CN115240400B - Vehicle position identification method and device, and vehicle position output method and device - Google Patents
Vehicle position identification method and device, and vehicle position output method and device Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G—TRAFFIC CONTROL SYSTEMS
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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 graphic codes 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 vehicle position output method comprises the steps of collecting own 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 identification method can accurately identify 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 present application relates to the field of unmanned technologies, and in particular, to a vehicle position recognition method and apparatus, and a vehicle position output method and apparatus.
Background
At present, when an unmanned vehicle runs in the open, the front vehicle is identified by workshop communication through a radio station, and GPS (Global positioning System, all Global Positioning System) information of the unmanned vehicle is transmitted to the unmanned vehicle.
However, the current front vehicle position identification method depends on workshop communication, is easy to be interfered in an electromagnetic interference environment, so that the accuracy of front vehicle position identification is low, and in extreme cases, the front vehicle position identification method also fails, so that the front vehicle position cannot be identified.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle position recognition 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 that are capable of accurately recognizing a preceding vehicle position.
The application provides a vehicle position identification method. The method comprises the following steps:
the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 includes analyzing the graphic code image to obtain first position information corresponding to the 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, resolving the graphic code image to obtain first position information corresponding to the second vehicle at the previous time includes resolving 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, determining target location information for the second vehicle based on the first location information and the second location information includes calculating a location distance 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 carrying out 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 determining that the association determination 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.
The application also provides a vehicle position identification device. The device comprises:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a graphic code image, the graphic code image is obtained by shooting graphic codes 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 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 further provides a vehicle-mounted terminal. The vehicle-mounted terminal 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:
the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 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:
the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 vehicle position identification method, the vehicle position identification device, the vehicle-mounted terminal, the storage medium and the computer program product enable the first vehicle to run according to the target position information, so that the first vehicle can 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 own vehicle position information 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 vehicle location information includes extracting second scale information from the vehicle location information and generating the graphic code based on the extracted second scale information.
The application also provides a vehicle position output device. The device comprises:
the acquisition module is used for acquiring the position information 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 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 application further provides a vehicle-mounted terminal. The vehicle-mounted terminal 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:
collecting own vehicle position information 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 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:
collecting own vehicle position information 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 application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
Collecting own vehicle position information 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 vehicle position output method, the vehicle position output device, the vehicle-mounted terminal, the storage medium and the computer program product are characterized in that the vehicle position information of the second vehicle is acquired, the vehicle position information is converted into graphic codes, the graphic codes are displayed on a display panel of the second vehicle, the first vehicle is instructed to shoot the displayed graphic codes to obtain graphic code images, the graphic code images are analyzed to obtain 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 traveling behind the second vehicle, and the purpose of accurately outputting the front vehicle position can be achieved.
Drawings
FIG. 1 is a diagram of an application environment for a vehicle location identification method in one embodiment;
FIG. 2 is a flow chart of a method of identifying a vehicle location in one embodiment;
FIG. 3 is a flowchart illustrating a process for resolving a graphic code image according to one embodiment;
FIG. 4 is a flow chart of a method of outputting vehicle position in one embodiment;
FIG. 5 is a flow chart of a method for identifying a vehicle position in another embodiment;
FIG. 6 is a block diagram showing a configuration of a vehicle position recognition apparatus in one embodiment;
FIG. 7 is a block diagram of a vehicle position output device in one embodiment;
fig. 8 is an internal structural diagram of the in-vehicle terminal in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The vehicle position identification method and/or the vehicle position output method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The application environment includes a first vehicle 102 and a second vehicle 104, where the second vehicle 104 is a vehicle traveling in front of the first vehicle 102. The first vehicle 102 has a first vehicle-mounted terminal and a camera disposed therein, and the second vehicle 104 includes a display panel and a second vehicle-mounted terminal. The second vehicle-mounted terminal of the second vehicle 104 collects the vehicle position information of the second vehicle 104, generates a graphic code based on the 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 terminal obtains the graphic code image, analyzes the graphic code image to obtain target position information of the second vehicle 104, and controls the first vehicle 102 to follow the second vehicle 104 to run.
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 recognition method is provided, taking a first vehicle-mounted terminal in the first vehicle in fig. 1 as an example, the method includes the following steps:
step 202, a graphic code image is acquired, 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 second vehicle is a vehicle running in front of the first vehicle, the first vehicle follows the second vehicle, and the distance between the first vehicle and the second vehicle is generally within 100 meters. 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 the display panel of the second vehicle, including real-time position information of the second vehicle. The display panel may be an LED (all-called Light-Emitting Diode) display panel, which can be observed by a vehicle traveling behind it, and may be disposed on the roof, the tail, or other positions of the second vehicle, which is not limited in this embodiment.
Specifically, the first vehicle-mounted terminal acquires 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.
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 current time.
Specifically, the first vehicle-mounted terminal identifies the image code image to obtain target position information of the second vehicle.
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 travel according to the target position information so as to enable the first vehicle to follow 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 can run along with the second vehicle, and the aim of accurately identifying the position of the front vehicle can be achieved.
In one embodiment, as shown in fig. 3, analyzing the graphic code image to obtain the target position information of the second vehicle includes:
step 302, the graphic code image is analyzed to obtain the first position information corresponding to the second vehicle at the previous moment.
The first position information is the position information of the second vehicle at the last moment and is measured by a high-precision inertial navigation system arranged on the second vehicle. The high-precision inertial navigation system is a high-precision inertial navigation system, and the inertial navigation system (Inertial Navigation System, INS for short) is an autonomous calculation navigation technology, does not depend on external information and radiate energy to the outside, and has the unique advantages of good concealment, no influence of 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 last moment.
And step 304, filtering the first position information to obtain second position information.
Wherein the filtering process comprises kalman filtering. Kalman Filtering (KF) is an algorithm capable of optimally estimating the state of a system by inputting and outputting observation data through the system by utilizing a linear system state equation under the condition that the system has noise and interference. The second position information is predicted position information of the second vehicle at the current time. Of course, other filtering algorithms, such as clipping filtering, recursive average filtering, etc., may also be used for the first vehicle terminal, which is not limited in the embodiment of the present application.
Specifically, the first vehicle-mounted terminal predicts the position information of the second vehicle at the current moment based on the first position information through Kalman filtering to obtain second position information of the second vehicle.
Step 306, determining target location information of the second vehicle according to the first location information and the second location information.
The target position information of the second vehicle is 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 a 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 pass the association judgment, taking a value obtained by weighting the first position information and the second position information 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 judged to pass through the association judgment, the second position information is used as target position information of the second vehicle.
In this embodiment, the position information of the second vehicle at the current time is predicted and whether the association is passed is determined by the kalman filtering, the target position information is obtained based on the first position information and the second position information if the association determination is passed, and the second position information is used as the target position information if the association determination is not passed. 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 position information of the identified second vehicle at the current moment is reduced, so that the aim of improving the accuracy of front vehicle position identification can be fulfilled.
In one embodiment, resolving the graphical code image to obtain first location information corresponding to the second vehicle at a previous time includes resolving the graphical 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 the display panel of the second vehicle, including second scale information in the position information of the second vehicle, excluding time-of-day information and minute scale information in the position information of the second vehicle.
Since the first vehicle and the second vehicle are located close to each other, the distance between the first vehicle and the second vehicle is generally within 100 meters, and thus the time information and the graduated information in the position information of the first vehicle and the second vehicle are the same. On the premise that the time degree information and the dividing 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 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 the position information of the first vehicle at the previous moment, wherein the position information of the first vehicle at the previous moment can be measured by a high-precision inertial navigation system arranged on the first vehicle, and the time scale information and the minute scale information are extracted from the acquired position information; when the position information of the first vehicle at the previous time is the same as the time degree information and the minute scale information in the position information of the second vehicle at the previous time, the second scale information of the second vehicle at the previous time is obtained by analyzing the graphic code image and is used as the second scale information of the first position information, and the time degree information and the minute scale information extracted from the position information of the first vehicle at the previous time 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 this 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 by analyzing the graphic code image, and the time degree information and the minute scale information extracted from the position information of the first vehicle at the previous time are obtained as the degree scale information and the minute scale information of the first position information, so that the first position information corresponding to the second vehicle at the previous time can be obtained by analyzing the graphic code image. Compared with the method that the second scale information, the minute scale information and the time degree information of the second vehicle at the last moment are obtained by analyzing the graphic code image, the second scale information of the second vehicle at the last moment is obtained by analyzing the graphic code image, the workload of identifying the graphic code image is reduced, and the aim of improving the accuracy of front vehicle 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 distance 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 carrying out 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 consist of longitudes and latitudes. 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, namely, when the position distance between the first position information and the second position information is smaller than 10 meters, the association judgment is determined to pass, and the first position information can be used for determining the target position information; when the position distance between the first position information and the second position information is greater than or equal to 10 meters, the association judgment is determined not to be passed, 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; when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, respectively giving weight 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 weight of the first position information and the second position information to obtain target position information of the second vehicle.
In this embodiment, the target position information of the second vehicle can be determined 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 value when the first position information and the second position information of the second vehicle are associated and judged to pass.
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 position distance of the first vehicle-mounted terminal is larger than or equal to a preset distance threshold, determining that the association judgment is not passed, and directly taking the second position information as target position information of the second vehicle.
In this embodiment, the target position information of the second vehicle can be determined 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 value when the association judgment of the first position information and the second position information of the second vehicle fails.
In one embodiment, as shown in fig. 4, there is provided a vehicle position output method, taking as an example a second vehicle-mounted terminal in which the method is applied to the second vehicle in fig. 1, including the steps of:
Step 402, acquiring host vehicle position information of a second vehicle.
The vehicle position information is real-time position information of the second vehicle and is measured by a high-precision inertial navigation system arranged on the second vehicle.
Specifically, the second vehicle-mounted terminal acquires, through a serial port, own vehicle position information of the second vehicle, which is measured by a high-precision inertial navigation system deployed on the second vehicle, and the own vehicle position information of the second vehicle includes time information of longitude and latitude, minute scale information and second scale information.
Step 404, generating a graphic code 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 the time degree information, the minute scale information and the second scale information of the longitude and the latitude from the acquired position information of the vehicle, obtains a target array sequence based on the time degree information, the minute scale information and the second scale information of the longitude and the latitude, and converts the target array sequence into a two-dimensional code.
Step 406, displaying the graphic code on the 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 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.
Specifically, the second vehicle-mounted terminal refreshes the display panel according to a preset frequency, displays the graphic code on the display panel of the second vehicle, instructs the first vehicle to shoot the displayed graphic code to obtain a graphic code image, analyzes the graphic code image to obtain target position information of the second vehicle, and follows 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 this embodiment, the vehicle position information of the second vehicle is collected and converted into a graphic code, the graphic code is displayed on a display panel of the second vehicle, so as to instruct 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 that the second vehicle can travel along with the target position information; the first vehicle is a vehicle traveling behind the second vehicle, and the purpose of accurately outputting the front vehicle position can be achieved.
In one embodiment, generating the graphic code based on the vehicle location information includes extracting second scale information from the vehicle location 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 vehicle position information, the second scale information of longitude and latitude comprises bits and ten bits, an array sequence consisting of the first two bits of the bits of longitude and the last three bits of the ten bits, and the first two bits of the bits of latitude and the last three bits of the ten bits is used as a target array sequence, and the target array sequence is converted into a two-dimensional code.
In this embodiment, the second scale information in the host 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.
In one embodiment, a vehicle position identification system is provided for front vehicle position identification when an open-air unmanned vehicle is traveling with a vehicle. The system includes a front vehicle (first vehicle) and a rear vehicle (second vehicle), the front vehicle being a vehicle traveling 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 the front vehicle and the 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, transmits the GPS position of the vehicle to the LED display panel controller through the serial port, converts the GPS position of the vehicle into a two-dimensional code according to a customized protocol in the LED display panel controller, and refreshes the LED display panel according to the frequency of 10 Hz. The specific customized protocol is as follows: taking the second value in the degree minute second data of the GPS position data of the vehicle, and discarding the degree and minute values. Specifically, the LED display panel controller respectively takes the first two bits and the last three bits of the decimal point of the numerical value under the second scale of longitude and latitude to form an array sequence with the length of 10, and converts the array sequence with the length of 10 into a two-dimensional code, wherein the two-dimensional code only covers the position corresponding to the numerical value under the second scale of longitude and latitude of the front vehicle. Since the distance between the rear vehicle and the front vehicle is generally within 100m, the GPS position data of the front vehicle has the same degree and the same minute scale value as 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 moment degree of the GPS position data of the vehicle and the position corresponding to the numerical value under the sub-scale, so that accurate GPS information of the front vehicle can be obtained.
2. 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 a front vehicle LED display panel at the frequency of 10Hz to obtain a two-dimensional code image, an image processing controller identifies the two-dimensional code image to obtain a position corresponding to a numerical value under a second scale of GPS position data of the front vehicle, and the position corresponding to the numerical value under the second scale is combined with the degree of GPS position data of the rear vehicle to obtain unprocessed GPS information of the front vehicle at the last moment and the unprocessed GPS information is stored in the rear vehicle.
3. The rear vehicle carries out Kalman filtering prediction on the front vehicle position (i.e. the unprocessed front vehicle GPS information at the last moment) locally stored by the rear vehicle through the image processing controller, namely: predicting the front vehicle GPS information at the current moment according to the unprocessed front vehicle GPS information at the previous moment, obtaining a front vehicle GPS predicted value at the current moment, and performing association judgment according to a threshold of 10m, namely: calculating to obtain the distance between the unprocessed preceding vehicle GPS information at the previous moment and the preceding vehicle GPS predicted value at the current moment based on the unprocessed preceding vehicle GPS information at the previous moment, judging whether the distance is smaller than 10m, if so, determining that the association judgment is passed; after the association judgment is passed, the front vehicle position locally stored in the rear vehicle is updated by Kalman filtering by using the unprocessed front vehicle GPS information at the last moment, namely: and carrying out weighted summation on the unprocessed preceding vehicle GPS information at the previous moment and the preceding vehicle GPS predicted value at the current moment to obtain a processed preceding vehicle GPS, namely a preceding vehicle GPS estimated value at the current moment, and storing the processed preceding vehicle GPS estimated value at a rear vehicle local so as to control the rear vehicle to travel along with the preceding vehicle according to the processed preceding vehicle GPS. If the association judgment is not passed, the front vehicle GPS predicted value at the current moment is used for carrying out Kalman filtering update on the front vehicle position locally stored in the rear vehicle, namely: the predicted value of the front vehicle GPS at the current moment is directly used as the processed front vehicle GPS and stored in the rear vehicle local so as to control the rear vehicle to travel along with the front vehicle according to the processed front vehicle GPS.
In this 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 by the camera on the second vehicle, and the graphic code image is analyzed by the image processing controller to obtain the target position information of the second vehicle, so that the aim of accurately identifying the position of the front vehicle without depending on workshop communication can be achieved, and the aim of improving the accuracy of identifying the position of the front vehicle can be achieved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a vehicle position recognition device for realizing the vehicle position recognition method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the vehicle position recognition device or devices provided below may be referred to the limitation of the vehicle position recognition method hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 6, there is provided a vehicle position recognition apparatus 600 including: an acquisition module 602, a parsing module 604, and a control module 606, wherein:
the acquiring module 602 is configured to acquire a graphic code image, where the graphic code image is obtained by photographing, 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 used for analyzing the graphic code image to obtain the target position information of the second vehicle.
The control module 606 is configured to control the first vehicle to follow the second vehicle to travel 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 the 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 distance 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 carrying out 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, when the location distance is greater than or equal to a preset distance threshold, determine that the association determination is not passed, and directly use the second location information as the target location information of the second vehicle.
The respective modules in the above-described vehicle position recognition device may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the first vehicle, or may be stored in software in a memory in the first vehicle, so that the processor may invoke and execute operations corresponding to the above modules.
Based on the same inventive concept, the embodiment of the application also provides a vehicle position output device for realizing the vehicle position output method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitation in one or more embodiments of the vehicle position output device provided below may be referred to the limitation of the vehicle position output method hereinabove, and will not be repeated herein.
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 acquisition module 702 is configured to acquire own vehicle position information of the second vehicle.
A generating module 704, configured to generate a graphics code based on the vehicle location 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 shoot the displayed graphic code to obtain a graphic code image, and analyze the graphic code image to obtain target position information of the second vehicle, so as to follow the second vehicle to travel 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 above-described vehicle position output device may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the second vehicle, or may be stored in software in a memory in the second vehicle, so that the processor may invoke and execute operations corresponding to the above modules.
In one embodiment, an in-vehicle terminal is provided that may be an in-vehicle terminal of a first vehicle (first in-vehicle terminal) or an in-vehicle terminal of a second vehicle (second in-vehicle terminal). The internal structure of the vehicle terminal may be as shown in fig. 8. The vehicle-mounted terminal comprises 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 in-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 operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the vehicle-mounted 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 mode 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.
It will be appreciated by those skilled in the art that the structure shown in fig. 8 is merely a block diagram of a portion of the structure related to the present application, and does not constitute a limitation of the vehicle-mounted terminal to which the present application is applied, and a specific vehicle-mounted terminal may include more or less components than those shown in the drawings, or may combine some components, or may have different arrangements of components.
In one embodiment, there is provided a vehicle-mounted terminal including a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program: the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 the 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 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, the processor when executing the computer program further performs the steps of: calculating a position interval 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 carrying out 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 greater than or equal to a preset distance threshold, determining that the association judgment is not passed, and directly taking the second position information as 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: the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 the 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 computer program when executed by the processor further performs the steps of: analyzing the graphic code image to obtain 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, the computer program when executed by the processor further performs the steps of: calculating a position interval 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 carrying out 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 greater than or equal to a preset distance threshold, determining that the association judgment is not passed, and directly taking the second position information as 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: the method comprises the steps that a graphic code image is obtained by shooting graphic codes displayed on a display panel of a second vehicle by a first vehicle, wherein 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 the 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 computer program when executed by the processor further performs the steps of: analyzing the graphic code image to obtain 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, the computer program when executed by the processor further performs the steps of: calculating a position interval 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 carrying out 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 greater than or equal to a preset distance threshold, determining that the association judgment is not passed, and directly taking the second position information as target position information of the second vehicle.
In one embodiment, there is provided a vehicle-mounted terminal including a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program: collecting own vehicle position information 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 position information of the vehicle 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: collecting own vehicle position information 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 position information of the vehicle 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 own vehicle position information 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 position information of the vehicle 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 equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in 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 (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A vehicle position identification method, characterized in that the method comprises:
the method comprises the steps of obtaining a graphic code image, wherein the graphic code image is obtained by shooting graphic codes 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 first position information corresponding to the second vehicle at the previous moment;
Filtering the first position information to obtain second position information;
calculating a position gap based on the first position information and the second position information;
when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and carrying out weighting processing based on the first position information and the second position information 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 according to claim 1, wherein said parsing the graphic code image to obtain first location information corresponding to the 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 moment;
acquiring the position information of the first vehicle at the last moment, and extracting the degree scale information and the sub-scale information corresponding to the first vehicle from the acquired position information;
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.
3. The method according to claim 1, wherein the method further comprises:
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.
4. A vehicle position output method, characterized in that the method comprises:
collecting own vehicle position information 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 a first vehicle to shoot the displayed graphic code to obtain a graphic code image, analyzing the graphic code image to obtain first position information corresponding to the second vehicle at the last moment, performing filtering processing on the first position information to obtain second position information, calculating a position distance based on the first position information and the second position information, determining that the association judgment is passed when the position distance is smaller than a preset distance threshold value, and performing weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle so as to follow the second vehicle to travel according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
5. The method of claim 4, wherein the generating a graphics code based on the 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.
6. A vehicle position recognition apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a graphic code image, wherein the graphic code image is obtained by shooting graphic codes 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 first position information corresponding to the second vehicle at the last moment; filtering the first position information to obtain second position information; calculating a position gap based on the first position information and the second position information; when the position distance is smaller than a preset distance threshold value, determining that the association judgment is passed, and carrying out weighting processing based on the first position information and the second position information to obtain target position information of the second vehicle;
and the control module is used for controlling the first vehicle to follow the second vehicle to run according to the target position information.
7. A vehicle position output device, characterized in that the device comprises:
the acquisition module is used for acquiring the position information of the second vehicle;
the generation 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 a first vehicle to shoot the displayed graphic code to obtain a graphic code image, 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, calculating a position distance based on the first position information and the second position information, determining that the association judgment is passed when the position distance is smaller than a preset distance threshold value, and weighting the first position information and the second position information to obtain target position information of the second vehicle so as to follow the second vehicle to travel according to the target position information; wherein the first vehicle is a vehicle that travels behind the second vehicle.
8. The apparatus of claim 7, wherein the generating module is further configured to extract second scale information from the host vehicle location information and generate a graphic code based on the extracted second scale information.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
10. An in-vehicle terminal comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.
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