information and the second location information includes calculating a location separation based on the first location information and the second location information; and when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle.
The first position information and the second position information are positions in a space spherical coordinate system and are composed of longitude and latitude. The preset distance threshold is a preset distance upper limit value, for example, 10 meters, and is used for judging whether the first position information and the second position information are associated, that is, when the position distance between the first position information and the second position information is less than 10 meters, it is determined that the association judgment is passed, and the first position information may be used for determining the target position information; and when the position distance between the first position information and the second position information is greater than or equal to 10 meters, determining that the association judgment fails, and the first position information cannot be used for determining the target position information.
Specifically, the first vehicle-mounted terminal calculates the position distance between the first position information and the second position information in a space spherical coordinate system; and when the position distance is smaller than a preset distance threshold, determining that the association judgment is passed, respectively giving weights to the first position information and the second position information, and carrying out weighted summation on the first position information and the second position information according to the weights of the first position information and the second position information to obtain target position information of the second vehicle.
In this embodiment, the purpose of determining the target position information of the second vehicle when the first position information and the second position information of the second vehicle are associated and determined to pass through can be achieved by calculating the position distance between the first position information and the second position information and comparing the position distance with the preset distance threshold.
In one embodiment, the vehicle position identification method further includes determining that the association judgment is not passed when the position distance is greater than or equal to a preset distance threshold, and directly using the second position information as the target position information of the second vehicle.
Specifically, when the distance between the first vehicle-mounted terminal and the second vehicle-mounted terminal is greater than or equal to the preset distance threshold, determining that the association judgment is not passed, and directly taking the second position information as the target position information of the second vehicle.
In this embodiment, the purpose of determining the target position information of the second vehicle when the first position information and the second position information of the second vehicle are not associated and judged to pass through can be achieved by calculating the position distance between the first position information and the second position information and comparing the position distance with the preset distance threshold.
In one embodiment, as shown in fig. 4, a vehicle position output method is provided, which is described by taking the second vehicle-mounted terminal applied to the second vehicle in fig. 1 as an example, and includes the following steps:
step 402, collecting the position information of the second vehicle.
The position information of the vehicle is real-time position information of the second vehicle, and is obtained by measurement of a high-precision inertial navigation system deployed on the second vehicle.
Specifically, the second vehicle-mounted terminal acquires the vehicle position information of the second vehicle measured by a high-precision inertial navigation system deployed on the second vehicle through a serial port, and the vehicle position information of the second vehicle comprises time scale information, minute scale information and second scale information of longitude and latitude.
In step 404, a graphic code is generated based on the vehicle position information.
Wherein the graphic code is a two-dimensional code displayed on a display panel of the second vehicle.
Specifically, the second vehicle-mounted terminal extracts time scale information, minute scale information and second scale information of longitude and latitude from the collected position information of the vehicle, obtains a target array sequence based on the time scale information, the minute scale information and the second scale information of the longitude and latitude, and converts the target array sequence into a two-dimensional code.
Step 406, displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to drive along with the second vehicle according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
Specifically, the second vehicle-mounted terminal refreshes a display panel according to a preset frequency, displays the graphic code on the display panel of the second vehicle to indicate the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzes the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
In the embodiment, the position information of the second vehicle is acquired, the position information of the second vehicle is converted into the graphic code, the graphic code is displayed on a display panel of the second vehicle, the first vehicle is indicated to shoot the displayed graphic code to obtain a graphic code image, and the graphic code image is analyzed to obtain the target position information of the second vehicle, so that the second vehicle can be driven according to the target position information; the first vehicle is a vehicle which runs behind the second vehicle, and the purpose of accurately outputting the position of the front vehicle can be achieved.
In one embodiment, generating the graphic code based on the host vehicle position information includes extracting second scale information in the host vehicle position information, and generating the graphic code based on the extracted second scale information.
Specifically, the second vehicle-mounted terminal extracts second scale information of longitude and latitude from the acquired position information of the vehicle, the second scale information of longitude and latitude comprises units and decimals, an array sequence formed by the first two bits of longitude and the last three bits of decimals and the first two bits of latitude and the last three bits of decimals is used as a target array sequence, and the target array sequence is converted into the two-dimensional code.
In this embodiment, the second scale information in the vehicle position information of the second vehicle is processed to obtain the target array sequence, and the target array sequence is converted into the two-dimensional code, so that compared with the case where the second scale information, the minute scale information, and the time scale information in the vehicle position information of the second vehicle are all processed to obtain the target array sequence, and the target array sequence is converted into the two-dimensional code, the amount of information required to be carried by the two-dimensional code is reduced, thereby reducing the workload of the first vehicle-mounted terminal of the first vehicle for recognizing the image code image, and achieving the purpose of improving the accuracy of front vehicle position recognition.
In one embodiment, a vehicle position identification system is provided for identifying a front position of an unmanned vehicle in the field when the unmanned vehicle follows the vehicle. The system comprises a front vehicle (a first vehicle) and a rear vehicle (a second vehicle), wherein the front vehicle is a vehicle which runs in front of the rear vehicle; the rear vehicle at least comprises an image processing controller (a first vehicle-mounted terminal), a camera and a high-precision inertial navigation system, and the front vehicle at least comprises a high-precision inertial navigation system, an LED display panel controller (a second vehicle-mounted terminal) and an LED display panel (a display panel). The high-precision inertial navigation system is respectively arranged on a front vehicle and a rear vehicle and is used for acquiring the GPS position of the vehicle; the LED display panel controller is used for converting the GPS position data of the vehicle into two-dimensional code data and controlling the LED display panel to display the two-dimensional code; the camera is used for acquiring an image of a front vehicle; the image processing controller is used for analyzing the two-dimensional code in the image and acquiring the position information of the front vehicle.
Based on the vehicle position recognition system, as shown in fig. 5, there is provided a vehicle position recognition method, including the steps of:
1. the front vehicle obtains an accurate GPS position of the vehicle through high-precision inertial navigation, the GPS position of the vehicle is transmitted to the LED display panel controller through a serial port, the GPS position of the vehicle is converted into a two-dimensional code according to a customized protocol in the LED display panel controller, and the LED display panel is refreshed according to the frequency of 10 Hz. The specific customized protocol is as follows: and (4) taking the second value in the minute-second data of the vehicle GPS position data, and discarding the degree and minute values. Specifically, the LED display panel controller respectively takes the first two decimal points and the last three decimal points of the numerical values under the second scale of the latitude to form an array sequence with the length of 10, the array sequence with the length of 10 is converted into a two-dimensional code, and the two-dimensional code only covers the position corresponding to the numerical values under the second scale of the longitude and the latitude of the front vehicle. Since the distance between the rear vehicle and the front vehicle is generally within 100m, the degree and the graduation value of the GPS position data of the front vehicle are the same as those of the GPS position data of the rear vehicle. After the two-dimensional code is identified by the rear vehicle, the rear vehicle combines the position corresponding to the numerical value under the time scale and the position corresponding to the numerical value under the sub-scale of the vehicle GPS position data, and then accurate GPS information of the front vehicle can be obtained.
2. The method comprises the steps that the rear vehicle obtains an accurate GPS position of the vehicle through a high-precision inertial navigation system, a camera shoots a two-dimensional code on an LED display panel of the front vehicle at the frequency of 10Hz to obtain a two-dimensional code image, the two-dimensional code image is identified through an image processing controller to obtain a position corresponding to a numerical value under the second scale of GPS position data of the front vehicle, unprocessed GPS information of the front vehicle at the previous moment is obtained by combining the degree of the GPS position data of the rear vehicle and the position corresponding to the numerical value under the sub-scale, and the unprocessed GPS information of the front vehicle at the previous moment is stored locally in the rear vehicle.
3. The following vehicle performs kalman filtering prediction on the position of the preceding vehicle (i.e. the unprocessed GPS information of the preceding vehicle at the last time) stored locally by the following vehicle through an image processing controller, that is: predicting the GPS information of the previous vehicle at the current time according to the unprocessed GPS information of the previous vehicle at the previous time, obtaining the predicted GPS value of the previous vehicle at the current time, and performing correlation judgment according to a threshold value of 10m, namely: calculating to obtain the distance between the unprocessed former vehicle GPS information at the last moment and the former vehicle GPS predicted value at the current moment, judging whether the distance is less than 10m, and if so, determining that the correlation judgment is passed; after the correlation judgment is passed, performing Kalman filtering updating on the front vehicle position locally stored by the rear vehicle by using the unprocessed front vehicle GPS information at the previous moment, namely: and weighting and summing the unprocessed GPS information of the previous vehicle at the previous moment and the predicted GPS value of the previous vehicle at the current moment to obtain a processed GPS of the previous vehicle, namely the estimated GPS value of the previous vehicle at the current moment, and storing the estimated GPS value of the previous vehicle in the local area of the following vehicle so as to control the following vehicle to run along with the previous vehicle according to the processed GPS of the previous vehicle. If the correlation judgment is not passed, performing Kalman filtering updating on the front vehicle position locally stored by the rear vehicle by using the front vehicle GPS predicted value at the current moment, namely: and directly taking the GPS predicted value of the front vehicle at the current moment as the processed GPS of the front vehicle, and storing the GPS predicted value in the local rear vehicle so as to control the rear vehicle to run along with the front vehicle according to the processed GPS of the front vehicle.
In the embodiment, the high-precision inertial navigation system, the LED display panel controller and the LED display panel are installed on the first vehicle, the graphic code image of the first vehicle is shot on the second vehicle through the camera, and the graphic code image is analyzed through the image processing controller to obtain the target position information of the second vehicle, so that the purpose of accurately identifying the position of the front vehicle without depending on workshop communication can be achieved, and the purpose of improving the accuracy of front vehicle position identification can be achieved.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a vehicle position identification device for realizing the vehicle position identification method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the vehicle position identification device provided below can be referred to the limitations in the vehicle position identification method in the above, and are not described again here.
In one embodiment, as shown in fig. 6, there is provided a vehicle position recognition apparatus 600 including: an obtaining module 602, an analyzing module 604 and a control module 606, wherein:
the obtaining module 602 is configured to obtain a graphic code image, where the graphic code image is obtained by shooting, by a first vehicle, a graphic code displayed on a display panel of a second vehicle, and the second vehicle is a vehicle that runs in front of the first vehicle.
And the analyzing module 604 is configured to analyze the graphic code image to obtain the target location information of the second vehicle.
And the control module 606 is used for controlling the first vehicle to follow the second vehicle to run according to the target position information.
In one embodiment, the parsing module 604 is further configured to parse the graphic code image to obtain first location information corresponding to a second vehicle at a previous time; filtering the first position information to obtain second position information; and determining target position information of the second vehicle according to the first position information and the second position information.
In one embodiment, the parsing module 604 is further configured to parse the graphic code image to obtain second scale information corresponding to the second vehicle at the previous time; acquiring position information of a first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information; the first position information is determined based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
In one embodiment, the parsing module 604 is further configured to calculate a location separation based on the first location information and the second location information; and when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle.
In one embodiment, the parsing module 604 is further configured to determine that the association determination fails when the location distance is greater than or equal to a preset distance threshold, and directly use the second location information as the target location information of the second vehicle.
The respective modules in the above vehicle position recognition apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware manner or independent from a processor in the first vehicle, and can also be stored in a memory in the first vehicle in a software manner, so that the processor can call and execute operations corresponding to the modules.
Based on the same inventive concept, the embodiment of the present application also provides a vehicle position output device for implementing the vehicle position output method as mentioned above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more vehicle position output device embodiments provided below can be referred to the limitations in the vehicle position output method above, and are not described herein again.
In one embodiment, as shown in fig. 7, there is provided a vehicle position output device 700 including: an acquisition module 702, a generation module 704, and a display module 706, wherein:
the collecting module 702 is configured to collect the vehicle position information of the second vehicle.
And a generating module 704 for generating a graphic code based on the vehicle position information.
The display module 706 is configured to display a graphic code on a display panel of the second vehicle, where the displayed graphic code is used to instruct the first vehicle to capture the displayed graphic code to obtain a graphic code image, and the graphic code image is analyzed to obtain target position information of the second vehicle, so as to drive along with the second vehicle according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
In one embodiment, the generating module 704 is further configured to extract second scale information in the host vehicle position information, and generate the graphic code based on the extracted second scale information.
The respective modules in the vehicle position output device described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the second vehicle, and can also be stored in a memory in the second vehicle in a software form, so that the processor can call and execute the corresponding operations of the modules.
In one embodiment, a vehicle-mounted terminal is provided, and the vehicle-mounted terminal can be a vehicle-mounted terminal of a first vehicle (a first vehicle-mounted terminal) and can also be a vehicle-mounted terminal of a second vehicle (a second vehicle-mounted terminal). The internal structure of the vehicle terminal may be as shown in fig. 8. The in-vehicle terminal includes a processor, a memory, an input/output interface, and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. The processor of the vehicle terminal is used to provide computing and control capabilities. The memory of the vehicle-mounted terminal comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The input/output interface of the in-vehicle terminal is used for exchanging information between the processor and the external device. The communication interface of the vehicle-mounted terminal is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle position identification method and/or a vehicle position output method.
Those skilled in the art will appreciate that the structure shown in fig. 8 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation to the in-vehicle terminal to which the present application is applied, and a specific in-vehicle terminal may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
In one embodiment, a vehicle-mounted terminal is provided, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the following steps when executing the computer program: acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle; analyzing the graphic code image to obtain target position information of the second vehicle; and controlling the first vehicle to follow the second vehicle to run according to the target position information.
In one embodiment, the processor when executing the computer program further performs the steps of: analyzing the graphic code image to obtain first position information corresponding to a second vehicle at the previous moment; filtering the first position information to obtain second position information; and determining target position information of the second vehicle according to the first position information and the second position information.
In one embodiment, the processor when executing the computer program further performs the steps of: analyzing the graphic code image to obtain second scale information corresponding to a second vehicle at the previous moment; acquiring position information of a first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information; the first position information is determined based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
In one embodiment, the processor when executing the computer program further performs the steps of: calculating a location separation based on the first location information and the second location information; and when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and when the position distance is larger than or equal to the preset distance threshold value, determining that the association judgment is not passed, and directly taking the second position information as the target position information of the second vehicle.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle; analyzing the graphic code image to obtain target position information of the second vehicle; and controlling the first vehicle to follow the second vehicle to run according to the target position information.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing the graphic code image to obtain first position information corresponding to a second vehicle at the last moment; filtering the first position information to obtain second position information; and determining target position information of the second vehicle according to the first position information and the second position information.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing the graphic code image to obtain second scale information corresponding to a second vehicle at the previous moment; acquiring position information of a first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information; the first position information is determined based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
In one embodiment, the computer program when executed by the processor further performs the steps of: calculating a position distance based on the first position information and the second position information; and when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: and when the position distance is larger than or equal to the preset distance threshold value, determining that the association judgment is not passed, and directly taking the second position information as the target position information of the second vehicle.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed by a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle; analyzing the graphic code image to obtain the target position information of the second vehicle; and controlling the first vehicle to follow the second vehicle to run according to the target position information.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing the graphic code image to obtain first position information corresponding to a second vehicle at the last moment; filtering the first position information to obtain second position information; and determining the target position information of the second vehicle according to the first position information and the second position information.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing the graphic code image to obtain second scale information corresponding to a second vehicle at the previous moment; acquiring position information of a first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information; the first position information is determined based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
In one embodiment, the computer program when executed by the processor further performs the steps of: calculating a location separation based on the first location information and the second location information; and when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: and when the position distance is larger than or equal to the preset distance threshold value, determining that the association judgment is not passed, and directly taking the second position information as the target position information of the second vehicle.
In one embodiment, a vehicle-mounted terminal is provided, which includes a memory and a processor, the memory stores a computer program, and the processor realizes the following steps when executing the computer program: collecting the position information of the vehicle of a second vehicle; generating a graphic code based on the vehicle position information; displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: second scale information in the vehicle position information is extracted, and a graphic code is generated based on the extracted second scale information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring the position information of the vehicle of a second vehicle; generating a graphic code based on the vehicle position information; displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: second scale information in the vehicle position information is extracted, and a graphic code is generated based on the extracted second scale information.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: collecting the position information of the vehicle of a second vehicle; generating a graphic code based on the vehicle position information; displaying the graphic code on a display panel of the second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: second scale information in the vehicle position information is extracted, and a graphic code is generated based on the extracted second scale information.
It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant countries and regions.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A vehicle position identification method, characterized by comprising:
acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed on a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
analyzing the graphic code image to obtain target position information of the second vehicle;
and controlling the first vehicle to follow the second vehicle to run according to the target position information.
2. The method of claim 1, wherein the parsing the graphic code image to obtain target location information of the second vehicle comprises:
analyzing the graphic code image to obtain first position information corresponding to the second vehicle at the last moment;
filtering the first position information to obtain second position information;
and determining the target position information of the second vehicle according to the first position information and the second position information.
3. The method according to claim 2, wherein the analyzing the graphic code image to obtain the first location information corresponding to the second vehicle at the previous time comprises:
analyzing the graphic code image to obtain second scale information corresponding to the second vehicle at the previous moment;
acquiring position information of the first vehicle at the previous moment, and extracting degree scale information and sub-scale information corresponding to the first vehicle from the acquired position information;
determining first position information based on second scale information corresponding to the second vehicle, degree scale information corresponding to the first vehicle, and minute scale information.
4. The method of claim 2, wherein determining the target location information of the second vehicle based on the first location information and the second location information comprises:
calculating a location separation based on the first location information and the second location information;
and when the position distance is smaller than a preset distance threshold, determining that the association judgment is passed, and performing weighting processing based on the first position information and the second position information to obtain the target position information of the second vehicle.
5. The method of claim 4, further comprising:
and when the position distance is larger than or equal to the preset distance threshold, determining that the association judgment is not passed, and directly taking the second position information as the target position information of the second vehicle.
6. A vehicle position output method characterized by comprising:
collecting the position information of the vehicle of a second vehicle;
generating a graphic code based on the vehicle position information;
displaying the graphic code on a display panel of a second vehicle, wherein the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and analyzing the graphic code image to obtain target position information of the second vehicle so as to drive along with the second vehicle according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
7. The method of claim 6, wherein the generating a graphical code based on the host-vehicle location information comprises:
and extracting second scale information in the vehicle position information, and generating a graphic code based on the extracted second scale information.
8. A vehicle position recognition apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring a graphic code image, wherein the graphic code image is obtained by shooting a graphic code displayed on a display panel of a second vehicle by a first vehicle, and the second vehicle is a vehicle running in front of the first vehicle;
the analysis module is used for analyzing the graphic code image to obtain the target position information of the second vehicle;
and the control module is used for controlling the first vehicle to run along with the second vehicle according to the target position information.
9. A vehicle position output apparatus, characterized by comprising:
the acquisition module is used for acquiring the position information of the vehicle of the second vehicle;
the generating module is used for generating a graphic code based on the vehicle position information;
the display module is used for displaying the graphic code on a display panel of a second vehicle, the displayed graphic code is used for indicating the first vehicle to shoot the displayed graphic code to obtain a graphic code image, and the graphic code image is analyzed to obtain target position information of the second vehicle so as to follow the second vehicle to run according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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