CN117870673A - Vehicle positioning method and device - Google Patents

Abstract

The invention discloses a vehicle positioning method and a device, wherein the method comprises the following steps: acquiring the current longitude and latitude of the target vehicle in the running process, and performing coordinate conversion processing on the current longitude and latitude to obtain conversion position information; determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot; when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle, acquiring high-precision map data of the target parking lot; the high-precision positioning of the target vehicle is determined based on the high-precision map data and the traveling road information to which the target vehicle belongs. According to the method and the device, the efficiency and the accuracy of the indoor positioning information of the vehicle are improved, and the reliability of the indoor positioning of the vehicle is enhanced.

Description

Vehicle positioning method and device

Technical Field

The embodiment of the invention relates to the technical field of data processing, in particular to a vehicle positioning method and device.

Background

The underground parking lot is widely applied to various buildings, the space utilization rate can be greatly improved, but in an underground environment, signals of the GNSS positioning system cannot be covered, so that the indoor positioning and navigation accuracy is low.

At present, in a scene of substituting a passenger for an underground parking lot and parking, a high-precision map of the parking lot is required for high-precision positioning, and the absolute coordinates of the high-precision map of the parking lot need to be encrypted and integrated with a deflection plug-in unit in the use process, so that the problems of low positioning efficiency and low positioning accuracy exist.

Disclosure of Invention

The invention provides a vehicle positioning method and device, which are used for improving the efficiency and accuracy of vehicle indoor positioning information and enhancing the reliability of vehicle indoor positioning.

According to a first aspect of the present invention there is provided a vehicle locating method comprising:

acquiring the current longitude and latitude of a target vehicle in the running process, and performing coordinate conversion processing on the current longitude and latitude to obtain conversion position information;

determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot;

acquiring high-precision map data of the target parking lot when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle;

and determining high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.

According to a second aspect of the present invention, there is provided a vehicle positioning device comprising:

the position information determining module is used for acquiring the current longitude and latitude of the target vehicle in the running process and carrying out coordinate conversion processing on the current longitude and latitude to obtain conversion position information;

the target parking lot determining module is used for determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot;

the high-precision map acquisition module is used for acquiring high-precision map data of the target parking lot when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle;

and the high-precision positioning determining module is used for determining the high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.

According to a third aspect of the present invention, there is provided an electronic device comprising:

at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle locating method according to any one of the embodiments of the present invention.

According to a fourth aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a vehicle locating method according to any one of the embodiments of the present invention.

According to the technical scheme, the current longitude and latitude of the target vehicle in the running process are obtained, the current longitude and latitude are subjected to coordinate conversion processing to obtain conversion position information, then, the target parking lot is determined based on the conversion position information and preset parking lot position information of each preset parking lot, when the target vehicle is determined to be located in the target parking lot according to the conversion position information of the target vehicle, high-precision map data of the target parking lot are obtained, and further, high-precision positioning of the target vehicle is determined based on the high-precision map data and running road information of the target vehicle. According to the scheme, the current longitude and latitude of the target vehicle in the running process and the longitude and latitude absolute coordinate conversion of the high-precision map of the parking lot are converted into the conversion coordinate under the target coordinate system, and in the indoor environment, the high-precision positioning information of the target vehicle is determined in real time according to the running road information of the target vehicle and the high-precision map data, so that the efficiency and accuracy of the indoor positioning information of the vehicle are improved, and the reliability of the indoor positioning of the vehicle is enhanced.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for locating a vehicle according to a first embodiment of the invention;

FIG. 2 is a flow chart of a method for locating a vehicle according to a second embodiment of the invention;

FIG. 3 is a flow chart of a method for locating a vehicle according to a third embodiment of the invention;

fig. 4 is a schematic structural view of a vehicle positioning device according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device implementing a vehicle positioning method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Before describing the embodiment of the present invention, a specific application scenario of the embodiment is described in an exemplary manner. The underground parking lot is widely applied to various buildings, the space utilization rate can be greatly improved, but in an underground environment, signals of the GNSS positioning system cannot be covered, so that the problem of low accuracy in indoor positioning and navigation exists. The present invention aims to provide highly accurate position information and navigation information in a subsurface environment.

Example 1

Fig. 1 is a flowchart of a vehicle positioning method according to an embodiment of the present invention, where the method is applicable to high-precision positioning in an indoor parking lot with weak positioning signals, and the method may be performed by a vehicle positioning device, which may be implemented in hardware and/or software, and the vehicle positioning device may be configured in a terminal and/or a server. As shown in fig. 1, the method includes:

s110, acquiring the current longitude and latitude of the target vehicle in the running process, and performing coordinate conversion processing on the current longitude and latitude to obtain conversion position information.

The target vehicle is a vehicle which is to be positioned and determines high-precision position information. The current longitude and latitude are longitude and latitude corresponding to the target vehicle at the current moment. And converting the position information into position coordinates determined by space conversion of the current longitude and latitude.

Specifically, during the driving process of the target vehicle, the current longitude and latitude of the target vehicle can be determined in real time through a positioning device mounted on the target vehicle, for example, the positioning device can be a GNSS positioning system. Further, based on a preset space conversion method, coordinate conversion is carried out on the current longitude and latitude, and conversion position information corresponding to the current longitude and latitude is obtained.

Optionally, coordinate conversion processing is performed on the current longitude and latitude to obtain conversion position information, which specifically includes: and carrying out coordinate conversion processing on the current longitude and latitude under a target coordinate system to obtain conversion position information.

Wherein the target coordinate system is a preset space coordinate system. For example, the target coordinate system is a universal transverse ink card grid system (universal transverse mercartor grid system, UTM) coordinate system. UTM coordinates are planar rectangular coordinates, and such coordinate grid systems and projections upon which they are based have been widely used in topography as reference grids for satellite images and natural resource databases and other applications requiring accurate positioning. In the UTM system, the earth's surface area between 84 degrees north latitude and 80 degrees south latitude is divided into north-south longitudinal bands (projected bands) by 6 degrees longitude. These projections were numbered from 1 to 60 (Beijing at zone 50) starting from the 180 degree meridian and going east. Each band is subdivided into quadrilaterals with a weft differential of 8 degrees. The transverse rows of the quadrangle start from 80 degrees from the south latitude. Each quadrilateral is marked with a combination of numbers and letters in turn, marked with letters C through X (no I and O), the X-th row including the entire land area of the northern hemisphere from 72 degrees to 84 degrees north latitude, 12 degrees total. The reference grid reads right up. Each quadrilateral is divided into a plurality of cells with sides of 1000000 meters, and marked by an letter combination system. In each casting belt, a meridian line located at the center of the belt is given an abscissa value of 500000 meters. The coordinate value of the mark for the equator of the northern hemisphere is 0, and the coordinate value of the mark for the southern hemisphere is 10000000 meters, and the coordinate value of the mark decreases toward the south. The distance between the main lines of the UTM square of the large scale map is generally 1KM, so the UTM system is sometimes called square grid. Because the UTM system adopts the cross ink card support projection, the proportionality coefficient along each north-south grid line (one grid line with the center is a warp line) is constant, and the proportionality coefficient along the south-north grid line is variable along the east-west direction. The scaling factor along the center grid line of each UTM grid should be 0.99960 (smaller scale) and 1.00158 on the edge of the north-south wale widest portion (equator), including the overlapping portion of the bands, about 363 km from the center point.

In this embodiment, after the current longitude and latitude are obtained, position coordinate conversion is performed under the UTM coordinate system, so as to obtain conversion position information under the UTM coordinate system.

S120, determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot.

The preset parking lot is a specified parking lot within a certain area range. The parking lot position information is position coordinates of a parking lot center point in a UTM coordinate system, and further, the position coordinates in each UTM coordinate system are converted into coordinates with respect to an origin point by using a preset parking lot point as the origin point (for example, a parking lot entrance is the origin point). The position information and the parking lot position information are converted into position coordinates in the same coordinate system. The target parking lot is a parking lot whose distance from the target vehicle is within a preset range. The number of target parking lots may be plural.

Optionally, parking lot list information is preset and stored; after the converted position information is obtained, the target parking lot is determined based on the parking lot list information.

The parking lot list information is a collection list of all parking lot related information within a certain area range. The parking lot list information includes a parking lot name, an area corresponding to a parking place, a parking lot address, and parking lot position information corresponding to a parking lot center point.

In this embodiment, before executing the steps S110 to S140, the relevant information of all the parking lots within a certain range is summarized and organized in advance, that is, the parking lot list information. The parking lot list information comprises parking lot position information corresponding to the parking lot center points of all the parking lots, and after the conversion position information of the target vehicle is obtained, at least one target parking lot is determined from a plurality of parking lots in the parking lot list according to the relative position relation determined by the conversion position information and the parking lot position information corresponding to the parking lot center points in the parking lot list.

S130, acquiring high-precision map data of the target parking lot when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle.

The high-precision map data are calibrated in advance for each preset parking lot. The high-precision map data comprises characteristic data of lane lines and objects in the target parking lot and specific position information of the lane lines and the objects. The high-precision map data of the target parking lot is stored in a high-precision map database.

In this embodiment, after step S120, at least one target parking lot may be determined, and these parking lots are referred to as target parking lots to be selected. Whether the target vehicle is located in the target parking lot to be selected or not, and whether it is located in which target parking lot to be selected or not is uncertain. Therefore, it is first necessary to determine whether or not the target vehicle is located in a certain target parking lot to be selected, and if so, in particular, in which parking lot.

Specifically, high-precision map data of each parking lot within a certain area is stored in advance in a high-precision map database, and index codes are set for the high-precision map data of each parking lot. The parking lot list information not only comprises parking lot position information corresponding to a parking lot center point, but also comprises parking lot edge contour coordinate information. The edge contour coordinate information of the parking lot of the target to be selected is acquired, and the parking lot plane corresponding to each parking lot of the target to be selected can be determined according to the edge contour coordinate information of the parking lot. Further, whether the conversion position information of the target vehicle is located in a parking lot plane corresponding to a certain to-be-selected target parking lot or not is sequentially judged, if yes, the to-be-selected target parking lot corresponding to the located parking lot plane is taken as a target parking lot, and further, high-precision map data of the target parking lot are obtained from a high-precision map database according to index codes corresponding to target parking places.

For example, according to the conversion position information of the target vehicle and the parking lot position information of each preset parking lot, 3 target parking lots to be selected are determined, namely, a parking lot A, a parking lot B and a parking lot C. Further, determining a parking lot plane A according to the edge contour coordinate information of the parking lot A; determining a parking lot plane B according to the edge contour coordinate information of the parking lot B; and determining a parking lot plane C according to the edge contour coordinate information of the parking lot C. Further, it is determined whether the conversion position information of the target vehicle is located in the parking lot plane a, the parking lot plane B, or the parking lot plane C. For example, if the determination result is that the conversion position information of the target vehicle is located in the parking lot plane B, the high-precision map data of the target parking lot B is acquired from the high-precision map database.

And S140, determining high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.

Wherein, the high-precision positioning of the target vehicle is the high-precision position information of the target vehicle in the target parking lot.

In the present embodiment, the target vehicle is traveling based on a traveling process image acquired by an imaging device mounted on the target vehicle. And semantic information such as visual characteristic information and lane lines extracted based on the driving process image is driving road information of the target vehicle.

Specifically, the method for determining the high-precision positioning of the target vehicle specifically comprises the following steps:

s1401, obtaining high-precision map data of a target parking lot according to a parking lot name and an address of the target parking lot.

In this embodiment, the parking lot names and the index relationships between the addresses and the corresponding high-precision maps of the respective preset parking lots may be established in advance. After the target parking lot is determined, the parking lot name and address of the target parking lot are easy to determine, and further, high-precision map data of the target parking lot are acquired from a high-precision map database according to the parking lot name and address and a preset index relation.

S1402, extracting characteristic information of running road information of the target vehicle, and determining initial positioning of the target vehicle in the target parking lot based on the characteristic information and the high-precision map data.

In this step, first, feature information of travel road information to which the target vehicle belongs is extracted. Preferably, a feature extraction algorithm is used to extract visual feature information from the driving image. Semantic information such as lane lines is extracted from the driving process image by adopting a semantic recognition algorithm. For example, extraction of characteristic information of the running road information of the target vehicle is achieved based on a Yolov+LaneNet algorithm, the Yolov algorithm performs example segmentation on objects on the ground, target information and semantic information can be obtained, and LaneNet achieves detection of marked lines.

Further, the extracted characteristic information is compared with characteristic data of the lane lines and objects in the target parking lot in the high-precision map data, and specific position information corresponding to the characteristic data of the lane lines and the objects with the similarity larger than a preset threshold value is determined to be initial positioning of the target vehicle in the target parking lot.

S1403, during the driving of the target vehicle, determining a high-precision positioning of the target vehicle based on the initial positioning, the collected driving road information, and the high-precision map data.

In this embodiment, the position information of the target vehicle is changed in real time during the traveling of the target vehicle, and therefore, the high-precision positioning information of the target vehicle needs to be determined in real time during the traveling of the target vehicle in the target parking lot.

Specifically, during the driving process of the target vehicle, the collected driving road information is compared with the high-precision map data, so that the moving track of the target vehicle in the target parking lot can be determined. On the basis of determining the initial positioning of the target vehicle in the target parking lot, the initial positioning is used as a reference, and the high-precision positioning of the target vehicle in the running process can be calculated according to the moving track.

According to the technical scheme, the current longitude and latitude of the target vehicle in the running process are obtained, the current longitude and latitude are subjected to coordinate conversion processing to obtain conversion position information, then, the target parking lot is determined based on the conversion position information and preset parking lot position information of each preset parking lot, when the target vehicle is determined to be located in the target parking lot according to the conversion position information of the target vehicle, high-precision map data of the target parking lot are obtained, and further, high-precision positioning of the target vehicle is determined based on the high-precision map data and running road information of the target vehicle. According to the scheme, the current longitude and latitude of the target vehicle in the running process and the longitude and latitude absolute coordinate conversion of the high-precision map of the parking lot are converted into the conversion coordinate under the target coordinate system, and in the indoor environment, the high-precision positioning information of the target vehicle is determined in real time according to the running road information of the target vehicle and the high-precision map data, so that the efficiency and accuracy of the indoor positioning information of the vehicle are improved, and the reliability of the indoor positioning of the vehicle is enhanced.

Example two

Fig. 2 is a flowchart of a vehicle positioning method according to a second embodiment of the present invention, where S120 and S130 are further refined based on the foregoing embodiment. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.

As shown in fig. 2, the method includes:

s210, acquiring the current longitude and latitude of the target vehicle in the running process, and performing coordinate conversion processing on the current longitude and latitude to obtain conversion position information.

S220 of determining a relative distance between each parking lot position information and the conversion position information, respectively.

Wherein the parking lot location information corresponds to a parking lot center point.

In the present embodiment, the parking lot position information and the converted position information are coordinate data in the same coordinate system. Therefore, the straight line distance between the two position coordinates is calculated as the relative distance between the parking lot position information and the converted position information. Based on this, the relative distance between each parking lot position information and the conversion position information is determined, respectively, to obtain a plurality of relative distances.

S230, taking the parking lot position information with the relative distance smaller than a preset distance threshold value as parking lot position information to be processed.

The preset distance threshold is a preset distance length.

In this embodiment, the magnitude relation between each relative distance and the preset distance threshold is compared, so that the parking lot position information with the relative distance smaller than the preset distance threshold is used as the parking lot position information to be processed. The number of parking lot location information to be processed may be one or more.

S240, taking the parking lot corresponding to the parking lot position information to be processed as a target parking lot.

In this embodiment, after the parking lot location information to be processed is determined, further, a parking lot corresponding to the parking lot location information to be processed is taken as a target parking lot, and the number of target parking lots may be one or more.

S250, acquiring edge contour coordinate information of the target parking lot.

In the present embodiment, the edge profile coordinate information of the target parking lot may be stored in the parking lot inventory information in advance. Here, the edge profile coordinate information of the target parking lot is acquired from the parking lot list information on the basis of the determination of the target parking lot.

And S260, determining a parking lot plane based on the edge contour coordinate information.

In this embodiment, each coordinate point in the edge profile coordinate information is sequentially connected to form a closed polygon, that is, a parking lot plane.

S270, determining whether the conversion position is located on the parking lot plane based on a ray method, and taking a parking lot corresponding to the located parking lot plane as a target parking lot.

The idea of the ray method is as follows: and taking the target point as an endpoint to guide a ray, and calculating the number of intersection points of the ray and all sides of the polygon. If the number of intersection points is odd, the points are inside the polygon, whereas the points are outside the polygon.

In this embodiment, the conversion position is used as the target point, a ray is led out to any direction, and the number of intersections between the ray and all sides of the parking lot plane is calculated. If the number of intersection points is odd, the points are inside the plane of the parking lot, otherwise, the points are outside the plane of the parking lot. Further, a parking lot whose conversion position is located in a parking lot plane corresponds to the parking lot as a target parking lot.

S280, acquiring high-precision map data of the target parking lot.

And S290, determining high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.

The technical scheme of the embodiment of the invention determines a target parking lot based on conversion position information and preset parking lot position information of each preset parking lot, and specifically comprises the following steps: determining a relative distance between each parking lot location information and the converted location information, respectively; the parking lot position information with the relative distance smaller than a preset distance threshold value is used as parking lot position information to be processed; and taking the parking lot corresponding to the parking lot position information to be processed as a target parking lot, thereby accurately determining the target parking lot. Determining whether the target vehicle is located in the target parking lot according to the conversion position information of the target vehicle specifically comprises: acquiring edge contour coordinate information of a target parking lot; determining a parking lot plane based on the edge contour coordinate information; and determining whether the conversion position is positioned on the parking lot plane based on a ray method, taking the parking lot corresponding to the positioned parking lot plane as a target parking lot, and determining whether the target vehicle is positioned in the target parking lot by adopting the ray method, thereby improving the judgment accuracy, further improving the accuracy of the indoor positioning information of the target vehicle and enhancing the reliability of the indoor positioning of the vehicle.

Example III

Fig. 3 is a flowchart of a vehicle positioning method according to a third embodiment of the present invention, and based on the foregoing embodiment, the present embodiment describes in detail a repositioning method after a high-precision positioning of a target vehicle is determined, after the vehicle is parked and restarted. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.

As shown in fig. 3, the method includes:

s310, acquiring the current longitude and latitude of the target vehicle in the running process, and performing coordinate conversion processing on the current longitude and latitude to obtain conversion position information.

S320, determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot.

S330, when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle, acquiring high-precision map data of the target parking lot.

And S340, determining high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.

And S350, when a shutdown instruction is received, recording the high-precision positioning of the target vehicle and the pose information of the target vehicle.

The shutdown command is a control command generated when the target vehicle is parked and the control device of the target vehicle is to be closed, for example, the control command is a control command generated when the driver triggers a shutdown control on the target vehicle or a control command generated when the driver triggers the shutdown control on the remote control device. The pose information is specific data of the position and the pose of the vehicle.

In the present embodiment, in order to determine high-precision positioning information at the time of restarting the target vehicle after the target parking lot is parked. When the target vehicle is parked and a shutdown instruction is received, high-precision positioning of the current position of the target vehicle and pose information of the target vehicle are recorded.

At the same time, the target vehicle turns on the sentinel mode. The sentinel mode is used for avoiding a plurality of unexpected damage to the driver in the parking process. The sentry mode is that when a vehicle is in a parking state, a driver can check video information of cameras around the vehicle body in real time through a mobile phone, once the vehicle is collided or moved, the external cameras can record the environment around the vehicle, the driver is notified through mobile phone APP/short messages, and meanwhile, video can be checked on the vehicle.

S360, when a starting instruction is received, whether the sentry mode triggers vehicle moving or not is determined.

Wherein, the startup instruction corresponds to the shutdown instruction. The start-up instruction is a control instruction generated when a control device of the target vehicle is to be turned on, for example, a control instruction generated when a driver triggers a start-up control on the target vehicle, or a control instruction generated when the driver triggers a start-up control on a remote control device.

In this embodiment, when a start-up command is received, that is, when the target vehicle is to be restarted, it is necessary to determine whether the sentinel mode triggers a vehicle moving. If yes, execution S370, if not, execution S380

And S370, prompting a target user corresponding to the target vehicle if yes.

The target user is a driver or a vehicle owner corresponding to the target vehicle.

In this embodiment, if the sentinel mode triggers a move, it indicates that the target vehicle is moved, and at this time, the target user needs to be reminded in time. For example, alarm information can be sent to a target user, and the early warning information is reported to target terminal equipment corresponding to the target user; the reporting includes at least one of mail, voice call, and information push.

If not, the steps of S3801-S3801 are executed.

S3801, acquiring image information acquired by the image capturing apparatus, and determining a target feature corresponding to the image information.

The target features are feature information extracted from the image information.

In this embodiment, if the sentinel mode does not trigger the vehicle moving, it is indicated that the target vehicle has not been moved, but in consideration of the situation that the vehicle may have a small displacement, it is necessary to acquire image information acquired by the image capturing device and extract visual feature information from the image information using a feature extraction algorithm. Semantic information such as lane lines is extracted from the image information by adopting a semantic recognition algorithm. The target features are jointly formed based on the visual feature information, the lane lines and other semantic information.

S3802, matching the target feature with feature information of the shutdown image acquired when the shutdown instruction is received, and determining a matching result.

In this embodiment, when the target vehicle receives the shutdown instruction, the camera device may collect a shutdown image corresponding to the shutdown time. Based on the feature extraction method same as S1402, feature information of the same dimension as the target feature is extracted from the shutdown image, and further, whether the target feature is matched with the feature information of the shutdown image is compared, so as to obtain a matching result, wherein the matching result comprises matching and non-matching. Specifically, if the matching similarity between the target feature and the feature information of the shutdown image is greater than a preset threshold, the matching result is matching; if the matching similarity between the target feature and the feature information of the shutdown image is smaller than a preset threshold, the matching result is unmatched.

S3803, determining current position information of the target vehicle based on the matching result.

The current position information is high-precision position information corresponding to the target vehicle at the current moment.

In this embodiment, if the matching result is matching, it indicates that the target vehicle does not have small displacement after shutdown, and the current position information of the target vehicle is high-precision positioning at shutdown time; if the matching result is not matched, the target vehicle has small displacement after shutdown, a current image is acquired through the camera device at the current moment, current feature information in the current image is identified, and the current position information is redetermined based on the high-precision map data corresponding to the current feature information and the target parking lot.

And in the running process of the subsequent target vehicle, taking the current position information as initial positioning, and further, determining the high-precision positioning of the target vehicle based on the initial positioning, the acquired running road information and the high-precision map data in the running process of the continuous running of the target vehicle.

According to the technical scheme, after the high-precision positioning of the target vehicle is determined, when a shutdown instruction is received, the high-precision positioning of the target vehicle and pose information of the target vehicle are recorded. When a start-up instruction is received, whether the sentry mode triggers vehicle moving or not is determined. If yes, reminding a target user corresponding to the target vehicle. If not, acquiring image information acquired by the image pickup device, and determining target characteristics corresponding to the image information; matching the target characteristics with the characteristic information of the shutdown image acquired when the shutdown instruction is received, and determining a matching result; based on the matching result, current position information of the target vehicle is determined. According to the scheme, the positioning analysis can be supported by recording the related information before parking and shutdown and starting the sentinel mode, and richer information can be used in the repositioning process, so that accurate positioning is achieved.

Example IV

Fig. 4 is a schematic structural diagram of a vehicle positioning device according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus includes: a location information determination module 410, a target parking lot determination module 420, a high-precision map acquisition module 430, and a high-precision positioning determination module 440.

The position information determining module 410 is configured to obtain a current longitude and latitude of a target vehicle during a driving process, and perform coordinate conversion processing on the current longitude and latitude to obtain converted position information;

a target parking lot determining module 420, configured to determine a target parking lot based on the converted position information and preset parking lot position information of each preset parking lot;

a high-precision map acquisition module 430, configured to acquire high-precision map data of the target parking lot when it is determined that the target vehicle is located in the target parking lot according to the converted position information of the target vehicle;

and a high-precision positioning determining module 440, configured to determine a high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information to which the target vehicle belongs.

According to the technical scheme, the current longitude and latitude of the target vehicle in the running process are obtained, the current longitude and latitude are subjected to coordinate conversion processing to obtain conversion position information, then, the target parking lot is determined based on the conversion position information and preset parking lot position information of each preset parking lot, when the target vehicle is determined to be located in the target parking lot according to the conversion position information of the target vehicle, high-precision map data of the target parking lot are obtained, and further, high-precision positioning of the target vehicle is determined based on the high-precision map data and running road information of the target vehicle. According to the scheme, the current longitude and latitude of the target vehicle in the running process and the longitude and latitude absolute coordinate conversion of the high-precision map of the parking lot are converted into the conversion coordinate under the target coordinate system, and in the indoor environment, the high-precision positioning information of the target vehicle is determined in real time according to the running road information of the target vehicle and the high-precision map data, so that the efficiency and accuracy of the indoor positioning information of the vehicle are improved, and the reliability of the indoor positioning of the vehicle is enhanced.

Optionally, the vehicle positioning device further includes a target parking lot determining module including:

a parking lot list setting unit for setting parking lot list information; the parking lot list information comprises a parking lot name, an area corresponding to a parking place, a parking lot address and parking lot position information corresponding to a parking lot center point;

and a target parking lot determining unit configured to store the parking lot list information to determine the target parking lot based on the parking lot list information after the converted position information is obtained.

Optionally, the location information determining module 410 further includes a coordinate conversion unit, configured to perform coordinate conversion processing on the current longitude and latitude under a target coordinate system, so as to obtain converted location information.

Optionally, the target parking lot determination module 420 includes:

a relative distance determining unit for determining a relative distance between each of the parking lot position information and the conversion position information, respectively;

the parking lot to be processed determining unit is used for taking the parking lot position information with the relative distance smaller than a preset distance threshold value as the parking lot position information to be processed;

and the target parking lot determining unit is used for taking the parking lot corresponding to the to-be-processed parking lot position information as a target parking lot.

Optionally, the vehicle positioning device further includes a vehicle position judging module, specifically configured to obtain edge contour coordinate information of the target parking lot; determining a parking lot plane based on the edge contour coordinate information;

and determining whether the conversion position is positioned on the parking lot plane based on a ray method, and taking a parking lot corresponding to the positioned parking lot plane as a target parking lot.

Optionally, the high-precision positioning determination module 440 includes:

the high-precision map determining unit is used for obtaining high-precision map data of the target parking lot according to the parking lot name and the address of the target parking lot;

an initial positioning determining unit, configured to extract characteristic information of travel road information to which the target vehicle belongs, and determine initial positioning of the target vehicle in the target parking lot based on the characteristic information and the high-precision map data;

and the high-precision positioning determining unit is used for determining the high-precision positioning of the target vehicle based on the initial positioning, the acquired driving road information and the high-precision map data in the driving process of the target vehicle.

Optionally, the vehicle positioning device further includes a shutdown triggering module, configured to record, when a shutdown instruction is received, high-precision positioning of the target vehicle and pose information of the target vehicle.

Optionally, the vehicle positioning device further comprises a sentinel mode processing module, which is specifically configured to determine whether the sentinel mode triggers vehicle moving when a startup instruction is received; and if so, reminding a target user corresponding to the target vehicle. If not, acquiring image information acquired by the image pickup device, and determining target characteristics corresponding to the image information; matching the target features with feature information of a shutdown image acquired when a shutdown instruction is received, and determining a matching result; and determining the current position information of the target vehicle based on the matching result.

The vehicle positioning device provided by the embodiment of the invention can execute the vehicle positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example five

Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle positioning method.

In some embodiments, the vehicle positioning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle positioning method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (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.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A vehicle positioning method, characterized by comprising:

acquiring the current longitude and latitude of a target vehicle in the running process, and performing coordinate conversion processing on the current longitude and latitude to obtain conversion position information;

determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot;

acquiring high-precision map data of the target parking lot when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle;

And determining high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.

2. The method as recited in claim 1, further comprising:

setting parking lot inventory information; the parking lot list information comprises a parking lot name, an area corresponding to a parking place, a parking lot address and parking lot position information corresponding to a parking lot center point;

the parking lot list information is stored to determine the target parking lot based on the parking lot list information after the converted position information is obtained.

3. The method of claim 1, wherein the performing coordinate transformation on the current longitude and latitude to obtain transformation location information includes:

and carrying out coordinate conversion processing on the current longitude and latitude under a target coordinate system to obtain conversion position information.

4. The method according to claim 1, wherein the parking lot position information corresponds to a parking lot center point, and the determining a target parking lot based on the conversion position information and the preset parking lot position information of each preset parking lot includes:

Determining a relative distance between each parking lot location information and the converted location information, respectively;

taking the parking lot position information with the relative distance smaller than a preset distance threshold value as parking lot position information to be processed;

and taking the parking lot corresponding to the parking lot position information to be processed as a target parking lot.

5. The method of claim 1, wherein determining whether the target vehicle is located within the target parking lot based on the converted location information of the target vehicle comprises:

acquiring edge contour coordinate information of the target parking lot;

determining a parking lot plane based on the edge contour coordinate information;

and determining whether the conversion position is positioned on the parking lot plane based on a ray method, and taking a parking lot corresponding to the positioned parking lot plane as a target parking lot.

6. The method according to claim 1, wherein the determining the high-precision positioning of the target vehicle based on the high-precision map data and the travel road information to which the target vehicle belongs includes:

according to the name and address of the target parking lot, obtaining high-precision map data of the target parking lot;

Extracting characteristic information of running road information of the target vehicle, and determining initial positioning of the target vehicle in the target parking lot based on the characteristic information and the high-precision map data;

and in the running process of the target vehicle, determining the high-precision positioning of the target vehicle based on the initial positioning, the acquired running road information and the high-precision map data.

7. The method as recited in claim 1, further comprising:

and when a shutdown instruction is received, recording the high-precision positioning of the target vehicle and the pose information of the target vehicle.

8. The method as recited in claim 1, further comprising:

when a starting instruction is received, determining whether a sentinel mode triggers vehicle moving;

and if so, reminding a target user corresponding to the target vehicle.

9. The method as recited in claim 8, further comprising:

if the sentry mode does not trigger the vehicle moving, acquiring image information acquired by a camera device, and determining target characteristics corresponding to the image information;

matching the target features with feature information of a shutdown image acquired when a shutdown instruction is received, and determining a matching result;

And determining the current position information of the target vehicle based on the matching result.

10. A vehicle positioning device, characterized by comprising:

the position information determining module is used for acquiring the current longitude and latitude of the target vehicle in the running process and carrying out coordinate conversion processing on the current longitude and latitude to obtain conversion position information;

the target parking lot determining module is used for determining a target parking lot based on the conversion position information and preset parking lot position information of each preset parking lot;

the high-precision map acquisition module is used for acquiring high-precision map data of the target parking lot when the target vehicle is determined to be positioned in the target parking lot according to the conversion position information of the target vehicle;

and the high-precision positioning determining module is used for determining the high-precision positioning of the target vehicle based on the high-precision map data and the traveling road information of the target vehicle.