CN116343020A

CN116343020A - Vehicle positioning method, system, medium and terminal

Info

Publication number: CN116343020A
Application number: CN202111581764.0A
Authority: CN
Inventors: 鲁桂桂
Original assignee: Pateo Connect Nanjing Co Ltd
Current assignee: Pateo Connect Nanjing Co Ltd
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2023-06-27

Abstract

The invention provides a vehicle positioning method, a vehicle positioning system, a vehicle positioning medium and a vehicle positioning terminal; the method comprises the following steps: responding to the fact that a specific place exists in the advancing direction of the vehicle, and before the vehicle enters the specific place, acquiring an exit picture set of the specific place and positioning information corresponding to the exit picture set; responding to the vehicle entering a specific place, and acquiring an export environment picture set; matching the export environment picture set with the export picture set; responding to the matching degree of the export environment picture set and the export picture set being larger than a second set threshold value, and performing navigation positioning according to the positioning information; according to the invention, the exit picture set and the positioning information corresponding to the specific place are acquired, so that the acquired exit environment picture set and the exit picture set are subjected to feature matching, the exit and the positioning information corresponding to the exit are determined, and then navigation positioning is realized according to the positioning information, and the problem that the existing vehicle is difficult to quickly position after depending on satellite signal positioning is effectively solved.

Description

Vehicle positioning method, system, medium and terminal

Technical Field

The invention belongs to the technical field of vehicle positioning, and particularly relates to a vehicle positioning method, a vehicle positioning system, a vehicle positioning medium and a vehicle positioning terminal.

Background

When a vehicle leaves an underground garage or a tunnel, the underground garage or the tunnel does not have satellite positioning signals, and the vehicle can acquire current longitude and latitude information only by re-communicating with satellites after leaving the garage, and the time of the process is influenced by the current satellite position, weather and other random factors, so that a long time is sometimes required, navigation is invalid, and a driver needs to wait for positioning information at a garage door, so that exit congestion is caused.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a vehicle positioning method, system, medium and terminal for solving the problem that it is difficult to quickly position a vehicle in a place where satellite signals are weak.

Another object of the present invention is to provide a vehicle positioning method, system, medium and terminal, and provide a new method for realizing vehicle positioning by using a picture, by acquiring an exit picture set corresponding to a specific location where satellite signal strength is less than a first set threshold and positioning information corresponding to the exit picture set, so as to match the acquired exit environment picture set with the exit picture set, determine an exit and positioning information corresponding to the exit, and further realize navigation positioning according to the positioning information, thereby effectively solving the problem that the existing vehicle is dependent on satellite signal positioning and is difficult to quickly position after encountering the specific location.

Still another object of the present invention is to provide a vehicle positioning method, system, medium and terminal, which determine whether a vehicle enters a specific location based on an entry environment picture acquired before entering the specific location and location information corresponding to the entry environment picture, so as to acquire an exit picture set of the specific location and positioning information corresponding to the exit picture set in time before the vehicle enters the specific location.

Still another object of the present invention is to provide a vehicle positioning method, system, medium and terminal, which acquire an exit picture set, positioning information corresponding to the exit picture set, and an entrance picture set in a specific location in advance, and continuously update the exit picture set, the positioning information corresponding to the exit picture set, and the entrance picture set, so as to ensure that a vehicle can be positioned quickly and reliably after encountering the specific location.

To achieve the above and other related objects, in one aspect, the present invention provides a vehicle positioning method, applied to a terminal, comprising the steps of: responding to the fact that a specific place exists in the advancing direction of a vehicle, and before the vehicle enters the specific place, acquiring an outlet picture set of the specific place and positioning information corresponding to the outlet picture set; the satellite signal strength of the specific place is smaller than a first set threshold value; responsive to the vehicle entering the particular venue, obtaining an export environment picture set; matching the exit environment picture set with the exit picture set; and responding to the matching degree of the outlet environment picture set and the outlet picture set is larger than a second set threshold value, and performing navigation positioning according to the positioning information.

To achieve the above and other related objects, in another aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described vehicle positioning method.

To achieve the above and other related objects, in yet another aspect, the present invention provides a terminal comprising: a processor and a memory; the memory is used for storing a computer program; the processor is configured to execute the computer program stored in the memory, so that the terminal executes the vehicle positioning method described above.

To achieve the above and other related objects, in yet another aspect, the present invention provides a vehicle positioning system comprising: the terminal comprises a camera, a server and the terminal; the camera is in communication connection with the terminal and is used for collecting an export environment picture and sending the export environment picture to the terminal; the server is in communication connection with the terminal and is used for storing an export picture set and positioning information corresponding to the export picture set.

Drawings

Fig. 1 is a schematic structural diagram of a terminal according to an embodiment of the invention.

Fig. 2 is a schematic diagram of an application scenario of the vehicle positioning method according to an embodiment of the invention.

FIG. 3 is a flow chart of a vehicle positioning method according to an embodiment of the invention.

FIG. 4 is a flow chart of determining whether there is a specific location in the forward direction of the vehicle according to an embodiment of the invention.

FIG. 5 is a flow chart of an embodiment of the present invention for determining whether a vehicle enters a specific location.

Fig. 6 is a flowchart of a vehicle positioning method according to an embodiment of the invention before acquiring an exit photo set and positioning information corresponding to the exit photo set.

FIG. 7 is a flowchart showing a vehicle positioning method according to an embodiment of the invention, in which the satellite signal strength is not less than a first set threshold, and the matching degree between the exit environment picture set and the exit picture set is not greater than a second set threshold.

Fig. 8 is a schematic diagram of a vehicle positioning system according to an embodiment of the invention.

Description of the reference numerals

1. Terminal

11. Processing unit

12. Memory device

121. Random access memory

122. Cache memory

123. Storage system

124. Program/utility tool

1241. Program module

13. Bus line

14. Input/output interface

15. Network adapter

2. External device

3. Display device

21. Smart phone

22. Vehicle with a vehicle body having a vehicle body support

23. Vehicle-mounted camera

24. Server device

81. Camera head

82. Server device

83. Terminal

S1 to S4 steps

S111 to S117 steps

S121 to S122 steps

S131 to S133 steps

S71 to S74 steps

Detailed Description

The following specific examples are presented to illustrate the present invention, and those skilled in the art will readily appreciate the additional advantages and capabilities of the present invention as disclosed herein. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.

The invention provides a vehicle positioning method, a system, a medium and a terminal, and provides a new method for realizing vehicle positioning by using pictures, wherein the acquired exit environment picture set and the exit environment picture set are subjected to characteristic matching by acquiring the exit picture set corresponding to a specific place with satellite signal strength smaller than a first set threshold value and positioning information corresponding to the exit picture set, so that the exit and the positioning information corresponding to the exit are determined, and navigation positioning is realized according to the positioning information, thereby effectively solving the problem that the existing vehicle is difficult to quickly position after depending on satellite signal positioning when encountering the specific place; judging whether a vehicle enters a specific place or not based on an entrance environment picture acquired before entering the specific place and position information corresponding to the entrance environment picture, so as to acquire an exit picture set of the specific place and positioning information corresponding to the exit picture set in time before the vehicle enters the specific place; the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set in the specific place are acquired in advance, and the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set are updated continuously, so that the vehicle is ensured to be positioned quickly and reliably after meeting the specific place.

The storage medium of the present invention stores a computer program that, when executed by a processor, implements a vehicle positioning method described below. The storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disks, U-discs, memory cards, or optical discs, and the like, which can store program codes.

Any combination of one or more storage media may be employed. The storage medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The present invention is described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks (article of manufacture).

The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.

The terminal of the invention comprises a processor and a memory.

The memory is used for storing a computer program; preferably, the memory includes: various media capable of storing program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.

The processor is connected to the memory and is configured to execute a computer program stored in the memory, so that the terminal executes a vehicle positioning method described below.

Preferably, the processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field programmable gate arrays (Field Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

Fig. 1 shows a block diagram of an exemplary terminal 1 suitable for use in implementing embodiments of the present invention.

The terminal 1 shown in fig. 1 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

As shown in fig. 1, the terminal 1 is in the form of a general purpose computing device. The components of the terminal 1 may include, but are not limited to: one or more processors or processing units 11, a memory 12, a bus 13 that connects the various system components, including the memory 12 and the processing unit 11.

Bus 13 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry Standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards Association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.

The terminal 1 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the terminal 1 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 12 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 121 and/or cache memory 122. The terminal 1 may further comprise other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 123 may be used to read from or write to a non-removable, nonvolatile magnetic medium (not shown in FIG. 1, commonly referred to as a "hard disk drive"). Although not shown in fig. 1, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be coupled to bus 13 through one or more data medium interfaces. Memory 12 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.

Program/utility 124 having a set (at least one) of program modules 1241 may be stored in, for example, memory 12, such program modules 1241 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 1241 generally perform the functions and/or methodologies in the described embodiments of the invention.

The terminal 1 may also communicate with one or more external devices 2 (e.g., keyboard, pointing device, display 3, etc.), one or more devices that enable a user to interact with the terminal 1, and/or any devices (e.g., network card, modem, etc.) that enable the terminal 1 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 14. And, the terminal 1 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the internet, via the network adapter 15. As shown in fig. 1, the network adapter 15 communicates with other modules of the terminal 1 via the bus 13. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in connection with the terminal 1, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

In an embodiment, the terminal is a vehicle-mounted terminal.

The vehicle-mounted terminal is provided with a vehicle-mounted information entertainment system, and the vehicle-mounted information entertainment system (In-Vehicle Infotainment, abbreviated as IVI) is a vehicle-mounted comprehensive information processing system formed by adopting a vehicle-mounted special central processing unit and based on a vehicle body bus system and Internet service. The IVI can realize a series of applications including three-dimensional navigation, real-time road conditions, IPTV, assisted driving, fault detection, vehicle information, vehicle body control, wireless communication, online-based entertainment functions, TSP services, and the like. The vehicle is also provided with a camera, a microphone and the like (not shown) which are electrically connected with the vehicle-mounted terminal, and the specific installation quantity and the specific installation positions can be set by a person skilled in the art according to requirements.

In an embodiment, the terminal is an intelligent terminal.

It should be noted that the smart terminal includes but is not limited to a smart phone, a tablet computer, a palm computer (Personal Digital Assistant, PDA) and other terminal devices with data processing function; generally, an intelligent terminal is a terminal device having an independent operating system, capable of installing programs provided by third party service providers such as software and games by a user, continuously expanding functions of a handheld device through such programs, and realizing wireless network access through a mobile communication network.

As shown in fig. 2, in an embodiment, the vehicle positioning method of the present invention is applied to the smart phone 21 in fig. 2, and is used in a scene where the vehicle runs in a tunnel; specifically, the working principle of the vehicle positioning method is as follows:

first, during the running of the vehicle 22 in fig. 2, an environmental picture around the vehicle 22 is periodically acquired by the vehicle-mounted camera 23 on the vehicle 22, and the environmental picture is transmitted to the vehicle-mounted terminal (not shown in fig. 2) of the vehicle 22, so that the vehicle-mounted terminal transmits the environmental picture to the smart phone 21 (the smart phone 21 is communicatively connected to the vehicle-mounted terminal of the vehicle 22).

The smart phone 21 is communicatively connected to the server 24 in fig. 2, and is configured to download, from the server 24, entry photo sets (including entry photo sets of the tunnel) of all specific sites (satellite signal strength of the specific sites is less than a set threshold); after the smart phone 21 receives the environmental picture sent by the vehicle-mounted terminal, the smart phone 21 compares the environmental picture with the entry picture set, and when the vehicle 22 is found to have a possibility of entering the tunnel, the smart phone 21 downloads the exit picture set of the tunnel and positioning information corresponding to the exit picture set from the server 24.

After the vehicle 22 enters the tunnel, the vehicle-mounted camera 23 still periodically collects the environmental pictures around the vehicle 22 and sends the environmental pictures to the vehicle-mounted terminal of the vehicle 22, so that the vehicle-mounted terminal sends the environmental pictures to the smart phone 21; after the smart phone 21 receives the environmental picture, the environmental picture is subjected to feature matching with the above-mentioned export picture set, if the matching degree of the environmental picture and a part of pictures in a subset of some export pictures in the export picture set is found to reach a preset threshold, the matching is considered to be successful, and at this time, navigation and positioning are performed according to positioning information corresponding to the subset of export pictures.

As shown in fig. 3, in an embodiment, the vehicle positioning method of the present invention includes the following steps:

step S1, responding to the fact that a specific place exists in the advancing direction of a vehicle, and acquiring an exit picture set of the specific place and positioning information corresponding to the exit picture set before the vehicle enters the specific place.

In an embodiment, the exit picture set and the positioning information corresponding to the exit picture set in step S1 are stored in a server, and the exit picture set and the positioning information corresponding to the exit picture set are downloaded from the server when the terminal executes step S1.

The satellite signal strength at the specific location is smaller than a first set threshold.

The first setting threshold is preset, and is not limited to a specific value, and may be set depending on a specific application scenario in practical applications.

In one embodiment, the specific location has at least one outlet; the outlet picture set comprises an outlet picture subset corresponding to each outlet; each of the outlet picture subsets corresponds to one of the positioning information (the positioning information is used as the position information of the outlet corresponding to the outlet picture subset); each of the outlet picture subsets includes at least one outlet picture (the outlet picture is used as the picture of the outlet corresponding to the outlet picture subset).

In one embodiment, all of the output pictures in the subset of output pictures are used as a picture sequence to which the positioning information is marked.

It should be noted that, binding the positioning information with the picture sequence realizes a simple and easy-to-use data structure.

In one embodiment, it is determined whether a vehicle is likely to enter a particular location (e.g., an underground garage, tunnel, etc.) based on whether the particular location is available for access in the vehicle navigation information.

In one embodiment, after the vehicle determines the navigation route, all data (including but not limited to the exit photo set and the location information corresponding to the exit photo set of the specific location) on the navigation route is downloaded from the server in advance, so that after the vehicle enters the specific location, the following step S2 is directly performed.

It should be noted that, in addition to the above embodiment, other technical means may be adopted to determine whether the vehicle has a possibility of entering a specific location, see fig. 4.

As shown in fig. 4, in an embodiment, before the specific location is present in response to the forward direction of the vehicle, the method further comprises the steps of:

step S111, a first environment picture is acquired.

Step S112, marking corresponding position information for the first environment picture.

Step S113, judging whether the first environment picture marked with the position information exists in an entrance picture set of a specific place.

Specifically, in addition to performing the picture comparison, and/or by comparing the position information, whether the first environmental picture exists in the entry picture set of the specific location is judged, so as to improve the accuracy and reliability of the judgment result.

In an embodiment, the step S113 may further be: whether the first environmental picture acquired in step S111 exists in the entry picture set of the specific location is determined.

Specifically, the first environmental picture is compared with the entry picture set to determine whether the first environmental picture exists in the entry picture set.

If the first environmental picture exists in the entry picture set of the specific location, the specific location exists in the forward direction of the vehicle.

It should be noted that the specific location has at least one entrance; the entrance picture set comprises an entrance picture subset corresponding to each entrance; each portal picture subset includes at least one portal picture.

In an embodiment, the portal picture set in step S113 is stored in a server, and the terminal may download the portal picture set from the server when executing step S113.

In an embodiment, the first environmental picture obtained in step S111 and/or the first environmental picture marked with the location information obtained in step S112 may be further uploaded to a server, so that the server may determine whether the first environmental picture and/or the first environmental picture marked with the location information exists in the portal picture set of the specific location.

In one embodiment, step S114 is performed in response to the first environmental picture marked with the location information not being present in the entry picture set of the specific location.

Step S114, judging whether the specific place can be determined based on the position information.

It should be noted that, for a specific location, the location is fixed, so after the location information of the first environmental picture is obtained, it can be determined whether the specific location can be determined by comparing the location information with the location of the specific location; in an actual application scene, there is an entry picture set in which a first environmental picture is not present in a specific location, but the possibility of the specific location can be determined from the position information on the first environmental picture.

For example, in one embodiment, in a specific location (all 4 entrances of the specific location are known, and the positions of the 4 entrances are A1, A2, A3, and A4, respectively), only the entrance picture subset corresponding to the first 3 entrances is acquired (the entrance picture set in the corresponding step S13 includes only the entrance picture subset corresponding to the first 3 entrances), when the vehicle travels at the 4 th entrance, the acquired first environmental picture is not in the entrance picture set, but at this time, the position information of the mark on the first environmental picture is compared with the position information of the A4, so that the specific location can be determined.

It should be noted that, the entry pictures in the entry picture subset are marked with corresponding position information.

If the specific location can be determined in step S114, the specific location is present in the traveling direction of the vehicle.

In an embodiment, in response to the first ambient picture marked with location information not being present in the portal picture set of the particular venue, the method further comprises the steps of:

step S115, forming a new entry picture subset based on the first environmental picture marked with the position information.

If it is determined in step S114 that the specific location can be determined, step S116 is performed; if it is determined in step S114 that the specific location cannot be determined, step S117 is performed.

In an embodiment, a first target environmental picture is selected from the first environmental pictures marked with the location information, so as to form the new entry picture subset by using the first target environmental picture.

In an embodiment, when the intensity of the satellite signal is not less than the first set threshold value to less than the first set threshold value, the first environmental picture marked with the position information acquired within a certain period of time before the satellite signal is less than the first set threshold value is used as the first target environmental picture.

Step S116, updating the entry picture set with the new entry picture subset.

In one embodiment, the new portal picture subset is uploaded to a server to update the portal picture set stored on the server corresponding to the specific location.

It should be noted that, in step S116, the new entry picture subset corresponds to a new entry of the specific location.

Step S117, updating the new entrance picture subset of the specific place by using the new entrance picture subset.

In one embodiment, the new portal picture subset is uploaded to a server to enable updating of the portal picture set for a new specific location stored on the server.

It should be noted that, in step S117, the new entry picture subset corresponds to an entry of a new specific location.

In one embodiment, as shown in fig. 5, before the vehicle enters the specific location, the method further comprises the steps of:

step S121, acquiring satellite signal intensity of the vehicle during driving.

Step S122, determining whether the satellite signal strength is less than the first set threshold.

If the satellite signal strength is smaller than the first set threshold, the vehicle enters the specific place; if the satellite signal strength is not less than the first set threshold, the vehicle does not enter the specific location.

As shown in fig. 6, in an embodiment, before the step of obtaining the exit picture set of the specific location and the positioning information corresponding to the exit picture set, the method further includes the steps of:

step S131, determining whether the exit picture set and the positioning information can be acquired.

In response to the failure to acquire the exit picture set and the positioning information, step S132 and step S133 are performed.

Step S132, updating the export picture set by using the export environment picture set.

In an embodiment, the export environment picture set is uploaded to a server to update the export environment picture set stored on the server corresponding to the specific location.

It should be noted that, the export environment picture set is a second new export picture subset in the export picture set; the second new export picture subset corresponds to a new export of the particular venue.

Step S133 is performed in response to the satellite signal not being less than the first set threshold.

Step S133, obtaining a second current position of the vehicle based on satellite signals.

It should be noted that, the second current position is positioning information corresponding to the second new export picture subset.

And step S2, responding to the vehicle entering the specific place, and acquiring an export environment picture set.

In an embodiment, the acquiring the export environment picture set includes the steps of: a second ambient picture is acquired to form the exit ambient picture set based on the second ambient picture.

It should be noted that this embodiment is directed to a specific place of a vehicle approach, and there is no scene of stay in the specific place, such as a vehicle approach tunnel; of course, it is also applicable to a case where the vehicle stays in a specific place.

In an embodiment, forming the exit ambient picture set based on the second ambient picture comprises the steps of: and screening a second target environment picture from the second environment picture so as to form the outlet environment picture set by using the second target environment picture.

In an embodiment, when the intensity of the satellite signal is from less than the first set threshold to not less than the first set threshold, a second environmental picture acquired within a certain period of time before the satellite signal is not less than the first set threshold is used as the second target environmental picture.

In an embodiment, the acquiring the export environment picture set includes the steps of: and responding to the vehicle entering the specific place, starting the vehicle in the specific place again, and acquiring a third environment picture to form the export environment picture set based on the third environment picture.

It should be noted that this embodiment is directed to a scenario where a vehicle has a stay in a specific location, such as in a garage.

In an embodiment, when the satellite signal is not less than the first set threshold (the satellite signal changes from being less than the first set threshold to not less than the first set threshold) for the first time after the vehicle enters the specific location, the second environmental picture or the third environmental picture is stopped from being acquired.

It should be noted that, the working principle of forming the exit environment picture set based on the third environment picture is the same as that of forming the exit environment picture set based on the second environment picture, so that detailed description thereof is omitted.

And step S3, matching the export environment picture set with the export picture set.

It should be noted that, in the step S3, the specific working principle of image feature matching is not a condition for limiting the present invention, and therefore will not be described in detail herein.

And S4, responding to the matching degree of the outlet environment picture set and the outlet picture set to be larger than a second set threshold value, and performing navigation positioning according to the positioning information.

Specifically, in response to the matching degree of the exit environment picture set and a part of pictures in an exit picture subset in the exit picture set being greater than a second set threshold, navigation and positioning are performed according to positioning information corresponding to the exit picture subset.

The second setting threshold is preset, and is not limited to a specific value, and may be set depending on a specific application scenario in practical applications.

As shown in fig. 7, in an embodiment, in response to the satellite signal strength not being less than the first set threshold and the matching degree between the exit environment picture set and the exit picture set not being greater than the second set threshold, steps S71 to S74 are performed.

Step S71, acquiring a first current position of the vehicle based on satellite signals.

Step S72, calculating a distance between the first current position and the positioning information.

Specifically, a distance between the first current location and positioning information corresponding to each of the subset of exit pictures in the set of exit pictures is calculated.

In response to the distance meeting a preset condition, step S73 is performed; in response to the distance not satisfying the preset condition, step S74 is performed.

In one embodiment, the preset condition is: the distance between the first current position and the positioning information is smaller than a third set threshold.

It should be noted that, if the distance calculated in step S72 satisfies the preset condition, that is, indicates that the first current position and the positioning information corresponding to an exit picture subset in the exit picture set are the same position information, the exit corresponding to the exit environment picture set and the exit corresponding to the exit picture subset are considered to be the same exit.

Step S73, updating a subset of the export pictures of the specific location using the export environment picture set.

In one embodiment, the export environment picture set is uploaded to a server to update an export picture subset of the export picture set stored on the server corresponding to the particular location.

Specifically, when the satellite signal is not smaller than the first set threshold, the above-mentioned export environment picture set can be uploaded to the server.

Step S74, updating the export picture set by using the export environment picture set.

It should be noted that, the export environment picture set is a first new export picture subset in the export picture set; the first new exit picture subset corresponds to a new exit of the particular venue, and the first current position is positioning information corresponding to the first new exit picture subset.

The vehicle positioning method of the present invention is further explained by the following specific examples.

In an embodiment, after the vehicle a takes pictures at regular time and enters the garage to lose satellite signals, the vehicle a stores corresponding GPS position information on a picture sequence mark formed by a plurality of pictures taken before the satellite signals are lost.

When a driver starts the vehicle A again and prepares to drive the vehicle A to leave the garage, the vehicle can take pictures at regular time until the GPS positioning information is acquired for the first time, and the position information on the corresponding picture sequence marks is stored; and after the vehicle A leaves the garage, uploading the marked picture data to a server when the 4G or 5G communication network is connected.

It should be noted that the server receives a plurality of data and continuously optimizes the database during use.

The original collection of data is completed above and automatically uploaded to the server.

Vehicle B runs the same program as vehicle a:

and the vehicle B shoots pictures at fixed time, stores the picture position information, compares the picture position information with the warehouse-in pictures on the server in real time, and downloads all photo sequences and corresponding positioning information corresponding to a plurality of outlets of the garage when the possibility of warehouse-in is found.

When the vehicle B goes out of the garage, photos are shot at a certain time interval, each shot photo is sequentially subjected to feature matching with the picture sequences corresponding to all outlets in the garage downloaded in advance, if some pictures in the picture sequences of a certain channel are found, the matching degree reaches a preset threshold value, the matching is considered to be successful, and GPS coordinate information corresponding to the corresponding pre-downloaded picture sequences is set to a navigation system; if the satellite signals are acquired until the satellite signals are out of the warehouse, the pictures are not successfully matched, the matching is considered to be failed, the data supplementing process is executed at the moment, firstly, the acquired GPS data is compared with the GPS data downloaded before, the distance is calculated, if the distance is smaller than a threshold value, the satellite signals are considered to be the same outlet, the acquired picture and the picture with the corresponding coordinates before are mixed at the moment, and the data set is enriched; if the calculated GPS geographic coordinate distance is not smaller than the threshold value, a new exit is considered to be walked at the time, and a group of data is newly built, so that the success rate of picture matching is higher and higher through the continuously automatic rich coordinate picture sequence library.

The above process, vehicle a and vehicle B are described separately for ease of understanding only, and in fact, each vehicle may perform the functions of vehicle a and vehicle B, i.e., each vehicle may be a data collector, or may be a data user.

The satellite signal is used as a triggering condition (the satellite signal is smaller than the first set threshold value or not smaller than the first set threshold value), so that the automatic triggering of the whole method is realized, manual operation is not needed, and the user has no sense of feel and has good experience; through the concept of pre-storing and loading data, the satellite-free signal is ensured throughout, and the network-free signal can realize the rapid positioning at the first time; the problem that vehicles are blocked due to slow connection of the vehicles out of a warehouse or out of a tunnel satellite is effectively solved; by optimizing the flow design, the system efficiency is not affected even if no network exists in the tunnel or garage.

It should be noted that, the protection scope of the vehicle positioning method of the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the solutions implemented by adding or removing steps and replacing steps according to the prior art made by the principles of the present invention are included in the protection scope of the present invention.

As shown in fig. 8, in an embodiment, the vehicle positioning system of the present invention includes a camera 81, a server 82, and the terminal 83.

Specifically, the camera 81 is communicatively connected to the terminal 83, and is configured to collect an exit environment picture, and send the exit environment picture to the terminal 83; the server 82 is communicatively connected to the terminal 83, and is configured to store an export picture set and positioning information corresponding to the export picture set.

It should be noted that, the working principle of the vehicle positioning system is the same as that of the vehicle positioning method, so that the description is omitted here.

It should be noted that, the vehicle positioning system of the present invention may implement the vehicle positioning method of the present invention, but the implementation device of the vehicle positioning method of the present invention includes, but is not limited to, the structure of the vehicle positioning system listed in this embodiment, and all structural modifications and substitutions made in the prior art according to the principles of the present invention are included in the protection scope of the present invention.

In summary, the vehicle positioning method, system, medium and terminal of the present invention provide a new method for realizing vehicle positioning by using pictures, by obtaining the exit picture set corresponding to the specific location where the satellite signal strength is less than the first set threshold and the positioning information corresponding to the exit picture set, so as to match the obtained exit environment picture set with the exit picture set, determine the exit and the positioning information corresponding to the exit, and further realize navigation positioning according to the positioning information, thereby effectively solving the problem that the existing vehicle depends on satellite signal positioning, and is difficult to quickly position after encountering the specific location; judging whether a vehicle enters a specific place or not based on an entrance environment picture acquired before entering the specific place and position information corresponding to the entrance environment picture, so as to acquire an exit picture set of the specific place and positioning information corresponding to the exit picture set in time before the vehicle enters the specific place; the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set in a specific place are acquired in advance, and the exit picture set, the positioning information corresponding to the exit picture set and the entrance picture set are updated continuously, so that the vehicle can be positioned quickly and reliably after meeting the specific place; therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

1. A vehicle positioning method applied to a terminal, comprising the steps of:

responding to the fact that a specific place exists in the advancing direction of a vehicle, and before the vehicle enters the specific place, acquiring an outlet picture set of the specific place and positioning information corresponding to the outlet picture set; the satellite signal strength of the specific place is smaller than a first set threshold value;

responsive to the vehicle entering the particular venue, obtaining an export environment picture set;

matching the exit environment picture set with the exit picture set;

and responding to the matching degree of the outlet environment picture set and the outlet picture set is larger than a second set threshold value, and performing navigation positioning according to the positioning information.

2. The method of claim 1, further comprising, prior to said responding to the direction of travel of the vehicle having the particular location, the steps of:

acquiring a first environment picture;

judging whether the first environment picture exists in an entrance picture set of the specific place or not; the specific place is provided with at least one inlet; the entrance picture set comprises an entrance picture subset corresponding to each entrance;

if the first environment picture exists in the entrance picture set of the specific place, the specific place exists in the advancing direction of the vehicle.

3. The method of claim 2, further comprising the step of, prior to the specific location in the direction of travel of the vehicle:

marking corresponding position information for the first environment picture;

determining whether the specific location can be determined based on the location information in response to the first environmental picture not existing in the portal picture set of the specific location; the entrance pictures in the entrance picture subset are marked with corresponding position information;

if the specific location can be determined, the vehicle has the specific location in the advancing direction;

the method further comprises the steps of:

Forming a new entry picture subset based on the first ambient picture marked with the location information;

if the specific place can be determined, the new entry picture subset corresponds to a new entry of the specific place;

if the particular locale cannot be determined, the new portal picture subset corresponds to a portal of the new particular locale.

4. The method of claim 1, the method further comprising, in response to the vehicle entering the particular location, the steps of:

acquiring satellite signal intensity of the vehicle in the running process;

judging whether the satellite signal strength is smaller than the first set threshold value or not;

if the satellite signal strength is smaller than the first set threshold value, the vehicle enters the specific place; if the satellite signal strength is not less than the first set threshold, the vehicle does not enter the specific location.

5. The method of claim 1, the obtaining an export environment picture set comprising the steps of:

obtaining a second environmental picture to form the exit environmental picture set based on the second environmental picture;

or in response to the vehicle entering the specific place, restarting in the specific place, and acquiring a third environment picture so as to form the export environment picture set based on the third environment picture.

6. The method of claim 1, the specific location having at least one outlet; the outlet picture set comprises an outlet picture subset corresponding to each outlet; each of the outlet picture subsets corresponds to one of the positioning information; the method further comprises the steps of:

acquiring a first current position of the vehicle based on satellite signals in response to satellite signal strength not being less than the first set threshold and the degree of matching of the exit environment picture set and the exit picture set not being greater than the second set threshold;

calculating the distance between the first current position and the positioning information;

updating, in response to the distance meeting a preset condition, the subset of exit pictures for the particular venue using the set of exit environmental pictures;

updating the exit picture set with the exit environment picture set in response to the distance not meeting the preset condition; the export environment picture set is a first new export picture subset of the export picture set; the first new exit picture subset corresponds to a new exit of the particular venue, and the first current position is positioning information corresponding to the first new exit picture subset.

7. The method of claim 1, further comprising, prior to the obtaining the exit picture set for the particular venue and the positioning information corresponding to the exit picture set, the steps of: judging whether the exit picture set and the positioning information can be acquired or not;

in response to failing to acquire the exit picture set and the positioning information, the method further includes the steps of:

updating the exit picture set using the exit environment picture set; the export environment picture set is a second new export picture subset of the export picture set; the second new export picture subset corresponds to a new export of the particular venue;

acquiring a second current position of the vehicle based on satellite signals in response to the satellite signals not being less than the first set threshold; and the second current position is positioning information corresponding to the second new export picture subset.

8. A storage medium having stored thereon a computer program, which when executed by a processor implements the vehicle positioning method of any of claims 1 to 7.

9. A terminal, comprising: a processor and a memory;

The memory is used for storing a computer program;

the processor is configured to execute the computer program stored in the memory to cause the terminal to execute the vehicle positioning method according to any one of claims 1 to 7.

10. A vehicle positioning system, comprising: a camera, a server and a terminal as claimed in claim 9;

the camera is in communication connection with the terminal and is used for collecting an export environment picture and sending the export environment picture to the terminal;

the server is in communication connection with the terminal and is used for storing an export picture set and positioning information corresponding to the export picture set.