CN116193575A - Parking lot positioning system, method, electronic equipment and medium - Google Patents

Parking lot positioning system, method, electronic equipment and medium Download PDF

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Publication number
CN116193575A
CN116193575A CN202310163870.XA CN202310163870A CN116193575A CN 116193575 A CN116193575 A CN 116193575A CN 202310163870 A CN202310163870 A CN 202310163870A CN 116193575 A CN116193575 A CN 116193575A
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CN
China
Prior art keywords
vehicle
parking lot
position information
base stations
uwb base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310163870.XA
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Chinese (zh)
Inventor
沈超
殷承良
秦文刚
鲁肇萱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
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Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
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Priority to CN202310163870.XA priority Critical patent/CN116193575A/en
Publication of CN116193575A publication Critical patent/CN116193575A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a parking lot positioning system, a method, electronic equipment and a medium, wherein the system comprises: n UWB base stations: the wireless positioning device is arranged in the parking area and used for transmitting wireless positioning signals; vehicle UWB tag: the vehicle positioning device is arranged on the vehicle and is used for receiving N wireless positioning signals, and determining the position information of the vehicle relative to N UWB base stations according to the wireless positioning signals; and a position information calculating module: the method is used for calculating the position information of the vehicle in the parking lot according to the position information of the vehicle relative to the N UWB base stations and the position information calibrated in the parking lot map of the N UWB base stations, and positioning of the vehicle in the parking lot is completed. Compared with the prior art, the method has the advantages of high instantaneity, strong robustness and protection of vehicle privacy.

Description

Parking lot positioning system, method, electronic equipment and medium
Technical Field
The present invention relates to the field of parking lot positioning technologies, and in particular, to a parking lot positioning system, a method, an electronic device, and a medium.
Background
With the proliferation of motor vehicles, the demand for intelligent management of parking lots is becoming more and more urgent. Global Navigation Satellite Systems (GNSS) are currently the most successful positioning technology applied, but for indoor short range positioning, their accuracy is not required, and parking lots generally have no GNSS signals.
The prior art realizes the positioning of vehicles in a parking lot based on UWB (Ultra wide band), but adopts a passive positioning mode, namely a base station acquires signals transmitted by UWB tags and transmits the signals back to a server for resolving, but the positioning mode possibly has time delay due to the fluctuation positioning of a network and is not suitable for the application of autonomous parking (Automated Valet Parking) with very high real-time requirements; in addition, since this method receives the position information of the vehicle from the base station of the parking lot, there is a problem that privacy leakage is likely to occur, and the passive positioning method is limited in the capacity of the tag.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a parking lot positioning system, a parking lot positioning method, electronic equipment and a parking lot positioning medium.
The aim of the invention can be achieved by the following technical scheme:
according to a first aspect of the present invention, there is provided a parking lot positioning system comprising:
n UWB base stations: the wireless positioning device is arranged in the parking area and used for transmitting wireless positioning signals;
vehicle UWB tag: the vehicle positioning device is arranged on the vehicle and is used for receiving N wireless positioning signals, and determining the position information of the vehicle relative to N UWB base stations according to the wireless positioning signals;
and a position information calculating module: the method is used for calculating the position information of the vehicle in the parking lot according to the position information of the vehicle relative to the N UWB base stations and the position information calibrated in the parking lot map of the N UWB base stations, and positioning of the vehicle in the parking lot is completed.
Preferably, the parking lot positioning system further comprises an inertial measurement unit for measuring attitude data of the vehicle, the inertial measurement unit being provided on the vehicle.
Preferably, the parking lot positioning system further comprises a three-dimensional position resolving module: the three-dimensional position information of the vehicle in the parking lot is calculated according to the model of the vehicle, the gesture data measured by the inertia measuring unit and the position information of the vehicle in the parking lot, and the three-dimensional position information comprises the position of the vehicle, the occupied volume of the vehicle and the gesture of the vehicle.
According to a second aspect of the present invention, there is provided a parking lot positioning method for implementing the parking lot positioning system as described in any one of the above, comprising the steps of:
step 1: receiving wireless positioning signals transmitted by N UWB base stations arranged in a parking area, and calculating the position information of the vehicle relative to the N UWB base stations according to the wireless positioning signals;
step 2: acquiring and according to the position information marked by the N UWB base stations in the parking lot map, combining the position information of the vehicle relative to the N UWB base stations obtained by the calculation in the step 1, and calculating the position information of the vehicle in the parking lot;
step 3: and (3) measuring the attitude data of the vehicle, obtaining the model of the vehicle, and combining the position information of the vehicle in the parking lot obtained by the calculation in the step (2), and calculating the three-dimensional information of the vehicle in the parking lot, wherein the three-dimensional information comprises the position of the vehicle, the occupied volume of the vehicle and the attitude of the vehicle.
Preferably, in the step 1, a vehicle UWB tag is provided on the vehicle, and the vehicle UWB tag receives wireless positioning signals transmitted by UWB base stations, so as to calculate the position information of the vehicle relative to the N UWB base stations at the vehicle end.
Preferably, in the step 3, the attitude data of the vehicle is measured by providing an inertial measurement unit on the vehicle.
Preferably, before the vehicle receives the wireless positioning signals for the first time, the vehicle is positioned by the third-party navigation software, a vehicle body coordinate system of the inertial measurement unit is set, when the vehicle receives the wireless positioning signals for the first time and searches N wireless positioning signals, the position information of the vehicle in the parking lot is calculated, when the calculated position shows that the vehicle is positioned in the parking area, the vehicle is positioned by the map display of the parking lot.
Preferably, when the resolved position shows that the vehicle is located in the parking area, the body coordinate system of the inertial measurement unit is reset: and taking the head direction as the positive direction of the y axis, taking the current vehicle body position as the origin, and further determining the attitude data of the vehicle.
According to a third aspect of the present invention, there is provided an electronic apparatus comprising:
one or more processors; a memory; and one or more programs stored in the memory, the one or more programs including instructions for performing the parking lot positioning method as described in any of the above.
According to a fourth aspect of the present invention there is provided a computer readable storage medium comprising one or more programs for execution by one or more processors of an electronic device, the one or more programs comprising instructions for performing the method of parking lot location as described in any of the above.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the method, the wireless positioning signals of the plurality of UWB base stations arranged in the parking area are received through the vehicle UWB tag, so that the position information of the vehicle in the parking area is solved, the signals are not required to be transmitted back to the server for solving, the delay is low, the construction and maintenance cost of the server at the parking area end is reduced, meanwhile, the influence of network fluctuation is avoided, and the robustness is further improved.
(2) The wireless positioning signals of the plurality of UWB base stations arranged in the parking area are received through the vehicle UWB tag, the wireless positioning signals belong to active positioning, and the wireless positioning signals can be positioned without revealing own position information to the parking area.
(3) According to the invention, through introducing the inertial measurement unit, more visual and accurate positioning navigation can be obtained, and for the AVP autonomous parking vehicle, the autonomous parking supporting function can be realized forcefully.
(4) The method and the device realize seamless switching of the indoor map and the outdoor map and optimize navigation experience of the vehicle owners.
Drawings
Fig. 1 is a schematic structural diagram of a parking lot positioning system according to the present embodiment.
Fig. 2 is a flow chart of a parking lot positioning method according to the present embodiment.
Fig. 3 is a schematic diagram of the embodiment of fig. 2 resolving the position of a vehicle in a parking lot.
Fig. 4 is a schematic diagram of the embodiment shown in fig. 2 for obtaining vehicle posture information.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Referring to fig. 1, according to a first aspect of the present invention, there is provided a parking lot positioning system including:
a plurality of UWB base stations: the wireless positioning device is arranged in the parking area and used for transmitting wireless positioning signals;
vehicle UWB tag: the wireless positioning system is arranged on the vehicle and is used for receiving a plurality of wireless positioning signals and determining the position information of the vehicle relative to a plurality of UWB base stations according to the wireless positioning signals;
and a position information calculating module: the method is used for calculating the position information of the vehicle in the parking lot according to the position information of the vehicle relative to the plurality of UWB base stations and the position information of the plurality of UWB base stations calibrated in the parking lot map.
As an alternative embodiment, the parking lot positioning system further comprises an inertial measurement unit (Inertial Measurement Unit, IMU) provided on the vehicle for measuring attitude data of the vehicle.
As an alternative embodiment, the parking lot positioning system further comprises a three-dimensional position resolving module: according to the model number of the vehicle, the attitude data measured by the inertia measuring unit and the position information of the vehicle in the parking lot, the three-dimensional position information of the vehicle in the parking lot is calculated, wherein the three-dimensional position information comprises the position of the vehicle, the occupied volume of the vehicle and the attitude of the vehicle.
According to a second aspect of the present invention, referring to fig. 2 to 4, the present embodiment provides a parking lot positioning method for implementing the parking lot positioning system, including the steps of:
step 1: receiving wireless positioning signals transmitted by a plurality of UWB base stations arranged in a parking area, and calculating position information of a vehicle relative to the plurality of UWB base stations according to the wireless positioning signals;
step 2: acquiring and according to the position information marked by a plurality of UWB base stations in a parking lot map, and combining the position information of the vehicle relative to the plurality of UWB base stations obtained by the calculation in the step 1 to calculate the position information of the vehicle in the parking lot;
step 3: and (3) measuring the attitude data of the vehicle, obtaining the model of the vehicle, and combining the position information of the vehicle in the parking lot obtained by the calculation in the step (2), and calculating the three-dimensional information of the vehicle in the parking lot, wherein the three-dimensional information comprises the position of the vehicle, the occupied volume of the vehicle and the attitude of the vehicle.
As an alternative embodiment, in step 1, by providing a vehicle UWB tag on a vehicle, the vehicle UWB tag receives wireless positioning signals transmitted by a plurality of UWB base stations, and calculates position information of the vehicle relative to the plurality of UWB base stations at the vehicle end.
As an alternative embodiment, in step 3, the attitude data of the vehicle is measured by providing an inertial measurement unit on the vehicle.
As an alternative implementation mode, before the vehicle receives the wireless positioning signals for the first time, the vehicle is positioned through third-party navigation software, a vehicle body coordinate system of the inertial measurement unit is set, when the vehicle receives the wireless positioning signals for the first time and searches for N wireless positioning signals, the position information of the vehicle in the parking lot is calculated, when the calculated position shows that the vehicle is located in the parking area, the vehicle is positioned through the indoor map display of the parking lot.
As an alternative embodiment, the body coordinate system of the inertial measurement unit is reset when the resolved position indicates that the vehicle is located in the parking area: and taking the head direction as the positive direction of the y axis, taking the current vehicle body position as the origin, and further determining the attitude data of the vehicle.
According to a third aspect of the present invention, there is provided an electronic apparatus including:
one or more processors; a memory; and one or more programs stored in the memory, the one or more programs including instructions for performing the parking lot positioning method as described in any of the above.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium comprising one or more programs for execution by one or more processors of an electronic device, the one or more programs comprising instructions for performing the method of parking lot location as described in any of the above.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. A parking lot location system, comprising:
n UWB base stations: the wireless positioning device is arranged in the parking area and used for transmitting wireless positioning signals;
vehicle UWB tag: the vehicle positioning device is arranged on the vehicle and is used for receiving N wireless positioning signals, and determining the position information of the vehicle relative to N UWB base stations according to the wireless positioning signals;
and a position information calculating module: the method is used for calculating the position information of the vehicle in the parking lot according to the position information of the vehicle relative to the N UWB base stations and the position information calibrated in the parking lot map of the N UWB base stations, and positioning of the vehicle in the parking lot is completed.
2. The parking lot positioning system of claim 1, further comprising an inertial measurement unit for measuring attitude data of the vehicle, the inertial measurement unit being disposed on the vehicle.
3. The parking lot location system of claim 2, further comprising a three-dimensional position resolution module: the three-dimensional position information of the vehicle in the parking lot is calculated according to the model of the vehicle, the gesture data measured by the inertia measuring unit and the position information of the vehicle in the parking lot, and the three-dimensional position information comprises the position of the vehicle, the occupied volume of the vehicle and the gesture of the vehicle.
4. A parking lot positioning method for realizing the parking lot positioning system as claimed in any one of claims 1 to 3, characterized by comprising the steps of:
step 1: receiving wireless positioning signals transmitted by N UWB base stations arranged in a parking area, and calculating the position information of the vehicle relative to the N UWB base stations according to the wireless positioning signals;
step 2: acquiring and according to the position information marked by the N UWB base stations in the parking lot map, combining the position information of the vehicle relative to the N UWB base stations obtained by the calculation in the step 1, and calculating the position information of the vehicle in the parking lot;
step 3: and (3) measuring the attitude data of the vehicle, obtaining the model of the vehicle, and combining the position information of the vehicle in the parking lot obtained by the calculation in the step (2), and calculating the three-dimensional information of the vehicle in the parking lot, wherein the three-dimensional information comprises the position of the vehicle, the occupied volume of the vehicle and the attitude of the vehicle.
5. The method according to claim 4, wherein in step 1, by providing a vehicle UWB tag on the vehicle, the vehicle UWB tag receives wireless positioning signals transmitted from UWB base stations, and the vehicle position information with respect to the N UWB base stations is calculated at the vehicle end.
6. The method according to claim 4, wherein in the step 3, the attitude data of the vehicle is measured by providing an inertial measurement unit on the vehicle.
7. The method according to claim 6, wherein the vehicle is positioned by a third-party navigation software before the vehicle receives the wireless positioning signals for the first time, and a body coordinate system of the inertial measurement unit is set, and when the vehicle receives the wireless positioning signals for the first time and searches for N wireless positioning signals, the position information of the vehicle in the parking lot is calculated, and when the calculated position indicates that the vehicle is located in the parking area, the vehicle is positioned by a map display of the parking lot.
8. The parking lot positioning method according to claim 7, wherein when the calculated position shows that the vehicle is located in the parking area, a body coordinate system of the inertial measurement unit is reset: and taking the head direction as the positive direction of the y axis, taking the current vehicle body position as the origin, and further determining the attitude data of the vehicle.
9. An electronic device, comprising:
one or more processors; a memory; and one or more programs stored in the memory, the one or more programs including instructions for performing the parking lot positioning method of any one of claims 4-8.
10. A computer-readable storage medium comprising one or more programs for execution by one or more processors of an electronic device, the one or more programs including instructions for performing the parking lot location method of any one of claims 4-8.
CN202310163870.XA 2023-02-24 2023-02-24 Parking lot positioning system, method, electronic equipment and medium Pending CN116193575A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310163870.XA CN116193575A (en) 2023-02-24 2023-02-24 Parking lot positioning system, method, electronic equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310163870.XA CN116193575A (en) 2023-02-24 2023-02-24 Parking lot positioning system, method, electronic equipment and medium

Publications (1)

Publication Number Publication Date
CN116193575A true CN116193575A (en) 2023-05-30

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Application Number Title Priority Date Filing Date
CN202310163870.XA Pending CN116193575A (en) 2023-02-24 2023-02-24 Parking lot positioning system, method, electronic equipment and medium

Country Status (1)

Country Link
CN (1) CN116193575A (en)

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