JP2022509986A - Vehicle positioning systems and methods, vehicle control methods and equipment - Google Patents

Abstract

The present application relates to vehicle positioning systems and methods, vehicle control methods and devices. The system includes a virtual race track display device (11) configured to display a virtual race track and an image acquisition configured to acquire a target image while the target vehicle is traveling on the virtual race track. A device (12) and a processor (13) configured to determine the first position information of the target vehicle in the virtual race track based on the target image and transmit the first position information to the target vehicle. Be prepared.

Description

(Mutual reference of related applications)
This application claims priority based on the Chinese patent application with application number 201910816312.2, filed on August 30, 2019, the entire contents of which are incorporated herein by reference.

The present application relates to the field of computer technology, in particular to vehicle positioning systems and methods, vehicle control methods and devices.

The results of studying car models can be applied to many fields such as automatic driving and vehicle control, but car model race trucks are generally real race trucks, and race truck routes are generally fixed. The economic cost of the race track is high, and it takes time to build the race track.

The present application provides vehicle positioning systems and methods, vehicle control methods and devices.

The embodiments of the present application provide a vehicle positioning system. The vehicle positioning system includes a virtual race track display device, an image acquisition device, and a processor. The virtual race track display device is configured to display a virtual race track, and the image acquisition device is described. Located above the virtual race track, it is configured to acquire a target image while the target vehicle is traveling on the virtual race track, and the processor is connected to the image acquisition device or the image acquisition. It is built in the device, and based on the target image, the first position information of the target vehicle in the virtual race track is determined, the first position information is transmitted to the target vehicle, and the target vehicle is transmitted to the first position. 1 It is configured to run the virtual race track based on the position information.

According to the vehicle positioning system of the embodiment of the present application, the virtual race track display device can display the virtual race track, and multiple race tracks can be designed for the target vehicle, reducing the cost of the race track. It improves the flexibility of the race track route without requiring the race track construction time. The processor can determine the first position information of the target vehicle based on the target image in which the target vehicle is traveling on the virtual race track. The target vehicle can determine the position on the race track in real time, and can accurately drive the virtual race track. The target vehicle itself does not need to record and adapt to the virtual race track, simplifying calculations during the running process of the target vehicle.

In a possible embodiment, the processor further acquires the second position information of the obstacle based on the target image, transmits the second position information to the target vehicle, and transfers the target vehicle to the first position. The virtual race track is configured to run based on the position information and the second position information. In such a method, the target vehicle can be provided with an obstacle avoidance ability, and the performance of the target vehicle can be improved.

In a possible embodiment, the virtual race track exhibit device comprises a projection device, the projection device being configured to project a design of the virtual race track.

In a possible implementation, the projection device comprises a projector and a projection plane, the projector being configured to project the design of the virtual race track onto the projection plane.

In a possible embodiment, the virtual race track display device comprises an augmented reality device, the augmented reality device being configured to display the virtual race track on an augmented reality interface.

In a possible embodiment, the virtual race track exhibit device is further configured to determine the dimensions of the virtual race track based on the dimensions of the target vehicle, the dimensions of the target vehicle including the width of the target vehicle. , The dimensions of the virtual race track include the width of the race track.

In a possible embodiment, the virtual race track display device is to acquire a ground image for displaying the ground of the virtual race track and to acquire ground information based on the ground image. The ground information is configured to include the dimensions of the ground and to determine the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle. Will be done.

In a possible embodiment, the processor further acquires ground information and dimensions of the target vehicle and determines the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle. Then, it is configured to be transmitted to the virtual race track display device. In such a method, the dimensions of the virtual race track can be adapted to the dimensions of the target vehicle. When the target vehicle is changed, the dimensions of the virtual race track can be easily adjusted, eliminating the need to repurchase or build a new race track, saving costs and the convenience of using the virtual race track. To improve.

In a possible embodiment, the processor further generates a vehicle control command based on at least the first position information, sends the vehicle control command to the target vehicle, and makes the target vehicle based on the vehicle control command. It is configured to run the virtual race track.

In a possible embodiment, determining the first position information of the target vehicle in the virtual race track based on the target image is the target vehicle and the lane in the virtual race track based on the target image. It includes determining an offset amount from the center line and generating the first position information based on the offset amount.

In a possible embodiment, determining the first position information of the target vehicle in the virtual race track based on the target image is within a predetermined range in the traveling direction of the target vehicle based on the target image. It includes determining the image of the above and generating the first position information based on the image within the predetermined range.

In a possible embodiment, the system further comprises a target vehicle, the target vehicle being configured to travel on a virtual race track based on at least the first position information.

In a possible embodiment, the first position information includes an offset amount between the target vehicle and the lane center line in the virtual race track or an image within a predetermined range in the traveling direction of the target vehicle.

In a possible embodiment, the target vehicle determines the travel path of the target vehicle based on the offset amount, or the target vehicle is based on an image within a predetermined range in the travel direction of the target vehicle. It is configured to determine the travel route.

The embodiments of the present application provide a vehicle control method. The vehicle control method receives the first position information of the target vehicle transmitted from the vehicle positioning system, and determines the traveling route of the target vehicle on the virtual race track based on the first position information. That includes controlling the target vehicle to travel according to the travel route.

In a possible implementation, determining the travel path of the target vehicle on the virtual race track based on the first position information is the target vehicle and lane on the virtual race track based on the first position information. It includes determining an offset amount with respect to the center line and determining a traveling route of the target vehicle based on the offset amount.

In a possible embodiment, determining the travel path of the target vehicle on the virtual race track based on the first position information is a predetermined range in the travel direction of the target vehicle based on the first position information. It includes determining the image in the inside and determining the traveling route of the target vehicle based on the image in the predetermined range.

In a possible embodiment, the method receives a vehicle control command transmitted from the vehicle positioning system and controls the target vehicle to travel based on the vehicle control command. Further included.

In a possible embodiment, the method receives the second position information of an obstacle transmitted from the vehicle positioning system and, based on the first position information and the second position information, said in the virtual race track. Further including determining a travel route of the target vehicle and controlling the target vehicle to travel according to the travel route.

The embodiments of the present application provide a vehicle positioning method. The vehicle positioning method is to determine the first position information of the target vehicle in the virtual race track based on the target image, and the virtual race track is a virtual race track displayed on the virtual race track display device. The target image is an image of the target vehicle traveling on the virtual race track acquired by the image acquisition device, and the first position information is transmitted to the target vehicle to obtain the target vehicle. Includes running the virtual race track based on the first position information.

In a possible embodiment, the method obtains second position information of an obstacle based on the target image, transmits the second position information to the target vehicle, and transfers the target vehicle to the first. 1 It further includes running in the race track design based on the position information and the second position information.

In a possible embodiment, the method is to acquire a ground image for displaying the ground of the virtual race track by the virtual race track display device and acquire ground information based on the ground image. Therefore, the ground information includes the dimensions of the ground, and the dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle. Further included.

In a possible embodiment, the method obtains ground information and dimensions of the target vehicle and, based on the ground information and dimensions of the target vehicle, obtains the dimensions of the virtual race track and the design of the virtual race track. Further including determining and transmitting to the virtual race track exhibit device.

In a possible embodiment, the method generates a vehicle control command based on at least the first position information, transmits the vehicle control command to the target vehicle, and causes the target vehicle to be based on the vehicle command. Further includes running in the race track design.

In a possible embodiment, determining the first position information of the target vehicle in the virtual race track based on the target image is the target vehicle and the lane center line in the virtual race track based on the target image. It includes determining the offset amount with and generating the first position information based on the offset amount.

In a possible embodiment, determining the first position information of the target vehicle in the virtual race track based on the target image is an image within a predetermined range in the traveling direction of the target image based on the target image. It includes determining and generating the first position information based on the image within the predetermined range.

The embodiments of the present application provide a vehicle control device. The device has a first receiving module configured to receive the first position information of the target vehicle transmitted from the vehicle positioning system, and the target vehicle in the virtual race track based on the first position information. It includes a first determination module configured to determine a travel route, and a first travel module configured to control the target vehicle to travel according to the travel route.

The embodiments of the present application provide a vehicle positioning device. The device is a third determination module configured to determine the first position information of the target vehicle in the virtual race track based on the target image, and the virtual race track is used as a virtual race track display device. The virtual race track to be exhibited, the target image is an image of the target vehicle traveling on the virtual race track acquired by the image acquisition device, the third determination module, and the first position information. It includes a transmission module that transmits to a target vehicle and is configured to drive the target vehicle on the virtual race track based on the first position information.

The embodiments of the present application provide electronic devices. The electronic device comprises a processor and a memory configured to store instructions that can be executed by the processor, the processor being configured to perform the method.

The embodiments of the present application provide a computer-readable storage medium. When a computer program instruction is stored in the computer-readable storage medium and the computer program instruction is executed by the processor, the above method is realized.

The embodiments of the present application provide computer program products. The computer program product includes a computer-readable code, and when the computer-readable code is executed in the electronic device, the processor in the electronic device performs the method executed by the processor in the one or more embodiments. ..

According to the vehicle positioning method of the embodiment of the present application, the virtual race track display device allows the virtual race track to be exhibited, multiple race tracks can be designed for the target vehicle, and the cost of the race track. And improve the flexibility of the race track route without requiring the race track construction time. The processor can determine the first position information of the target vehicle based on the target image in which the target vehicle travels on the virtual race track. The target vehicle can determine the position on the race track in real time, and can accurately drive the virtual race track. The target vehicle itself does not need to record and adapt to the virtual race track, simplifying calculations during the running process of the target vehicle.

It is a block diagram which shows the vehicle positioning system according to the embodiment of this application. It is a schematic diagram which shows the virtual race track according to the Example of this application. It is a flowchart which shows the vehicle control method by the Example of this application. It is a schematic diagram which shows the application of the vehicle positioning system by the Example of this application. It is a flowchart which shows the vehicle positioning method by the Example of this application. It is a block diagram which shows the vehicle control device by the Example of this application. It is a block diagram which shows the vehicle positioning apparatus by embodiment of this application. It is a block diagram which shows the electronic device by an Example of this application. It is a block diagram which shows the electronic device by an Example of this application.

Hereinafter, various exemplary embodiments, features and embodiments of the present application will be described in detail with reference to the drawings. The same reference numerals in the drawings indicate elements having the same or similar functions. The drawings show various embodiments of the embodiments, but the drawings are not necessarily in proportion to each other unless otherwise specified.

The term "exemplary" as used herein means "as an example, as an example, or for illustration purposes". Here, any embodiment described as "exemplary" should not necessarily be construed as more suitable or advantageous than other embodiments. As used herein, the term "and / or" is used to describe the relationship of a related object and indicates that there are three types of relationships. For example, a1 and / or b1 represent three cases: that only a1 exists, that a1 and b1 exist at the same time, and that only b1B exists. Also, as used herein, the term "at least one" refers to any one of a plurality or any combination of at least two of the plurality. For example, including at least one of a1, b1 and c1 means containing any one or more elements selected from the set consisting of a1, b1 and c1.

Further, in order to better explain the present application, many specific details have been described in the following specific embodiments. Those skilled in the art should understand that this disclosure is similarly feasible, regardless of these specific details. In order to clarify the gist of the present invention, in some examples, methods, means, elements and circuits familiar to those skilled in the art will not be described in detail.

The car model race track in the related technology is a real race track. The car model determines its position on the physical race track in real time and the position of the obstacle based on the sensor or computer vision method, thereby locating the car model based on the position of the obstacle. adjust. However, the physical race track has the following drawbacks. 1) The economic cost for replacing the actual race truck is high. 2) The time cost for constructing a real race track is high. 3) The dimensions of the actual race truck are related to the dimensions of the car model. When replacing a car model, the dimensions of the actual race truck cannot be adjusted according to the dimensions of the car model. Therefore, the flexibility of the dimensions of the actual race track in the related technology is low, which limits the spread of competitions such as car models to some extent. To give an example, in an educational project, it is necessary to build a plurality of different race tracks for one car model, which increases the financial burden of the educational project.

FIG. 1 is a block diagram showing a vehicle positioning system according to an embodiment of the present application. As shown in FIG. 1, the system includes a virtual race track display device 11, an image acquisition device 12, and a processor 13, and the virtual race track display device 11 is configured to display a virtual race track. The image acquisition device 12 is located above the virtual race track and is configured to acquire a target image while the target vehicle is traveling on the virtual race track, and the processor 13 is attached to the image acquisition device. Connected or built into the image acquisition device, the first position information of the target vehicle in the virtual race track is determined based on the target image, and the first position information is transmitted to the target vehicle, thereby the target. The vehicle is configured to run a virtual race track based on the first position information.

According to the vehicle positioning system of the embodiment of the present application, the virtual race track display device can display the virtual race track, and multiple race tracks can be designed for the target vehicle, reducing the cost of the race track. It does not require time to build a race track and improves the flexibility of the race track route. The processor can determine the first position information of the target vehicle based on the target image in which the target vehicle is traveling on the virtual race track. The target vehicle can determine the position on the race track in real time, and can accurately drive the virtual race track. The target vehicle itself does not need to record and adapt to the virtual race track, simplifying calculations during the running process of the target vehicle.

In a possible implementation, the processor 13 is a one-chip microcomputer, a DSP (Digital Signal Processor: digital signal processor), an FPGA (Field-Programmable Gate Array), a CPU (Central Processing Unit), and a CPU (Central Processing Unit). , GPU (Graphics Processing Unit) or the like may be an arithmetic device, and the embodiment of the present application does not limit the type of the vehicle controller.

In a possible implementation, the virtual race track display device 11 can display a design of the virtual race track. For example, the virtual race track display device 11 may be a display device and can display the parameters of the virtual race track. For example, the virtual race track display device 11 includes an AR (Augmented Reality) device. The augmented reality device is configured to display a virtual race track on the augmented reality AR interface. Further, for example, the virtual race track display device 11 includes a projection device. The projection device is configured to project the design of the virtual race track. The projection device may include a projector, or may include a projector and a projection plane. The projector is configured to project the design of the virtual race track onto the projection plane. For example, the projector can store the design of the virtual race track. The projective plane may be a projection screen or an actual ground and is used to display the design projected by the projector, i.e., to display the design of the virtual race track.

FIG. 2 is a schematic diagram showing a virtual race track according to an embodiment of the present application. As shown in FIG. 2, the virtual race track display device 11 can display the virtual race track on the exhibition plane, and for example, the race track 20 in FIG. 2 can be displayed. The virtual race track may be a design of the virtual race track projected on the projection plane by the projector. The target vehicle can run on a virtual race track.

In a possible implementation, the virtual race track exhibit device 11 is configured to determine the dimensions of the virtual race track based on the dimensions of the target vehicle. The dimensions of the target vehicle include the width of the target vehicle and the dimensions of the virtual race track include the width of the race track. In the example, the target vehicle is a model car, the width of which is 20 cm. Therefore, the virtual race track display device 11 can adaptively determine the width of the race track based on the width of the target vehicle. For example, the virtual race track may be a two-lane race track, and the width of each lane may be larger than the width of the target vehicle, for example, 30 cm, so that the width of the virtual race track is 60 cm. .. The embodiments of the present application do not limit the width of the target vehicle and the width of the virtual race track.

In a possible implementation, the dimensions of the target vehicle may further include the length of the target vehicle. The dimensions of the virtual race track may further include the radius of the curve in the virtual race track. For example, if the length of the target vehicle is long and the turning radius of the curve in the virtual race track is small, the target vehicle may not be able to pass the curve. Therefore, the virtual race track display device 11 sets the turning radius of the curve based on the length of the target vehicle so that the target vehicle can pass through the curve. The dimensions of the target vehicle may further include the height of the target vehicle, the dimensions of the virtual race track may further include the total length of the virtual race track, etc., and the embodiments of the present application include the dimensions of the target vehicle and the virtual race track. Does not limit the dimensions of.

In a possible embodiment, the virtual race track display device 11 acquires a ground image for displaying the ground of the virtual race track, and acquires ground information based on the ground image, that is, ground information. Is configured to include the dimensions of the ground and to determine the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle.

In a possible embodiment, the image acquisition device 12 can take a ground image and transmit it to the virtual race track display device 11. Alternatively, the user can input the ground image or the ground information into the virtual race track display device 11. After acquiring the ground image or the ground information, the virtual race track exhibition device 11 can acquire the ground information. For example, the dimensions of the ground are used as the basis for the scale of the virtual race track. When the size of the ground is large, a large-scale virtual race track such as a virtual race track having a complicated line of the race track and / or a virtual race track having a long line length can be used. Conversely, a smaller virtual race track can be used.

In a possible implementation, the virtual race track exhibit device 11 can determine the dimensions and design of the virtual race track based on the ground information and the dimensions of the target vehicle. For example, the width of the target vehicle can be determined based on the width of the race track. After determining the width of the race track, you can choose a virtual race track design based on the dimensions of the ground. For example, if the width of the race track is large but the size of the ground is small, a virtual race track with a simple design and a small scale can be used. The virtual race track design may be automatically generated by the virtual race track display device 11 or the processor 13 based on the ground information, or may be a template style pre-stored in the virtual race track display device 11. It may be, or it may be automatically generated by the virtual race track display device 11 or the processor 13 based on the customization information input from the user (for example, n curves, k obstacles, etc.). It may be a thing.

In a possible implementation, the processing process for determining the dimensions and design of the virtual race track may be performed by the processor 13. The processor 13 further acquires the ground information and the dimensions of the target vehicle, determines the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle, and determines the design of the virtual race track. It is configured to be sent to the exhibition device. The method for the processor 13 to determine the dimensions and the design of the virtual race track may be the same as the method of the virtual race track display device 11, and detailed description thereof will be omitted here.

In such a method, the dimensions of the virtual race track can be adapted to the dimensions of the target vehicle. When the target vehicle is changed, the dimensions of the virtual race track can be easily adjusted, eliminating the need to repurchase or build a new race track, saving costs and the convenience of using the virtual race track. To improve.

In a possible implementation, the image acquisition device 12 may include a camera. The camera is located above the virtual race track and captures the virtual race track. If the target vehicle is traveling on a virtual race track, the camera can take a target image of the target vehicle traveling on the virtual race track. Here, the image acquisition device 12 and the virtual race track display device 11 do not shield each other. For example, the display plane of the virtual race track display device 11 may be a horizontal plane. The camera is located above the exhibition plane and can capture a complete virtual race track. Further, for example, the virtual race track display device 11 may include a projector and a projection plane. The camera may be provided in the vicinity of the projector and can capture a complete virtual race track projected onto the projection plane by the projector. The embodiments of the present application do not limit the position of the image acquisition device 12.

In a possible embodiment, the processor 13 may be connected to the camera 12, or the processor 13 may be built into the camera 12. When the camera 12 takes the target image, the processor 13 can acquire the target image and process the target image. For example, the processor 13 can detect the target image in the target image by a detection method such as a neural network and determine the first position information of the target vehicle in the virtual race track. In the example, the first position information may be the relative position between the target vehicle and the line of the virtual race track. For example, the target vehicle is located at the starting point of the virtual race track, the target vehicle is located at the first curve of the virtual race track of the target vehicle, the target vehicle is located at the second intersection of the virtual race track, and the target vehicle is located. Located at the end of a virtual race track. The embodiments of the present application do not limit the first position information. In another example, the first position information may be relative position information such as an offset amount between the target vehicle and the lane center line, or a predetermined range (for example, within 2 meters) in the traveling direction of the target vehicle. ) May be image information such as an image (which may include the target vehicle).

In a possible embodiment, the processor 13 can determine the first position information of the target vehicle in the virtual race track based on the target image. The step determines the offset amount between the target vehicle and the lane center line in the virtual race track based on the target image, and generates the first position information based on the offset amount. And may be included.

In a possible implementation, the processor 13 can utilize the first position information to drive the target vehicle in the lane of the virtual race track. For example, the target vehicle travels forward. When a curve appears on the virtual race track, the target vehicle shifts from the lane of the virtual race track. That is, when the target vehicle travels along a straight line toward the front, it cannot keep traveling in the lane. The processor 13 calculates the first position information based on the positional relationship between the target vehicle and the lane center line in the target image. That is, the offset amount of the center of the target vehicle with respect to the lane center line is calculated, the first position information is transmitted to the target vehicle, and the target vehicle calculates the traveling direction, traveling speed, traveling route, etc. based on the offset amount. To do. It also controls the target vehicle to travel and keeps the target vehicle traveling in the lane.

In a possible embodiment, the processor 13 can determine the first position information of the target vehicle in the virtual race track based on the target image. The step determines an image within a predetermined range in the traveling direction of the target vehicle based on the target image, and generates the first position information based on the image within the predetermined range. including.

In a possible implementation, the processor 13 can utilize the first position information to drive the target vehicle along the lane of the virtual race track. Here, the first position information can represent a position image of the target vehicle on the virtual race track. For example, the processor 13 transmits an image of a predetermined range (for example, within 3 meters) in the traveling direction of the target vehicle (for example, at least a part of the image including the target vehicle) to the target vehicle as the first position information. After receiving the image within the predetermined range, the target vehicle performs route planning based on the image and controls the target vehicle to travel along the planned route. That is, it is controlled to travel along the lane of the virtual race track.

In a possible embodiment, the first position information may directly include a vehicle control command. For example, it is a vehicle control command including the following position information of the vehicle. For example, the processor 13 determines the position of the target vehicle based on the target image acquired in real time, and subsequently, based on the design of the virtual race track, the relative position offset amount of the target vehicle on the virtual race track. Is calculated and the vehicle control command is directly generated. For example, an instruction containing at least one of the vehicle's traveling direction, speed, route, and the following position information is generated, the instruction is transmitted to the target vehicle, and the target vehicle is subjected to a virtual race track based on the instruction. To run.

In another embodiment, the information returned from the processor 13 to the target vehicle may be freely combined according to the situation of the target vehicle and the actual demand. In a possible implementation, the system further includes a target vehicle. The target vehicle is configured to travel on a virtual race track based on at least the first position information. For example, the first position information includes an offset amount between the target vehicle and the lane center line or an image within a predetermined range in the traveling direction of the target vehicle. The target vehicle can generate a control command based on the first position information and control the target vehicle so as to travel in the lane of the virtual race track.

In a possible embodiment, the target vehicle determines the travel path of the target vehicle based on the offset amount, or the target vehicle is based on an image within a predetermined range in the travel direction of the target vehicle. It is configured to determine the travel route.

In a possible implementation, the target vehicle can determine the travel path of the target vehicle based on the amount of offset between the target vehicle and the lane center line. For example, the target vehicle calculates a traveling direction, traveling speed, or traveling route based on the offset amount. That is, the offset amount of the target vehicle is reduced by a method such as changing the direction, and the vehicle body of the target vehicle is kept in the lane.

In a possible embodiment, the target vehicle can determine a travel route based on an image within a predetermined range in the travel direction of the target vehicle. For example, the target vehicle can perform route planning based on the design of the virtual race track in the image, and the route of the target vehicle can be matched with the design of the virtual race track. That is, the target vehicle is driven by the virtual race track.

Obstacles can also be provided on the virtual race track in a possible implementation. For example, an obstacle can be placed on the exhibition plane, or an obstacle design can be provided on the design of the virtual race track. The processor 13 can further detect the position of the obstacle, transmit it to the target vehicle, and make the target vehicle avoid the obstacle.

In a possible embodiment, the processor 13 further acquires the second position information of the obstacle based on the target image, transmits the second position information to the target vehicle 21, and transmits the target vehicle 21 to the first position information and the first position information. It is configured to run a virtual race track based on the second position information.

In a possible implementation, the second position information may be the position coordinates of the obstacle in the virtual race track. The first position information may be the position coordinates of the target vehicle on the virtual race track. After receiving the first position information and the second position information, the target vehicle determines the relative positional relationship between the target vehicle and the obstacle based on the first position information and the second position information, and generates a control command. can do. For example, an avoidance track is generated, the target vehicle is controlled to travel along the avoidance track, and the target vehicle is avoided from obstacles and travels in the lane of the virtual race track. In such a method, the target vehicle can acquire the target vehicle in real time and detect the position of the obstacle. It has the ability to avoid obstacles and improves the performance of the target vehicle.

In a possible implementation, the second position information of the obstacle may be the relative position between the obstacle and the line of the virtual race track. For example, the obstacle is located on the first curve of the virtual race track, the obstacle is located at the second intersection of the virtual race track, and the like. Further, the second position information of the obstacle may further include the position of the lane in which the obstacle is located and the dimensional information of the obstacle. Alternatively, the second position information of the obstacle may be the relative position of the target vehicle and the obstacle directly. The target vehicle can use the second position information to determine the position of the obstacle and control the target vehicle to avoid the obstacle.

In a possible implementation, the processor 13 can detect an obstacle in the target image and determine the second position information of the obstacle by a detection method such as a neural network. In some embodiments of the present application, the second position information can be transmitted to the target vehicle. The vehicle controller of the target vehicle can receive the second position information, determine the travel route based on the first position information and the second position information, and travel according to the travel route. In the example, when the target vehicle moves away from the obstacle, the vehicle controller can determine the travel route based on the first position information. For example, the travel route of the target vehicle on the virtual race track can be determined based on the route of the virtual race track. When approaching an obstacle, the travel route can be determined based on the second position information. For example, if a virtual race track has two lanes and an obstacle is located in one lane, the vehicle controller decides to drive the target vehicle to the other lane and avoid the obstacle. can do. After avoiding obstacles, the target vehicle is returned to the original lane. The target vehicle travels according to the route. Therefore, it is possible to avoid obstacles in another lane.

In another example, the vehicle controller can simultaneously determine the travel route based on the first position information and the second position information. For example, the virtual race track may have a branch road. The branch road may include two or more roads. Obstacles will be placed on one of the roads. The vehicle controller determines the road on which the obstacle is located based on the second position information, determines the travel route for avoiding the road, and enters another road based on the first position information. It is possible to determine the travel route of. When the target vehicle travels according to the route, it can avoid obstacles and select a road without obstacles on a road without obstacles. The embodiment of the present application does not limit the determination method of the traveling route.

In a possible implementation, the processing process for controlling the target vehicle may be performed by the processor 13. That is, the processor 13 can remotely control the traveling of the target vehicle based on the first position information, or the first position information and the second position information. The processor 13 further generates a vehicle control command based on at least the first position information, transmits the vehicle control command to the target vehicle, and causes the target vehicle to use the virtual race track based on the vehicle control command. It is configured to run. In the example, the processor 13 calculates the offset amount between the target vehicle and the lane center line in the virtual race track, determines the traveling direction of the target vehicle based on the offset amount, and issues a vehicle control command for controlling the target vehicle. It can be generated and the target vehicle can be controlled to travel in the lane according to the traveling direction. In the example, the processor 13 plans a route within a predetermined distance in the traveling direction of the target vehicle based on an image within a predetermined range in the traveling direction of the target vehicle, and causes the target vehicle to travel along the route. It is possible to generate a vehicle control command for the target vehicle and control the target vehicle to travel in the lane along the route. In the example, the processor 13 further determines the second position information of the obstacle, generates a vehicle control command based on the first position information and the second position information, avoids the target vehicle from the obstacle, and avoids the obstacle. It can also be controlled to drive in a lane that does not have. The embodiments of the present application do not limit the method for the processor 13 to control the target vehicle.

The embodiments of the present application further provide a vehicle control method. The execution subject of the method may be a vehicle control device. For example, terminals, remote devices, servers, intelligent miniature cars, etc. The method may also be performed by the processor executing computer-executable code.

FIG. 3 is a flowchart showing a vehicle control method according to the embodiment of the present application. As shown in FIG. 3, the method is applied to a vehicle controller. The vehicle controller may be provided on the target vehicle or may be remotely connected to the target vehicle (eg, connected by wire or wirelessly). The method includes:

In step S11, the first position information transmitted from the vehicle positioning system is received.

In step S12, the traveling route of the target vehicle on the virtual race track is determined based on the first position information.

In step S13, the target vehicle is controlled to travel according to the travel route.

Here, the vehicle positioning system can refer to the vehicle positioning system described in the embodiment of the present application, and detailed description thereof will be omitted here.

In a possible implementation, the vehicle controller may be an arithmetic device such as a one-chip microcomputer, DSP, FPGA, CPU, etc., and the embodiments of the present application do not limit the type of the vehicle controller.

In a possible implementation, in step S11, the target vehicle can receive the first position information transmitted from the vehicle positioning system.

In a possible implementation, in step S12, the target vehicle can determine the travel route based on the first position information.

In the example, the first position information includes an offset amount between the target vehicle and the lane center line, and step S12 is an offset amount between the target vehicle and the lane center line in the virtual race track based on the first position information. And to determine the travel route of the target vehicle based on the offset amount. For example, the vehicle controller can acquire the offset amount based on the first position information, determine the width of the left turn or the right turn of the target vehicle based on the lane offset amount, and perform the corresponding control. For example, by changing the direction, the target vehicle can be controlled to travel in a direction in which the offset is reduced, the target vehicle can be kept in the lane, or the travel route of the target vehicle can be directly determined.

In the example, the first position information includes an image within a predetermined range in the traveling direction of the target vehicle, and step S12 determines an image within the predetermined range in the traveling direction of the target vehicle based on the first position information. Then, for example, in the virtual race track, the route within a predetermined distance in the traveling direction of the target vehicle is determined, and the traveling route of the target vehicle is determined based on the image within the predetermined range. And may be included. For example, the target vehicle can make a track plan based on the design of the virtual race track in the image, and can match the route of the target vehicle with the design of the virtual race track. That is, the target vehicle is driven by the virtual race track.

In a possible embodiment, in step S13, the target vehicle can travel according to the travel path. For example, the vehicle controller can control the power system and steering system of the target vehicle to drive the target vehicle according to a travel path. For example, when traveling along a left curve travel route, the target vehicle can pass the left curve.

In a possible embodiment, the method receives the second position information of an obstacle transmitted from the vehicle positioning system and, based on the first position information and the second position information, said in the virtual race track. Further including determining a travel route of the target vehicle and controlling the target vehicle to travel according to the travel route.

In the example, the vehicle controller determines the travel route of the target vehicle based on the first position information and the second position information of the obstacle, and travels in a lane that can be avoided from the obstacle and has no obstacle. It is possible to determine the travel route to be carried out. It also controls the power system and steering system of the target vehicle to drive the target vehicle according to the travel route.

In a possible embodiment, the method receives a vehicle control command transmitted from the vehicle positioning system and controls the target vehicle to travel based on the vehicle control command. Further included. For example, the target vehicle receives only remote control by the processor 13 in the vehicle positioning system and travels according to the travel route.

According to the vehicle positioning system of the embodiment of the present application, the virtual race track display device can display the virtual race track, and multiple race tracks can be designed for the target vehicle, and the virtual race track can be displayed. The dimensions can be adapted to the dimensions of the target vehicle. If the target vehicle changes, the dimensions of the virtual race track can be easily adjusted. It reduces the cost of racetracks and increases the flexibility of racetrack routes without the need to repurchase or build new racetracks. The processor can determine the first position information of the target vehicle based on the target image in which the target vehicle travels on the virtual race track. The target vehicle can determine the position on the race track in real time, and can accurately drive the virtual race track. The second position information gives the target vehicle an obstacle avoidance ability and improves the performance of the target vehicle. Further, the target vehicle itself does not need to record and adapt to the virtual race track, which simplifies the calculation in the running process of the target vehicle.

FIG. 4 is a schematic diagram showing the application of the vehicle positioning system according to the embodiment of the present application. As shown in FIG. 4, the vehicle positioning system may include a virtual race track display device, an image acquisition device, and a processor. Here, the virtual race track display device includes a projector, and the design of the virtual race track may be stored in the projector. The projective plane may be a projection screen or an actual ground and is used to display the design of the virtual race track projected by the projector. In some embodiments of the present application, the distance between the projector and the projection plane can be adjusted to adjust the dimensions of the virtual race track and adapt the width of the virtual race track to the width of the target vehicle. For example, the width of the target vehicle is 20 cm, and the virtual race track may be a two-lane race track. The width of each lane may be larger than the width of the target vehicle. For example, the width of each lane is 30 cm and the width of the virtual race track is 60 cm.

In a possible embodiment, the image acquisition device may include a camera. The camera may be provided below the projector or adjacent to the projector. It is located so that it can take an image of a complete virtual race track and is not shielded from each other by the projector. When the target vehicle is traveling on a virtual race track, the camera can take a real-time target image of the target vehicle traveling on the virtual race track and send the target image to the processor. The processor can determine the first position information of the target vehicle in the virtual race track in real time based on the target image. For example, the offset amount between the target vehicle and the lane center line in the virtual race track or the image within a predetermined range in the traveling direction of the target vehicle is determined and transmitted to the target vehicle in real time. As a result, the target vehicle can determine the traveling route in real time by using the first position information.

In a possible implementation, the processor can detect the target image in the target image and determine the first position information of the target vehicle in the virtual race track by a detection method such as a neural network. For example, the relative position of the target vehicle and the line of the virtual race track is determined. The vehicle controller of the target vehicle can determine the route of the virtual race track based on the relative position, and further determine the travel route of the target vehicle. For example, the target vehicle is located on the curve of a virtual race track. That is, the line of the virtual race track is a turning line. Therefore, it is determined that the traveling route of the vehicle is a turning route. In some embodiments of the present application, the vehicle controller can control the power system, steering system, and the like of the target vehicle to drive the target vehicle according to a travel path. For example, it passes through a curve according to a traveling route.

Obstacles may be provided on the virtual race track in a possible embodiment. For example, an obstacle can be placed on the exhibition plane, or an obstacle design can be provided on the design of the virtual race track. The processor can detect the first position information of the target vehicle and the second position information of the obstacle in the target image, and transmit the first position information and the second position information to the vehicle controller of the target vehicle. The vehicle controller can determine a travel route that can be avoided from obstacles based on the first position information and the second position information.

In the example, the virtual race track may have two lanes. Obstacles may be located in one lane of the virtual race track. If the vehicle controller determines that the target vehicle is away from the obstacle based on the second position information, the vehicle controller can travel along the lane based on the first position information. If the vehicle controller determines that the target vehicle is close to the obstacle based on the second position information, the target vehicle can travel to another lane to avoid the obstacle. After avoiding obstacles, the target vehicle can return to the original lane. In another example, the virtual race track may have a fork. The branch road may include two or more roads. Obstacles will be placed on one of the roads. The vehicle controller can determine the road on which the obstacle is located based on the second position information, and can travel to another road and avoid the obstacle based on the first position information.

In a possible implementation, the vehicle positioning system can be applied in fields such as model car competition or theology, saving time and cost for building race tracks. Further, the target vehicle itself does not need to record and adapt to the virtual race track, which simplifies the calculation in the running process of the target vehicle. The embodiments of the present application do not limit the application fields of the vehicle positioning system.

FIG. 5 is a flowchart showing a vehicle positioning method according to the embodiment of the present application. The execution body of the vehicle positioning method may be a vehicle positioning device, for example, the vehicle positioning system of the embodiment of the present application, or a processor in the vehicle positioning system, or a terminal, a remote device, a server, or the like. It may be. The method may also be performed by the processor executing computer-executable code.

As shown in FIG. 5, the method includes:

In step S21, the first position information of the target vehicle in the virtual race track is determined based on the target image, and the virtual race track is a virtual race track displayed on the virtual race track display device, and the target image. Is an image of the target vehicle traveling on the virtual race track acquired by the image acquisition device.

In step S22, the first position information is transmitted to the target vehicle, and the target vehicle is driven on the virtual race track based on the first position information.

In a possible embodiment, the method obtains second position information of an obstacle based on the target image, transmits the second position information to the target vehicle, and transfers the target vehicle to the first. 1 It further includes running in the race track design based on the position information and the second position information.

In a possible embodiment, the method is to acquire a ground image for displaying the ground of the virtual race track by the virtual race track display device and acquire ground information based on the ground image. Therefore, the ground information includes the dimensions of the ground, and the dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle. Further included.

In a possible embodiment, the method obtains ground information and dimensions of the target vehicle and, based on the ground information and dimensions of the target vehicle, obtains the dimensions of the virtual race track and the design of the virtual race track. Further including determining and transmitting to the virtual race track exhibit device.

In a possible embodiment, the method generates a vehicle control command based on at least the first position information, transmits the vehicle control command to the target vehicle, and causes the target vehicle to be based on the vehicle command. Further includes running in the race track design.

In a possible embodiment, determining the first position information of the target vehicle in the virtual race track based on the target image is the target vehicle and the lane center line in the virtual race track based on the target image. It includes determining the offset amount with and generating the first position information based on the offset amount.

In a possible embodiment, determining the first position information of the target vehicle in the virtual race track based on the target image is an image within a predetermined range in the traveling direction of the target image based on the target image. It includes determining and generating the first position information based on the image within the predetermined range.

The embodiments of the present application provide a vehicle positioning method. The method applies to vehicle positioning systems. The system includes a projector, a camera and a processor. The case where the target vehicle is a miniature car will be described as an example. The method includes: In step S31, the design of the virtual race track is projected on the projection plane. Here, the design of the virtual race track is projected by the cooperation between the projector and the projection plane. Here, FIG. 2 shows a design of the projected virtual race track.

In step S41, the camera captures the design of the virtual race track and the miniature car on the virtual race track.

Here, after the camera captures the design of the virtual race track and the miniature car in the virtual racetrack, the processor determines the global position and obstacles of the miniature car based on the design of the virtual racetrack and the miniature car captured by the camera. The position can be determined. The processor can calculate the relative position offset amount of the miniature car in the virtual racetrack based on the design of the virtual racetrack and directly generate the control command of the miniature car.

In step S51, the miniature car makes feedback adjustment based on the received position information. In the embodiment of the present application, the global position of the miniature car and the position of the obstacle are determined based on the design of the virtual race track and the miniature car in the virtual race track to accurately detect the obstacle and to determine the position of the miniature car and the virtual race track. Relative position estimation can be realized, and detection information and estimation information can be transmitted to the miniature car in real time. As a result, the miniature car can adjust the traveling route in real time based on the detection information and the estimation information.

The usage scene of the embodiment of the present application may be one of the following. 1) A scene of an introduction to minicar development. 2) A scene where there is not enough funds to purchase a real platform. 3) A scene where minicars with different dimensions are developed at the same time and a race track that matches the minicars with different dimensions is required.

The embodiments of the present application perform position estimation by computer vision detection algorithm, reduce the time and economic cost for building a race track based on the global positioning and real-time information execution platform, and the flexibility of the race track. Improve the convenience of replacement. Through the cooperation of the projector and the projection plane, the projector adjusts simultaneously based on the dimensions of the projection plane and the dimensions of the miniature car to ensure that a reasonable race track design is projected. The camera can acquire the global position of the miniature car, including obstacle information. The camera and miniature car can communicate in real time. Computer vision algorithms can perform accurate obstacle detection and relative position estimation between miniature cars and virtual race tracks.

With such a method, the economic cost and the time cost of the race track can be reduced, and the flexibility is high, which contributes to the spread of miniature cars. At the same time, the computer vision algorithm is more preferably used to estimate the position. As a result, the miniature car can adjust the traveling route in real time based on the detection information and the estimation information. It will also increase the variety of race tracks and improve the development potential of miniature cars.

FIG. 6A is a block diagram showing a vehicle control device 100 according to an embodiment of the present application. As shown in FIG. 6A, the device 100 is based on the first receiving module 11 configured to receive the first position information of the target vehicle transmitted from the vehicle positioning system and the first position information. A first determination module 12 configured to determine a travel route of the target vehicle in the virtual race track, and a first travel module configured to control the target vehicle to travel according to the travel route. 13 and.

In a possible embodiment, the first determination module further determines an offset amount between the target vehicle and the lane center line in the virtual race track based on the first position information, and based on the offset amount, said. It is configured to determine the travel route of the target vehicle.

In a possible embodiment, the first determination module further determines an image within a predetermined range in the traveling direction of the target vehicle based on the first position information, and based on the image within the predetermined range, said. It is configured to determine the travel route of the target vehicle.

In a possible embodiment, the device travels on the target vehicle based on a second receiving module configured to receive a vehicle control command transmitted from the vehicle positioning system and the vehicle control command. It further comprises a control module configured to control such.

In a possible embodiment, the device comprises a third receiving module configured to receive second position information of obstacles transmitted from the vehicle positioning system, the first position information and the second position information. Based on this, a second determination module configured to determine the travel route of the target vehicle on the virtual race track, and a second travel configured to control the target vehicle to travel according to the travel route. Further equipped with a module.

FIG. 6B is a block diagram showing a vehicle positioning device 200 according to an embodiment of the present application. As shown in FIG. 6B, the device 200 is a third determination module 21 configured to determine the first position information of the target vehicle in the virtual race track based on the target image, and the virtual race. The truck is a virtual race track displayed on the virtual race track display device, and the target image is an image acquired by the image acquisition device on which the target vehicle travels on the virtual race track, a third determination module. 21 and a first transmission module 22 configured to transmit the first position information to the target vehicle and cause the target vehicle to travel the virtual race track based on the first position information. ..

In a possible embodiment, the apparatus transmits the first acquisition module configured to acquire the second position information of the obstacle based on the target image and the second position information to the target vehicle. Further includes, a second transmission module configured to drive the target vehicle in the race track design based on the first position information and the second position information.

In a possible embodiment, the device is based on the ground image and a second acquisition module configured to acquire a ground image for displaying the ground of the virtual race track by the virtual race track display device. , A third acquisition module configured to acquire ground information, wherein the ground information is based on the third acquisition module, including the dimensions of the ground, the ground information, and the dimensions of the target vehicle. It further comprises a fourth determination module configured to determine the dimensions of the virtual race track and the design of the virtual race track.

In a possible embodiment, the device has a fourth acquisition module configured to acquire ground information and dimensions of the target vehicle, and dimensions of the virtual race track based on the ground information and dimensions of the target vehicle. And a fifth determination module configured to determine the design of the virtual race track and transmit it to the virtual race track display device.

In a possible embodiment, the device transmits a generation module configured to generate a vehicle control command based on at least the first position information, the vehicle control command to the target vehicle, and the target vehicle. A third transmission module configured to run in the race track design based on the vehicle command.

In a possible embodiment, the third determination module further determines the offset amount between the target vehicle and the lane center line in the virtual race track based on the target image, and based on the offset amount, said. It is configured to generate the first position information.

In a possible embodiment, the third determination module further determines an image within a predetermined range in the traveling direction of the target image based on the target image, and the first determination module is based on the image within the predetermined range. It is configured to generate location information.

Each of the above methods mentioned in the examples of the present application can be combined with each other as long as the principles and logics are not deviated, and the number of papers is limited. It should be understood not to.

In the above method of the specific embodiment, the description order of each step does not mean that the specific execution order means a strict execution order, and the specific execution order of each step is not limited. Those skilled in the art should understand that it depends on its function and possible intrinsic logic. In some embodiments, the functions and modules in the apparatus provided in the embodiments of the present application are used to perform the methods described in the embodiments of the above methods, the specific embodiment of which is the embodiments of the above methods. Please refer to the explanation of. For the sake of brevity, detailed description is omitted here.

The embodiments of the present application further provide a computer-readable storage medium. The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the above method is realized. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

The embodiments of the present application further provide computer program products. The computer program product includes a computer-readable code, and when the computer-readable code is executed in the device, the processor in the electronic device executes an instruction that realizes the method provided in any one of the above embodiments.

The embodiments of the present application further provide another computer program product. The computer program product is configured to store a computer-readable instruction and, when the instruction is executed, causes the computer to perform an operation of the method provided in any one of the above embodiments.

The computer program product can be realized by hardware, software or a combination thereof. In one selectable embodiment, the computer program product is embodied as a computer storage medium, and in another selectable embodiment, the computer program product is, for example, a software development kit (SDK) or the like. It is embodied as a software product such as.

The embodiments of the present application further provide electronic devices. The electronic device comprises a processor and a memory configured to store instructions that can be executed by the processor, the processor being configured to perform the method. The electronic device may be provided as a terminal, a server or other form of device. FIG. 7 is a block diagram showing an electronic device 800 according to an exemplary embodiment. For example, the electronic device 800 may be a terminal such as a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, or a personal digital assistant. Referring to FIG. 7, the electronic device 800 includes a processing unit 802, a memory 804, a power supply unit 806, a multimedia unit 808, an audio unit 810, an input / output (I / O) interface 812, a sensor unit 814, and a communication unit 816. One or more of them may be provided. The processing unit 802 generally controls the overall operation of the electronic device 800. For example, it controls operations related to display, call call, data communication, camera operation and recording operation. The processing unit 802 may include one or more processors 820 for executing commands. Thereby, all or part of the steps of the above method are performed. Also, the processing unit 802 may include one or more modules for interaction with other units. For example, the processing unit 802 includes a multimedia module, which contributes to the interaction between the multimedia unit 808 and the processing unit 802. The memory 804 is configured to support operations in the electronic device 800 by storing various types of data. Examples of these data include instructions, contact data, phonebook data, messages, images, videos, etc. of any application or method that can be manipulated on the electronic device 800. The memory 804 is realized by any type of volatile or non-volatile storage device, or a combination thereof. For example, SRAM (Static Random Access Memory: Static Random Access Memory), EPROM (Electrically Erasable Programmable Read Only Memory: Electrically Erasable Programmable Read-Only Memory), EPROM (Erasable Memory Programle) Includes read-only memory), PROM (Programmable Read Only Memory: programmable read-only memory), ROM (Read Only Memory: read-only memory), magnetic memory, flash memory, magnetic or optical disk. The power supply unit 806 provides power to various units of the electronic device 800. The power supply unit 806 may include a power supply management system, one or more power supplies, and other units involved in power generation, management, and distribution for the electronic device 800. The multimedia unit 808 includes a screen for providing an output interface between the electronic device 800 and the user. In some embodiments, the screen comprises a liquid crystal display (LCD) and a touch panel (TP). When the screen includes a touch panel, it is realized as a touch panel and receives an input signal from the user. The touch panel comprises one or more touch sensors that sense touches, slides and gestures on the panel. The touch sensor can not only detect the boundary of the touch or slide motion, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia unit 808 comprises a front camera and / or a rear camera. If the electronic device 800 is in an operating mode such as a shooting mode or a video mode, the front camera and / or the rear camera can receive multimedia data from the outside. Each front and rear camera may have a fixed optical lens system or focal and optical zoom capabilities. The audio unit 810 is configured to output and / or input an audio signal. For example, the audio unit 810 includes a microphone (MIC). If the electronic device 800 is in an operating mode such as a call mode, a recording mode and a voice recognition mode, the microphone is configured to receive an audio signal from the outside. The received audio signal can be further stored in the memory 804 or transmitted via the communication unit 816. In some embodiments, the audio unit 810 further comprises a speaker configured to output an audio signal. The I / O interface 812 provides an interface between the processing unit 802 and the peripheral interface module. The peripheral interface module may be a keyboard, a click wheel, a button, or the like. These buttons include, but are not limited to, a home button, a volume button, a start button and a lock button. The sensor unit 814 comprises one or more sensors and is configured to perform various state assessments for the electronic device 800. For example, the sensor unit 814 can detect the on / off state of the electronic device 800 and the relative positioning of the unit. For example, the unit is a display and a keypad of an electronic device 800. The sensor unit 814 detects a change in the position of one unit in the electronic device 800 or the electronic device 800, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and the temperature fluctuation of the electronic device 800. You can also do it. The sensor unit 814 may include a proximity sensor and is configured to detect the presence of surrounding objects in the absence of any physical contact. The sensor unit 814 may include an optical sensor such as a CMOS or CCD image sensor and is configured to be applied to imaging. In some embodiments, the sensor unit 814 may include an accelerometer, gyro sensor, magnetic sensor, pressure sensor or temperature sensor. The communication unit 816 is configured to contribute to wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication unit 816 receives broadcast signals or broadcast-related information from an external broadcast channel management system via a broadcast channel. In an exemplary embodiment, the communication unit 816 further comprises an NFC (Near Field Communication) module to facilitate short-range communication. For example, NFC modules include RFID (Radio Frequency Identification) technology, IrDA (Infrared Data Association) technology, UWB (Ultra Wide Band) technology, and BT (Bluetooth) technology. (Registered Trademark)) Realized based on technology and other technologies.

In an exemplary embodiment, the electronic device 800 is one or more ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processes), DSPDs (Digital Signal Process Devices). It is realized by a signal processing device), a PLD (Programmable Logic Device), an FPGA, a controller, a microcontroller, a microprocessor or other electronic elements, and may be configured to perform the above method.

In an exemplary embodiment, further provided is a non-volatile computer readable storage medium, such as first memory 804, which stores computer program instructions. The computer program instruction is executed by the processor 820 of the electronic device 800, and completes any one of the above image processing methods.

FIG. 8 is a block diagram showing another electronic device 1900 according to the embodiment of the present application. As shown in FIG. 8, the electronic device 1900 may be provided as a server. Referring to FIG. 8, the electronic device 1900 includes a processing unit 1922. It further comprises one or more processors and a memory resource represented by memory 1932. The memory lease is for storing instructions executed by the processing unit 1922, such as an application program. The application program stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Further, the processing unit 1922 is configured to execute an instruction to execute the above method. The electronic device 1900 includes a power supply unit 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and input / output (I / O). O) Interface 1958 may be further provided. The electronic device 1900 may run an operating system stored in memory 1932, such as Windows® ServerTM, Mac OS XTM, Unix®, Linux®, FreeBSDM or the like. can. In an exemplary embodiment, further provided is a non-volatile computer readable storage medium such as memory 1932 containing computer program instructions. The computer program instruction is executed by the processing unit 1922 of the electronic device 1900 to complete the method.

The embodiments of the present application may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium, in which computer-readable program instructions for realizing each aspect of the embodiments of the present application are stored in the processor.

The computer-readable storage medium may be a tangible device capable of holding or storing instructions used in the instruction execution device. The computer-readable storage medium may be, for example, an electric storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination of the above, but is not limited thereto. More specific examples (non-exhaustive lists) of computer-readable storage media are portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash). ), Static Random Access Memory (SRAM), Portable Compact Disk Read-Only Memory (CD-ROM), Digital Multipurpose Disk (DVD), Memory Stick, Flexible Disk, Punch Card in which Instructions Are Stored, or Protruding Structure in a Groove Includes mechanical coding devices such as, and any suitable combination described above. The computer-readable storage medium used herein is an electromagnetic wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (eg, an optical pulse passing through an optical fiber cable), or through an electric wire. It should not be construed as a temporary signal itself, such as an electrical signal being transmitted. The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or networks such as the Internet, local area networks, wide area networks and / or wireless networks. It can be downloaded to an external computer or an external storage device via. The network may include copper cables for transmission, fiber optic transmission, wireless transmission, routers, firewalls, switching, gateway computers and / or edge servers. The network interface card or network interface in each computing / processing device receives computer-readable program instructions from the network, transfers the computer-readable program instructions, and stores them in a computer-readable storage medium in each computing / processing device.

The computer-readable program instructions for performing the operations of the embodiments of the present application are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcodes, firmware instructions, state setting data, or one or more. It may be source code or target code written in the programming language of. The programming language includes object-oriented programming languages such as Smalltalk, C ++, and conventional procedural programming languages such as "C" programming languages or similar programming languages. Computer-readable program instructions may be executed entirely on the user computer, partially on the user computer, as a separate software package, or partially on the user computer. It may be executed partially on the remote computer, or it may be executed completely on the remote computer or the server. In the case of a remote computer, the remote computer connects to the user's computer or to an external computer through any type of network, including local area networks (LANs) and wide area networks (WAN). (For example, connect through the Internet using an Internet service provider). In some embodiments, the state information of computer-readable program instructions is used to customize electronic circuits such as programmable logic circuits, ground programmable gate arrays (FPGAs) or programmable logic arrays (PLAs). The electronic circuit can realize each aspect of the present application by executing a computer-readable program instruction.

Here, each aspect of the present application will be described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products of the embodiments of the present application. Each block of the flowchart and / or the block diagram and each combination of the blocks in the flowchart and / or the block diagram can be realized by a computer-readable program instruction.

These computer-readable program instructions can be provided to the processor of a general purpose computer, dedicated computer or other programmable data processing device, thereby creating a device, and when these instructions are executed by the processor of the computer or other programmable data processing device, the flowchart. And / or created a device that realizes the functions / operations specified in one or more blocks in the block diagram. These computer-readable program instructions may be stored in a computer-readable storage medium. According to these instructions, computers, programmable data processing devices and / or other devices operate in a particular manner. Accordingly, a computer-readable storage medium in which instructions are stored comprises a product comprising instructions of each aspect that realizes a function / operation defined in one or more blocks in a flow chart and / or a block diagram.

Computer-readable program instructions may be loaded into a computer, other programmable data processing device, or other device. This causes a computer, other programmable data processing device, or other device to perform a series of steps of operation to create a process performed on the computer. Therefore, an instruction executed by a computer, another programmable data processing device, or another device realizes a function / operation specified in one or more blocks in a flowchart and / or a block diagram.

The flowcharts and block diagrams in the drawings illustrate the feasible architectures, functions and operations of the systems, methods and computer program products according to the plurality of embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent part of a module, program segment or instruction. A part of the module, program segment or instruction includes an executable instruction for realizing one or more predetermined logical functions. During implementation as some replacement, the functions shown in the blocks can occur in a different order than shown in the drawing. For example, two consecutive blocks can actually be executed essentially in parallel, and in some cases in reverse order, which is determined by the functions involved. Each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, is realized by a dedicated hardware-based system for performing a predetermined function or operation, or a dedicated hardware and a computer instruction. It can be realized by the combination of.

Although each embodiment of the present invention has been described above, the above description is exemplary, not exhaustive, and is not limited to the disclosed examples. Many modifications and changes are readily conceivable to those skilled in the art, provided that they do not deviate from the scope and intent of each of the embodiments described. The choice of terminology used herein best interprets the principles, practical applications, or technological improvements in the market of each embodiment, or each embodiment disclosed herein by one of ordinary skill in the art. The purpose is to be able to understand.

The present application relates to vehicle positioning systems and methods, vehicle control methods and devices. The system includes a virtual race track display device configured to display a virtual race track, and an image acquisition device configured to acquire a target image while the target vehicle is traveling on the virtual race track. A processor configured to determine the first position information of the target vehicle and transmit the first position information to the target vehicle in the virtual race track based on the target image may be provided. According to the vehicle positioning system of the embodiment of the present application, the virtual race track display device can display the virtual race track, and multiple race tracks can be designed for the target vehicle, reducing the cost of the race track. Moreover, it improves the flexibility of the race track route without requiring the construction time of the race track. The target vehicle can determine the position on the race track in real time, and can accurately drive the virtual race track. The target vehicle itself does not need to record and adapt to the virtual race track, simplifying calculations during the running process of the target vehicle.

According to the vehicle positioning method of the embodiment of the present application, the virtual race track display device allows the virtual race track to be exhibited, multiple race tracks can be designed for the target vehicle, and the cost of the race track. And improve the flexibility of the race track route without requiring the race track construction time. The processor can determine the first position information of the target vehicle based on the target image in which the target vehicle travels on the virtual race track. The target vehicle can determine the position on the race track in real time, and can accurately drive the virtual race track. The target vehicle itself does not need to record and adapt to the virtual race track, simplifying calculations during the running process of the target vehicle.
For example, the present application provides the following items.
(Item 1)
It is a vehicle positioning system, equipped with a virtual race track display device, an image acquisition device, and a processor.
The virtual race track display device is configured to display a virtual race track.
The image acquisition device is located above the virtual race track and is configured to acquire a target image while the target vehicle is traveling on the virtual race track.
The processor is connected to the image acquisition device or built in the image acquisition device, and based on the target image, determines the first position information of the target vehicle in the virtual race track, and the first position information is determined. A vehicle positioning system configured to transmit position information to the target vehicle and cause the target vehicle to travel on the virtual race track based on the first position information.
(Item 2)
The processor further
Based on the target image, the second position information of the obstacle is acquired, and
The second position information is transmitted to the target vehicle, and the target vehicle is configured to run the virtual race track based on the first position information and the second position information.
The system according to item 1.
(Item 3)
The virtual race track display device includes a projection device, and the projection device is configured to project a design of the virtual race track.
The system according to item 1 or 2.
(Item 4)
The projection device includes a projector and a projection plane, and the projector is configured to project a design of the virtual race track onto the projection plane.
The system according to item 3.
(Item 5)
The virtual race track display device includes an augmented reality device, and the augmented reality device is configured to display the virtual race track on an augmented reality interface.
The system according to any one of items 1 to 4.
(Item 6)
The virtual race track display device is further configured to determine the dimensions of the virtual race track based on the dimensions of the target vehicle.
The dimensions of the target vehicle include the width of the target vehicle, and the dimensions of the virtual race track include the width of the race track.
The system according to any one of items 1 to 5.
(Item 7)
The virtual race track display device is
To get a ground image to display the ground of a virtual race track,
Acquiring ground information based on the ground image, wherein the ground information includes the dimensions of the ground.
It is characterized in that it is configured to determine and execute the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle.
The system according to any one of items 1 to 5.
(Item 8)
The processor further
Obtain ground information and dimensions of the target vehicle,
The dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle, and are configured to be transmitted to the virtual race track display device.
The system according to item 1.
(Item 9)
The processor further
Generate a vehicle control command based on at least the first position information,
The vehicle control command is transmitted to the target vehicle, and the target vehicle is configured to run the virtual race track based on the vehicle control command.
The system according to any one of items 1 to 8.
(Item 10)
The processor further
Based on the target image, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
It is characterized in that it is configured to generate the first position information based on the offset amount.
The system according to any one of items 1 to 9.
(Item 11)
The processor further
Based on the target image, an image within a predetermined range in the traveling direction of the target vehicle is determined.
It is characterized in that it is configured to generate the first position information based on the image within the predetermined range.
The system according to any one of items 1 to 9.
(Item 12)
The system further comprises a target vehicle, characterized in that the target vehicle is configured to travel on a virtual race track based on at least the first position information.
The system according to any one of items 1 to 11.
(Item 13)
The first position information includes an offset amount between the target vehicle and the lane center line in the virtual race track or an image within a predetermined range in the traveling direction of the target vehicle, and the target vehicle is further based on the offset amount. It is characterized in that it is configured to determine the travel route of the target vehicle or to determine the travel route of the target vehicle based on an image within a predetermined range in the travel direction of the target vehicle.
Item 12. The system according to item 12.
(Item 14)
It ’s a vehicle control method.
Receiving the first position information of the target vehicle transmitted from the vehicle positioning system and
Determining the travel route of the target vehicle on the virtual race track based on the first position information.
A vehicle control method comprising controlling the target vehicle to travel according to the travel route.
(Item 15)
Determining the travel route of the target vehicle on the virtual race track based on the first position information is not possible.
To determine the offset amount between the target vehicle and the lane center line in the virtual race track based on the first position information,
It is characterized by including determining a traveling route of the target vehicle based on the offset amount.
The method according to item 14.
(Item 16)
Determining the travel route of the target vehicle on the virtual race track based on the first position information is not possible.
To determine an image within a predetermined range in the traveling direction of the target vehicle based on the first position information,
It is characterized by including determining a traveling route of the target vehicle based on an image within the predetermined range.
The method according to item 14.
(Item 17)
The method is
Receiving the vehicle control command transmitted from the vehicle positioning system and
It is characterized by further including controlling the target vehicle so as to travel based on the vehicle control command.
The method according to any one of items 14 to 16.
(Item 18)
The method is
Receiving the second position information of the obstacle transmitted from the vehicle positioning system,
Determining the travel route of the target vehicle on the virtual race track based on the first position information and the second position information.
It is characterized by further including controlling the target vehicle so as to travel according to the travel route.
The method according to any one of items 14 to 16.
(Item 19)
It is a vehicle positioning method, and the vehicle positioning method is
The first position information of the target vehicle in the virtual race track is determined based on the target image, and the virtual race track is a virtual race track displayed on the virtual race track display device, and the target image is Is an image of the target vehicle traveling on the virtual race track acquired by the image acquisition device.
A vehicle positioning method comprising transmitting the first position information to the target vehicle and driving the target vehicle on the virtual race track based on the first position information.
(Item 20)
The method is
Acquiring the second position information of the obstacle based on the target image,
The second position information is transmitted to the target vehicle, and the target vehicle is further included in the race track design based on the first position information and the second position information.
The method according to item 19.
(Item 21)
The method is
Using the virtual race track display device, acquiring a ground image for displaying the ground of the virtual race track and
Acquiring ground information based on the ground image, wherein the ground information includes the dimensions of the ground.
It is characterized by further including determining the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle.
The method according to item 19.
(Item 22)
The method is
Obtaining ground information and dimensions of the target vehicle,
It is characterized in that the dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle and transmitted to the virtual race track display device.
The method according to item 19.
(Item 23)
The method is
To generate a vehicle control command based on at least the first position information,
It is characterized by further including transmitting the vehicle control command to the target vehicle and causing the target vehicle to run in the race track design based on the vehicle command.
The method according to any one of items 19 to 22.
(Item 24)
Determining the first position information of the target vehicle in the virtual race track based on the target image is
Based on the target image, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
It is characterized by including generating the first position information based on the offset amount.
The method according to any one of items 19 to 23.
(Item 25)
Determining the first position information of the target vehicle in the virtual race track based on the target image is
To determine an image within a predetermined range in the traveling direction of the target image based on the target image.
It is characterized by including generating the first position information based on the image within the predetermined range.
The method according to any one of items 19 to 23.
(Item 26)
It ’s a vehicle control device.
A first receiving module configured to receive the first position information of the target vehicle transmitted from the vehicle positioning system, and a first receiving module.
A first determination module configured to determine the travel path of the target vehicle on the virtual race track based on the first position information.
A vehicle control device including a first traveling module configured to control the target vehicle to travel according to the traveling route.
(Item 27)
The first determination module further
Based on the first position information, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
It is characterized in that it is configured to determine the traveling route of the target vehicle based on the offset amount.
Item 26.
(Item 28)
The first determination module further
Based on the first position information, an image within a predetermined range in the traveling direction of the target vehicle is determined.
It is characterized in that it is configured to determine the traveling route of the target vehicle based on the image within the predetermined range.
Item 26.
(Item 29)
The device is
A second receiving module configured to receive vehicle control commands transmitted from the vehicle positioning system, and
It is characterized by further comprising a control module configured to control the target vehicle so as to travel based on the vehicle control command.
Item 26.
(Item 30)
The device is
A third receiving module configured to receive the second position information of the obstacle transmitted from the vehicle positioning system, and
A second determination module configured to determine the travel path of the target vehicle on the virtual race track based on the first position information and the second position information.
A second traveling module configured to control the target vehicle to travel according to the traveling route is further provided.
Item 26.
(Item 31)
It is a vehicle positioning device
It is a third determination module configured to determine the first position information of the target vehicle in the virtual race track based on the target image, and the virtual race track is a virtual race track exhibited in the virtual race track display device. The third determination module, which is a race track, and the target image is an image acquired by the image acquisition device in which the target vehicle travels on the virtual race track.
A vehicle positioning device including a first transmission module configured to transmit the first position information to the target vehicle and to drive the target vehicle on the virtual race track based on the first position information. ..
(Item 32)
The device is
A first acquisition module configured to acquire the second position information of an obstacle based on the target image, and
A second transmission module configured to transmit the second position information to the target vehicle and cause the target vehicle to travel in the race track design based on the first position information and the second position information. It is characterized by further preparing
Item 31.
(Item 33)
The device is
A second acquisition module configured to acquire a ground image for displaying the ground of the virtual race track by the virtual race track display device, and
A third acquisition module configured to acquire ground information based on the ground image, wherein the ground information includes a third acquisition module including ground dimensions.
It further comprises a fourth determination module configured to determine the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle.
Item 31.
(Item 34)
The device is
A fourth acquisition module configured to acquire ground information and dimensions of the target vehicle,
A fifth determination module configured to determine the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle and transmit them to the virtual race track display device. It is characterized by further preparing
Item 33.
(Item 35)
The device is
A generation module configured to generate a vehicle control command based on at least the first position information.
A third transmission module configured to transmit the vehicle control command to the target vehicle and to cause the target vehicle to travel in the race track design based on the vehicle command is further provided.
Item 31.
(Item 36)
The third decision module further
Based on the target image, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
It is characterized in that it is configured to generate the first position information based on the offset amount.
Item 31.
(Item 37)
The third decision module further
Based on the target image, an image within a predetermined range in the traveling direction of the target image is determined.
It is characterized in that it is configured to generate the first position information based on the image within the predetermined range.
Item 31.
(Item 38)
It ’s an electronic device,
With the processor
With memory configured to store instructions that can be executed by the processor,
The processor is an electronic device configured to perform the vehicle control method according to any one of items 14 to 18 or the vehicle positioning method according to any one of items 19 to 25.
(Item 39)
The vehicle control method according to any one of items 14 to 18 or items 19 to 25 when a computer-readable storage medium for storing computer program instructions and the computer program instructions are executed by a processor. A computer-readable storage medium that realizes the vehicle positioning method according to any one of the following items.
(Item 40)
A computer program product comprising a computer-readable code, wherein when the computer-readable code is executed in an electronic device, the processor in the electronic device is the vehicle control method or item according to any one of items 14-18. A computer program product that performs the vehicle positioning method according to any one of 19 to 25.

Claims (40)

It is a vehicle positioning system, equipped with a virtual race track display device, an image acquisition device, and a processor.
The virtual race track display device is configured to display a virtual race track.
The image acquisition device is located above the virtual race track and is configured to acquire a target image while the target vehicle is traveling on the virtual race track.
The processor is connected to the image acquisition device or built in the image acquisition device, and based on the target image, determines the first position information of the target vehicle in the virtual race track, and the first position information is determined. A vehicle positioning system configured to transmit position information to the target vehicle and cause the target vehicle to travel on the virtual race track based on the first position information. The processor further
Based on the target image, the second position information of the obstacle is acquired, and
A claim characterized in that the second position information is transmitted to the target vehicle, and the target vehicle is configured to run the virtual race track based on the first position information and the second position information. Item 1. The system according to Item 1. The system according to claim 1 or 2, wherein the virtual race track display device includes a projection device, and the projection device is configured to project a design of the virtual race track. The system according to claim 3, wherein the projection device includes a projector and a projection plane, and the projector is configured to project a design of the virtual race track onto the projection plane. One of claims 1 to 4, wherein the virtual race track display device includes an augmented reality device, and the augmented reality device is configured to display the virtual race track on an augmented reality interface. The system described in the section. The virtual race track display device is further configured to determine the dimensions of the virtual race track based on the dimensions of the target vehicle.
The system according to any one of claims 1 to 5, wherein the dimensions of the target vehicle include the width of the target vehicle, and the dimensions of the virtual race track include the width of the race track. The virtual race track display device is
To get a ground image to display the ground of a virtual race track,
Acquiring ground information based on the ground image, wherein the ground information includes the dimensions of the ground.
Claims 1 to 5, wherein the dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle, and are configured to execute. The system described in any one of the items. The processor further
Obtain ground information and dimensions of the target vehicle,
A claim characterized in that the dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle and transmitted to the virtual race track display device. Item 1. The system according to Item 1. The processor further
Generate a vehicle control command based on at least the first position information,
One of claims 1 to 8, wherein the vehicle control command is transmitted to the target vehicle, and the target vehicle is configured to run the virtual race track based on the vehicle control command. The system described in the section. The processor further
Based on the target image, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
The system according to any one of claims 1 to 9, wherein the system is configured to generate the first position information based on the offset amount. The processor further
Based on the target image, an image within a predetermined range in the traveling direction of the target vehicle is determined.
The system according to any one of claims 1 to 9, wherein the system is configured to generate the first position information based on an image within the predetermined range. One of claims 1 to 11, wherein the system further comprises a target vehicle, wherein the target vehicle is configured to travel on a virtual race track based on at least the first position information. The system described in the section. The first position information includes an offset amount between the target vehicle and the lane center line in the virtual race track or an image within a predetermined range in the traveling direction of the target vehicle, and the target vehicle is further based on the offset amount. 12. The vehicle is characterized in that the travel route of the target vehicle is determined, or the travel route of the target vehicle is determined based on an image within a predetermined range in the travel direction of the target vehicle. The system described in. It ’s a vehicle control method.
Receiving the first position information of the target vehicle transmitted from the vehicle positioning system and
Determining the travel route of the target vehicle on the virtual race track based on the first position information.
A vehicle control method comprising controlling the target vehicle to travel according to the travel route. Determining the travel route of the target vehicle on the virtual race track based on the first position information is not possible.
Based on the first position information, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
The method according to claim 14, further comprising determining a travel route of the target vehicle based on the offset amount. Determining the travel route of the target vehicle on the virtual race track based on the first position information is not possible.
To determine an image within a predetermined range in the traveling direction of the target vehicle based on the first position information.
The method according to claim 14, further comprising determining a travel route of the target vehicle based on an image within the predetermined range. The method is
Receiving the vehicle control command transmitted from the vehicle positioning system and
The method according to any one of claims 14 to 16, further comprising controlling the target vehicle to travel based on the vehicle control command. The method is
Receiving the second position information of the obstacle transmitted from the vehicle positioning system,
Determining the travel route of the target vehicle on the virtual race track based on the first position information and the second position information.
The method according to any one of claims 14 to 16, further comprising controlling the target vehicle to travel according to the traveling route. It is a vehicle positioning method, and the vehicle positioning method is
The first position information of the target vehicle in the virtual race track is determined based on the target image, and the virtual race track is a virtual race track displayed on the virtual race track display device, and the target image is Is an image of the target vehicle traveling on the virtual race track acquired by the image acquisition device.
A vehicle positioning method comprising transmitting the first position information to the target vehicle and driving the target vehicle on the virtual race track based on the first position information. The method is
Acquiring the second position information of the obstacle based on the target image,
The second position information is transmitted to the target vehicle, and the target vehicle is further included in the race track design based on the first position information and the second position information. The method according to claim 19. The method is
Using the virtual race track display device, acquiring a ground image for displaying the ground of the virtual race track and
Acquiring ground information based on the ground image, wherein the ground information includes the dimensions of the ground.
19. The method of claim 19, further comprising determining the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle. The method is
Obtaining ground information and dimensions of the target vehicle,
It is characterized in that the dimensions of the virtual race track and the design of the virtual race track are determined based on the ground information and the dimensions of the target vehicle and transmitted to the virtual race track display device. The method according to claim 19. The method is
To generate a vehicle control command based on at least the first position information,
One of claims 19 to 22, further comprising transmitting the vehicle control command to the target vehicle and driving the target vehicle in the race track design based on the vehicle command. The method described in the section. Determining the first position information of the target vehicle on the virtual race track based on the target image is
Based on the target image, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
The method according to any one of claims 19 to 23, comprising generating the first position information based on the offset amount. Determining the first position information of the target vehicle on the virtual race track based on the target image is
To determine an image within a predetermined range in the traveling direction of the target image based on the target image.
The method according to any one of claims 19 to 23, comprising generating the first position information based on an image within the predetermined range. It ’s a vehicle control device.
A first receiving module configured to receive the first position information of the target vehicle transmitted from the vehicle positioning system, and a first receiving module.
A first determination module configured to determine the travel path of the target vehicle on the virtual race track based on the first position information.
A vehicle control device including a first traveling module configured to control the target vehicle to travel according to the traveling route. The first determination module further
Based on the first position information, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
26. The device of claim 26, wherein the device is configured to determine a travel path of the target vehicle based on the offset amount. The first determination module further
Based on the first position information, an image within a predetermined range in the traveling direction of the target vehicle is determined.
26. The apparatus according to claim 26, wherein the device is configured to determine a traveling route of the target vehicle based on an image within the predetermined range. The device is
A second receiving module configured to receive vehicle control commands transmitted from the vehicle positioning system, and
26. The apparatus of claim 26, further comprising a control module configured to control the target vehicle to travel based on the vehicle control command. The device is
A third receiving module configured to receive the second position information of the obstacle transmitted from the vehicle positioning system, and
A second determination module configured to determine the travel path of the target vehicle on the virtual race track based on the first position information and the second position information.
26. The device of claim 26, further comprising a second travel module configured to control the target vehicle to travel according to the travel route. It is a vehicle positioning device
A third determination module configured to determine the first position information of the target vehicle in the virtual race track based on the target image, wherein the virtual race track is a virtual race track display device. It is a race track, and the target image is an image of the target vehicle traveling on the virtual race track acquired by the image acquisition device, and a third determination module.
A vehicle positioning device including a first transmission module configured to transmit the first position information to the target vehicle and to drive the target vehicle on the virtual race track based on the first position information. .. The device is
A first acquisition module configured to acquire the second position information of an obstacle based on the target image, and
A second transmission module configured to transmit the second position information to the target vehicle and cause the target vehicle to travel in the race track design based on the first position information and the second position information. 31. The apparatus according to claim 31, further comprising. The device is
A second acquisition module configured to acquire a ground image for displaying the ground of the virtual race track by the virtual race track display device, and
A third acquisition module configured to acquire ground information based on the ground image, wherein the ground information includes a third acquisition module including ground dimensions.
A claim further comprising a fourth determination module configured to determine the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle. 31. The device is
A fourth acquisition module configured to acquire ground information and dimensions of the target vehicle,
A fifth determination module configured to determine the dimensions of the virtual race track and the design of the virtual race track based on the ground information and the dimensions of the target vehicle and transmit them to the virtual race track display device. 33. The apparatus according to claim 33. The device is
A generation module configured to generate a vehicle control command based on at least the first position information.
A claim further comprising a third transmission module configured to transmit the vehicle control command to the target vehicle and to cause the target vehicle to travel in the race track design based on the vehicle command. Item 31. The third decision module further
Based on the target image, the offset amount between the target vehicle and the lane center line in the virtual race track is determined.
31. The apparatus of claim 31, wherein the first position information is configured to be generated based on the offset amount. The third decision module further
Based on the target image, an image within a predetermined range in the traveling direction of the target image is determined.
31. The apparatus according to claim 31, wherein the first position information is generated based on an image within a predetermined range. It ’s an electronic device,
With the processor
With memory configured to store instructions that can be executed by the processor,
The processor is an electronic device configured to perform the vehicle control method according to any one of claims 14 to 18 or the vehicle positioning method according to any one of claims 19 to 25. The vehicle control method according to any one of claims 14 to 18 or from claim 19 when the computer-readable storage medium stores computer program instructions and the computer program instructions are executed by a processor. A computer-readable storage medium that realizes the vehicle positioning method according to any one of 25. A computer program product comprising a computer readable code, wherein the computer readable code is executed in the electronic device, wherein the processor in the electronic device is the vehicle control method according to any one of claims 14 to 18. A computer program product that performs the vehicle positioning method according to any one of claims 19 to 25.

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